Car skin positioning method, system, storage medium and intelligent terminal

Abstract

The present application relates to a car body positioning method, system, storage medium and intelligent terminal, and relates to the field of train positioning technology, which includes obtaining ranging track information; controlling the operation of the ranging equipment based on the ranging track information to obtain characteristic distance information between the ranging equipment and each characteristic point of the car body and the offset angle information relative to the center line; calculating and determining the projection distance information based on the offset angle information and the characteristic distance information; performing mean calculation based on each projection distance information to determine the mean distance information, and performing difference calculation based on the projection distance information and the mean distance information to determine the difference distance information; judging whether the difference distance information is less than the allowable error value; if less than, defining the corresponding characteristic point as a valid point; recalculating the mean value based on the projection distance information at the valid point to determine the straight-line distance information, and positioning the car body based on the ranging equipment position and the straight-line distance information. The present application has the effect of improving the accuracy of the first car body positioning.

Description

Technical Field

[0001] The present application relates to the field of train positioning technology, and in particular to a car body positioning method, system, storage medium and intelligent terminal. Background Art

[0002] With the development of trade, goods have begun to be exchanged between distant regions, leading to the rapid development of logistics within this environment. Freight trains are often used to transport heavy or large quantities of goods in order to improve overall transportation efficiency or reduce transportation costs. Wagons are the freight cars within a train. To facilitate unloading of cargo from wagons, the wagons must be positioned so that the rail crane can move to the appropriate location for unloading operations.

[0003] In related technologies, when locating the position of a car body, it is only necessary to know the position of the first car body and the length of each car body to determine the position of each car body. In the process of determining the position of the first car body, the position of the first car body is often determined by visually measuring the distance of the first car body by staff.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the overall error of determining the position of the first car body by visual inspection by staff is large, which has a great impact on the operation of the rail crane and there is still room for improvement. Summary of the Invention

[0005] In order to improve the accuracy of positioning the first car body, the present application provides a car body positioning method, system, storage medium and intelligent terminal.

[0006] In the first aspect, the present application provides a car body positioning method, which adopts the following technical solutions:

[0007] A car body positioning method, comprising:

[0008] Get ranging track information;

[0009] According to the ranging track information, the corresponding preset ranging equipment is controlled to obtain characteristic distance information between the ranging equipment and each characteristic point on the front end of the first car body, as well as offset angle information relative to the preset center line;

[0010] Calculate the projection distance information based on the offset angle information and the feature distance information;

[0011] Performing mean calculation based on each projection distance information to determine mean distance information, and performing difference calculation based on the projection distance information and the mean distance information to determine difference distance information;

[0012] Determine whether the distance value corresponding to the difference distance information is less than a preset allowable error value;

[0013] If the distance value corresponding to the difference distance information is not less than the allowable error value, the feature point corresponding to the difference distance information is defined as an invalid point;

[0014] If the distance value corresponding to the difference distance information is less than the allowable error value, the feature point corresponding to the difference distance information is defined as a valid point;

[0015] The average value is recalculated at the valid point based on the projection distance information to determine the straight-line distance information, and the car body is positioned based on the position of the distance measuring device and the straight-line distance information.

[0016] By adopting the above technical solution, the distance measurement track information is first obtained to know the track where the car body needs to be positioned, and the corresponding distance measurement equipment is controlled according to the track to perform the distance measurement operation. The distance between the distance measurement equipment and the front end surface of the first car body and the angle between the distance measurement equipment and the first car body are used to calculate the distance between the distance measurement equipment and the first car body, so that the first car body can be better positioned; among them, invalid feature points such as error protrusions or depressions can be excluded to further improve the accuracy of the positioning of the first car body.

[0017] Optionally, the method for controlling the operation of the ranging device includes:

[0018] Obtain subsequent status information of the stock track;

[0019] Determine whether the status corresponding to the subsequent status information is consistent with the preset pending operation status;

[0020] If the status corresponding to the subsequent status information is inconsistent with the pending operation status, the track is defined as an idle track;

[0021] If the status corresponding to the subsequent status information is consistent with the waiting status, the track is defined as the standby track;

[0022] Obtaining the track number information corresponding to the ranging track information and the standby track number information;

[0023] Determine whether the number value corresponding to the standby number information is before the number value corresponding to the used number information;

[0024] If the number value corresponding to the standby number information is not before the number value corresponding to the active number information, the standby track corresponding to the standby number information is defined as an unaffected track;

[0025] If the number value corresponding to the standby number information is before the number value corresponding to the active number information, the standby track corresponding to the standby number information is defined as the affected track;

[0026] Matching and analyzing the ranging track information and the ranging position information stored in the preset position database to determine the ranging position information corresponding to the ranging track information;

[0027] The affected track count is used to determine the affected quantity information, and a ranging device in a preset base station is controlled to move out of the quantity value corresponding to the affected quantity information to pass through the position corresponding to the ranging position information, and a ranging device in the base station is controlled again to move to the position corresponding to the ranging position information.

[0028] By adopting the above technical solution, when the ranging equipment of a track needs to be operated, it is determined whether the ranging equipment of the track farther away will be used within the corresponding time range. If it is necessary to use it, the corresponding number of ranging equipment can be moved out in advance to reduce the situation where the ranging equipment of the track farther away cannot be moved to the corresponding position when some ranging equipment is in use.

[0029] Optionally, the method for selecting the ranging device includes:

[0030] Get the remaining power information of the ranging device;

[0031] Calculate the moving distance information based on the ranging position information and the preset base station position;

[0032] Matching and analyzing the movement distance information and the device power information stored in the preset power database to determine the device power information corresponding to the movement distance information;

[0033] Determine whether the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information;

[0034] If the power value corresponding to the remaining power information is not greater than the power value corresponding to the device power information, the ranging device is defined as an invalid device;

[0035] If the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information, the ranging device is defined as a valid device;

[0036] The remaining power information corresponding to the smallest power value is determined in the valid devices according to a preset first sorting rule, and the valid devices are controlled to move to the position corresponding to the ranging position information to perform operations.

[0037] By adopting the above technical solution, it is determined whether the power of the ranging device meets the operation requirements based on the power required by the ranging device and the remaining power. Among the ranging devices that meet the power requirements, the one with the smallest remaining power is selected for operation control, so that when there is a subsequent operation with higher power requirements, the ranging device with higher remaining power can be selected for the operation.

[0038] Optionally, after the straight-line distance information is determined, methods for improving positioning accuracy include:

[0039] Get weather information;

[0040] Determine whether the situation corresponding to the weather information is consistent with the preset impact situation;

[0041] If the weather information does not correspond to the impact situation, the car body is positioned based on the straight-line distance information;

[0042] If the situation corresponding to the weather condition information is consistent with the impact situation, then determine whether the distance value corresponding to the straight-line distance information is less than the preset upper limit accuracy value;

[0043] If the distance value corresponding to the straight-line distance information is less than the upper limit accuracy value, the car body is positioned according to the straight-line distance information;

[0044] If the distance value corresponding to the straight-line distance information is not less than the upper limit accurate value, the difference is calculated based on the straight-line distance information and the upper limit accurate value to determine the difference distance information, and the car body is controlled to move along the track the distance corresponding to the difference distance information, and the car body is positioned according to the straight-line distance information at this time.

[0045] By adopting the above technical solution, when the weather is consistent with the pre-set weather that can cause significant interference to the distance measurement value, it is necessary to control the position between the distance measuring equipment and the first car body to reduce the error of the measured data and further improve the accuracy of car body positioning.

[0046] Optionally, the method for selecting a ranging device further includes:

[0047] Determine valid quantity information based on valid device counts;

[0048] Determine whether the quantity value corresponding to the valid quantity information is zero;

[0049] If the quantity value corresponding to the valid quantity information is zero, an operation failure signal is output;

[0050] If the quantity value corresponding to the valid quantity information is not zero, the weather condition information stored in the preset variable database is matched and analyzed with the change power information to determine the change power information corresponding to the weather condition information;

[0051] Calculate the sum of the device power information and the changed power information to update the device power information, and update the effective quantity information based on the new device power information;

[0052] Determine whether the quantity value corresponding to the current valid quantity information is zero;

[0053] If the quantity value corresponding to the current valid quantity information is not zero, then determining the remaining power information corresponding to the smallest power value in the valid device according to the first sorting rule, and controlling the valid device to move to the position corresponding to the ranging position information to perform an operation;

[0054] If the quantity value corresponding to the current valid quantity information is not zero, the remaining power information corresponding to the largest power value is determined in the invalid device according to the preset second sorting rule, and the invalid device is controlled to move to the position corresponding to the ranging position information to operate and output an insufficient power signal.

[0055] By adopting the above technical solution, when the weather is consistent with the pre-set weather that can cause significant interference to the ranging value, it may be necessary to move the car body to improve the accuracy of the car body positioning. At this time, the operating time of the ranging equipment is longer. According to this situation, the power value required by the ranging equipment is corrected to determine the ranging equipment that meets the requirements for mobile operation. When there is no ranging equipment that meets the power requirements in the base station, the ranging equipment with the highest remaining power is controlled to operate and output a low power signal, so that the staff can intervene in the use of the ranging equipment to deal with the low power situation.

[0056] Optionally, the method of moving the car along the track includes:

[0057] Control the car to move with a preset driving force and obtain the overall train weight information and the car's moving speed information after a preset fixed time;

[0058] Determine acceleration change information based on movement speed information and fixed duration;

[0059] Calculate the resistance information based on the acceleration change information, vehicle weight information and driving force;

[0060] Calculating the deceleration change information based on the resistance information and the vehicle weight information;

[0061] Calculate the acceleration duration information based on the deceleration change information, the acceleration change information, and the difference distance information;

[0062] The car body is controlled to move with driving force for a time period corresponding to the acceleration time period information, and then the driving force supply is cut off.

[0063] By adopting the above technical solution, when the weather is consistent with the pre-set weather that can cause significant interference to the ranging value and the car body needs to move toward the ranging equipment, the track friction will change due to weather reasons. At this time, the track friction is calculated to determine the length of time the car body needs to accelerate, so that the car body can move to the required position more accurately.

[0064] Optionally, after the acceleration duration information is determined, the car body movement control method further includes:

[0065] Determine target speed information based on acceleration change information and acceleration duration information;

[0066] Determine whether the speed corresponding to the target speed information is greater than the preset safety speed;

[0067] If the speed corresponding to the target speed information is not greater than the safe speed, the car body is controlled to move with the driving force for the time corresponding to the acceleration time information and then the driving force supply is cut off;

[0068] If the speed corresponding to the target speed information is greater than the safe speed, the speed change duration information is calculated based on the safe speed and the acceleration change information, and the speed change distance information is calculated based on the safe speed, the acceleration change information, and the deceleration change information;

[0069] Calculating the difference between the difference distance information and the speed change distance information to determine the uniform speed distance information, and calculating the uniform speed duration information based on the uniform speed distance information and the safe speed;

[0070] The car body is controlled to move with driving force for the time corresponding to the speed change duration information, and then switched to the driving force corresponding to the resistance information to supply the time corresponding to the uniform speed duration information, and the power supply is cut off after the time corresponding to the uniform speed duration information.

[0071] By adopting the above technical solution, the speed of the car body is determined according to the maximum speed at which the car body can move in the freight yard, so that it can move more safely on the track and more accurately to the required position.

[0072] In a second aspect, the present application provides a car body positioning system, which adopts the following technical solutions:

[0073] A car skin positioning system, comprising:

[0074] Acquisition module, used to obtain ranging track information;

[0075] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0076] The processing module controls the operation of the corresponding preset distance measuring device according to the ranging track information so that the acquisition module obtains characteristic distance information between the distance measuring device and each characteristic point on the front end surface of the first car body and offset angle information relative to the preset center line;

[0077] The processing module calculates the projection distance information based on the offset angle information and the feature distance information;

[0078] The processing module performs mean calculation based on each projection distance information to determine mean distance information, and performs difference calculation based on the projection distance information and the mean distance information to determine difference distance information;

[0079] A judgment module, used to judge whether the distance value corresponding to the difference distance information is less than a preset allowable error value;

[0080] If the judging module determines that the distance value corresponding to the difference distance information is not less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as an invalid point;

[0081] If the judgment module determines that the distance value corresponding to the difference distance information is less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as a valid point;

[0082] The processing module recalculates the mean value at the effective point based on the projection distance information to determine the straight-line distance information, and locates the car body based on the position of the distance measuring device and the straight-line distance information.

[0083] By adopting the above technical solution, the acquisition module first obtains the ranging track information to know the track where the car body needs to be positioned, the processing module controls the corresponding ranging equipment to perform ranging operations according to the track, and the processing module calculates the distance between the ranging equipment and the first car body through the distance and angle between each point between the ranging equipment and the front end surface of the first car body, so that the first car body can be better positioned; among them, invalid feature points such as error protrusions or depressions can be excluded to further improve the accuracy of the positioning of the first car body.

[0084] In a third aspect, the present application provides a smart terminal that adopts the following technical solution:

[0085] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned car body positioning methods.

[0086] By adopting the above technical solution and using an intelligent terminal, the distance measurement track information is first obtained to know the track where the car body needs to be positioned, and the corresponding distance measurement equipment is controlled according to the track to perform the distance measurement operation. The distance between the distance measurement equipment and the front end surface of the first car body and the angle between the distance measurement equipment and the first car body are used to calculate the distance between the distance measurement equipment and the first car body, so that the first car body can be better positioned; wherein, invalid feature points such as error protrusions or depressions can be excluded to further improve the accuracy of the positioning of the first car body.

[0087] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which has the characteristics of improving the accuracy of positioning the first car body, and adopts the following technical solutions:

[0088] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned car body positioning methods.

[0089] By adopting the above technical solution, a computer program for the car body positioning method is stored in a storage medium. The distance measurement track information is first obtained to know the track where the car body positioning is required, and the corresponding distance measurement equipment is controlled according to the track to perform the distance measurement operation. The distance between the distance measurement equipment and the front end surface of the first car body and the angle between each point are used to calculate the distance between the distance measurement equipment and the first car body, so that the first car body can be better positioned. Among them, invalid feature points such as error protrusions or depressions can be excluded to further improve the accuracy of the positioning of the first car body.

[0090] In summary, this application includes at least one of the following beneficial technical effects:

[0091] 1. The use of distance measuring equipment and the elimination of invalid feature points can more accurately locate the position of the first car body;

[0092] 2. Control the distance between the first car and the distance measuring equipment according to weather conditions to reduce the occurrence of large measurement data errors due to weather conditions;

[0093] 3. During the movement of the car body, the car body driving condition can be controlled according to the change of the track friction resistance, so that the car body can be moved to the required position more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] Figure 1 It is a flow chart of the car body positioning method.

[0095] Figure 2 It is a flow chart of the operating method of the ranging equipment.

[0096] Figure 3 It is a schematic diagram of the relative positions of the track, ranging equipment and base station.

[0097] Figure 4 It is a flow chart of the method for selecting the power of the ranging device.

[0098] Figure 5 It is a flow chart of the method for reducing data errors.

[0099] Figure 6 It is a flow chart of the ranging device selection method.

[0100] Figure 7 It is a flow chart of the car body movement control method.

[0101] Figure 8 It is a flow chart of the method for determining the car speed.

[0102] Figure 9 It is a module flow chart of the car body positioning method. DETAILED DESCRIPTION

[0103] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-9 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0104] The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0105] An embodiment of the present application discloses a car body positioning method. When the car body needs to be positioned, the distance measuring device is controlled to move to the corresponding track to locate the position of the first car body, and the position between the first car body and the distance measuring device can be limited according to weather conditions to reduce the error interference on the distance measurement data caused by weather reasons, thereby further improving the accuracy of the positioning of the first car body.

[0106] Reference Figure 1 The method flow of car body positioning includes the following steps:

[0107] Step S100: Acquire ranging track information.

[0108] The track is the track for the movement of train wagons. The track corresponding to the ranging track information is the track where the wagon to be positioned is located. This information can be obtained by judging the movement of the train on the track, or by the train driver manually inputting the track situation to obtain this information. The specific method is set by the staff according to the actual situation and will not be elaborated on here.

[0109] Step S101: Control the operation of the corresponding preset distance measuring equipment according to the distance measuring track information to obtain characteristic distance information between the distance measuring equipment and each characteristic point on the front end surface of the first car body and offset angle information relative to the preset center line.

[0110] The ranging device is a device that can measure distance, which can be a laser rangefinder. In this application, the ranging device is located at the track terminal and facing the front end of the first car body. The corresponding ranging device operation is controlled according to the ranging track information to enable the ranging device to measure the distance between itself and the first car body; the distance value corresponding to the characteristic distance information is the distance between the ranging device emission point and each characteristic point on the front end of the first car body, which can be obtained by the ranging device itself; the angle value corresponding to the offset angle information is the angle between the straight line formed by the ranging device emission point and the characteristic point and the center line, which is the acute angle therein, and the center line is the straight line formed by the projection point of the ranging device emission point on the front end of the first car body and the ranging device emission point, which is set in advance by the staff according to the actual installation position of the ranging device.

[0111] Step S102: performing calculation based on the offset angle information and the characteristic distance information to determine the projection distance information.

[0112] The distance value corresponding to the projection distance information is the projection value of the straight line formed by the emission point and the feature point on the center line. The calculation formula is: ,in is the distance corresponding to the feature distance information, is the distance corresponding to the projection distance information, It is the angle value corresponding to the offset angle information.

[0113] Step S103: performing mean calculation based on each projection distance information to determine mean distance information, and performing difference calculation based on the projection distance information and the mean distance information to determine difference distance information.

[0114] The distance value corresponding to the mean distance information is the value obtained by calculating the mean of the distance values ​​corresponding to each projection distance information. The distance corresponding to the difference distance information is the difference between the distance value corresponding to each projection distance information and the distance value corresponding to the mean distance information, and the difference is an absolute value.

[0115] Step S104: determining whether the distance value corresponding to the difference distance information is smaller than a preset allowable error value.

[0116] The allowable error value is the maximum difference between the distance corresponding to the allowable projection distance information and the distance corresponding to the mean distance information set by the staff. The purpose of the judgment is to know whether the difference distance information corresponding to the current feature point meets the requirements.

[0117] Step S1041: If the distance value corresponding to the difference distance information is not less than the allowable error value, the feature point corresponding to the difference distance information is defined as an invalid point.

[0118] When the distance value corresponding to the difference distance information is not less than the allowable error value, it means that the difference is large. At this time, there may be a bulge or depression on the front end surface of the car body, which makes the feature point unable to be used as a reference point for calculating the distance between the ranging equipment and the car body. Therefore, the feature point corresponding to the difference distance information is defined as an invalid point for identification, so as to facilitate the subsequent distinction of the feature points on the front end surface of the car body.

[0119] Step S1042: If the distance value corresponding to the difference distance information is less than the allowable error value, the feature point corresponding to the difference distance information is defined as a valid point.

[0120] When the distance value corresponding to the difference distance information is less than the allowable error value, it means that the feature point can be used as a reference point for calculating the distance between the distance measuring device and the car body. Therefore, the feature point corresponding to the difference distance information is defined as a valid point for identification, so as to facilitate the subsequent distinction of the feature points on the front end surface of the car body.

[0121] Step S105: recalculating the mean value at the valid point based on the projection distance information to determine the straight-line distance information, and positioning the car body based on the position of the distance measuring device and the straight-line distance information.

[0122] The distance corresponding to the straight-line distance information is the approximate distance between the distance measuring device and the front end face of the first car body. This distance is obtained by averaging the projection distance information of the effective points. Compared with the difference distance information, it has higher accuracy, making the positioning of the first car body more accurate. Based on the position of the distance measuring device and the straight-line distance information, the more precise position of the front end face of the first car body on the track can be determined, thereby realizing the positioning of the car body.

[0123] Reference Figure 2 , the method for controlling the operation of the ranging equipment includes:

[0124] Step S200: Obtain subsequent status information of the track.

[0125] The status corresponding to the subsequent status information is whether the track needs to be operated within the set time. The time is set by the staff according to the actual situation and is not explained in detail. If a car will move to the track for unloading within the set time, the corresponding status is the waiting state. If no car will move to the track for unloading within the set time, the corresponding status is the idle state. The status can be obtained through the track train schedule.

[0126] Step S201: determining whether the state corresponding to the subsequent state information is consistent with the preset pending operation state.

[0127] The purpose of the judgment is to know whether a train will move into the track within the set time, so as to determine whether the distance measuring equipment is needed to locate the car on the track.

[0128] Step S2011: If the state corresponding to the subsequent state information is inconsistent with the pending operation state, the track is defined as an idle track.

[0129] When the status corresponding to the subsequent status information is inconsistent with the pending operation status, it means that no train will stop to unload the track within the set time. At this time, the track is defined as an idle track for identification, so as to distinguish the tracks and facilitate the subsequent control of the ranging equipment.

[0130] Step S2012: If the state corresponding to the subsequent state information is consistent with the waiting state, the track is defined as a standby track.

[0131] When the status corresponding to the subsequent status information is consistent with the pending operation status, it means that a train will stop at the track for unloading operations within the set time. At this time, the track is defined as a standby track for identification, so as to distinguish the tracks and facilitate the subsequent control of the ranging equipment.

[0132] Step S202: Acquire the in-use number information of the track corresponding to the ranging track information and the standby number information of the standby track.

[0133] The number value corresponding to the usage number information is the number value of the track where the car body currently needs to be positioned and measured. The standby number information is the number value of the standby track. The corresponding number values ​​are arranged in advance by the staff. Among them, the smaller the number value, the closer it is to the base station used to store the ranging equipment.

[0134] Step S203: Determine whether the number value corresponding to the standby number information is before the number value corresponding to the used number information.

[0135] The purpose of the judgment is to find out whether other unused tracks will be affected when the distance measuring equipment operates on the track where the car body positioning is currently required.

[0136] Step S2031: If the number value corresponding to the standby number information is not before the number value corresponding to the active number information, the standby track corresponding to the standby number information is defined as an unaffected track.

[0137] When the number value corresponding to the standby number information is not before the number value corresponding to the active number information, it means that when a distance measuring device is operating on the track where car body positioning is currently required, there will be no situation where the distance measuring device blocks the movement of other distance measuring devices. At this time, the standby track corresponding to the standby number information is defined as an unaffected track for identification, so as to facilitate the subsequent control of the distance measuring devices of different standby tracks.

[0138] Step S2032: If the number value corresponding to the standby number information is before the number value corresponding to the active number information, define the standby track corresponding to the standby number information as an affected track.

[0139] When the number value corresponding to the standby number information is before the number value corresponding to the active number information, it means that when a distance measuring device is operating on the track where car body positioning is currently required, there is a situation where the distance measuring device blocks the movement of other distance measuring devices. At this time, the standby track corresponding to the standby number information is defined as an affected track for identification, so as to facilitate the subsequent control of the distance measuring devices of different standby tracks.

[0140] Step S204: performing matching analysis between the ranging track information and the ranging position information stored in the preset position database to determine the ranging position information corresponding to the ranging track information.

[0141] The position corresponding to the ranging position information is the position where the ranging equipment needs to be when positioning the car body on the track. It is set in advance by the staff according to the conditions of each track. Different ranging track information corresponds to different ranging position information. The staff can establish a position database based on the correspondence between the two. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0142] Step S205: Determine the impact quantity information based on the impact track count, control a ranging device in a preset base station to move out of the quantity value corresponding to the impact quantity information to pass through the position corresponding to the ranging position information, and control a ranging device in the base station to move to the position corresponding to the ranging position information again.

[0143] The quantity value corresponding to the affected quantity information is the total quantity value of the affected track, which is obtained by counting. The base station is a site for storing a number of ranging devices. The ranging devices can be charged in the base station and can be used for rain shelter and other operations to reduce the damage caused by external factors when the ranging devices are not in use. At the same time, the base station can also be equipped with solar panels to provide power to the ranging devices. Figure 3 The base station is provided with a track for moving the ranging equipment at the terminal of each track. The track is arranged perpendicular to each track. The ranging equipment can be moved out of the base station through the track and moved to the position corresponding to the ranging; the ranging equipment corresponding to the quantity value of the affected quantity information is moved out to pass through the position corresponding to the ranging position information, so that the ranging equipment can be used when the subsequent affected track needs to be operated. The specific moving position can be the position corresponding to the ranging position information corresponding to each affected track; a ranging equipment is controlled to move to the position corresponding to the ranging position information, so that the ranging equipment can perform the ranging operation on the car body that needs to be positioned at present.

[0144] Reference Figure 4 , the selection method of ranging equipment includes:

[0145] Step S300: Obtaining the remaining power information of the ranging device.

[0146] The power value corresponding to the remaining power information is the available power value currently stored in the ranging device, which can be achieved by installing a power monitoring module in the ranging device. This is a conventional technical means for those skilled in the art and will not be described in detail.

[0147] Step S301: Calculate the moving distance information based on the ranging position information and the preset base station position.

[0148] The base station position is the coordinate point of the base station in the set coordinate system, which is set in advance by the staff. The distance value corresponding to the moving distance information is the distance between the base station and the destination to which the ranging device needs to move, and is obtained by calculating the position coordinates of the two.

[0149] Step S302: performing matching analysis between the movement distance information and the device power information stored in the preset power database to determine the device power information corresponding to the movement distance information.

[0150] The power value corresponding to the device power information is the minimum power required for the ranging device to first move to the required distance measurement position, then perform the ranging operation, and finally move back to the base station. The staff matches different moving distance information with the device power information based on the power consumption of the ranging device, thereby realizing the establishment of a power database. The establishment method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0151] Step S303: Determine whether the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information.

[0152] The purpose of the judgment is to know whether the ranging equipment in the base station can perform mobile ranging operations.

[0153] Step S3031: If the power value corresponding to the remaining power information is not greater than the power value corresponding to the device power information, the ranging device is defined as an invalid device.

[0154] When the power value corresponding to the remaining power information is not greater than the power value corresponding to the device power information, it means that the ranging device cannot perform the current task. At this time, the ranging device is defined as an invalid device for identification, so as to facilitate the subsequent distinction between different ranging devices and the subsequent different control of the ranging devices.

[0155] Step S3032: If the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information, the ranging device is defined as a valid device.

[0156] When the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information, it means that the ranging device can perform the current task. At this time, the ranging device is defined as a valid device for identification, so as to facilitate the subsequent distinction between different ranging devices and the subsequent different control of the ranging devices.

[0157] Step S304: Determine the remaining power information corresponding to the smallest power value among the valid devices according to a preset first sorting rule, and control the valid device to move to the position corresponding to the ranging position information to perform an operation.

[0158] The first sorting rule is a method that can sort the size of numerical values, such as the bubble method. According to the first sorting rule, the ranging device with the smallest remaining power among all valid devices can be determined. At this time, the ranging device is controlled to move to the position corresponding to the ranging position information to perform operations to perform car body positioning operations; controlling the movement of the valid device with the smallest remaining power can enable the presence of valid devices with high power in the base station. When the power required for the next operation is large, there are still ranging devices that can move and operate, thereby improving the stability of the track car body positioning operations.

[0159] Reference Figure 5 After the straight-line distance information is determined, methods to improve positioning accuracy include:

[0160] Step S400: Obtain weather information.

[0161] The weather condition information corresponds to the weather conditions in the area where the freight yard track is located, including sunny days, rainy days, foggy days, etc. The weather conditions can be obtained by connecting to the weather forecast.

[0162] Step S401: Determine whether the situation corresponding to the weather condition information is consistent with the preset impact situation.

[0163] The impact conditions are weather conditions set by the staff that can affect the distance measurement operation, such as rainy days, foggy days, snowy days, etc. The purpose of the judgment is to find out whether the data measured by the distance measurement equipment will be affected by the weather conditions.

[0164] Step S4011: If the situation corresponding to the weather condition information is inconsistent with the impact situation, the car body is positioned according to the straight-line distance information.

[0165] When the situation corresponding to the weather condition information is inconsistent with the impact situation, it means that the current weather will not interfere with the measurement data of the ranging equipment. At this time, the car body can be positioned according to the straight-line distance information.

[0166] Step S4012: If the situation corresponding to the weather condition information is consistent with the impact situation, it is determined whether the distance value corresponding to the straight-line distance information is less than a preset upper limit accuracy value.

[0167] When the situation corresponding to the weather condition information is consistent with the impact situation, it means that the current weather will interfere with the measurement data of the distance measuring equipment, and further judgment is needed on the car body positioning situation; the upper limit accuracy value is the preferred distance between the distance measuring equipment and the car body when the measured distance between the two is more accurate under the impact weather. The purpose of the judgment is to know whether the currently measured straight-line distance information is more accurate.

[0168] Step S40121: If the distance value corresponding to the straight-line distance information is less than the upper limit accuracy value, the car body is positioned according to the straight-line distance information.

[0169] When the distance value corresponding to the straight-line distance information is less than the upper limit accuracy value, it means that the distance between the distance measuring equipment and the first car body is close at this time, and the straight-line distance information obtained at this time is more accurate. At this time, the car body can be positioned according to the straight-line distance information.

[0170] Step S40122: If the distance value corresponding to the straight-line distance information is not less than the upper limit accurate value, the difference between the straight-line distance information and the upper limit accurate value is calculated to determine the difference distance information, and the car body is controlled to move along the track the distance corresponding to the difference distance information, and the car body is positioned according to the straight-line distance information at this time.

[0171] When the distance value corresponding to the straight-line distance information is not less than the upper limit accurate value, it means that the distance between the distance measuring device and the first car body is far away. At this time, the error of the straight-line distance information obtained is large, and the car body needs to be repositioned. The distance value corresponding to the difference distance information is the distance that needs to be adjusted from the current car body to the distance measuring device. It is obtained by subtracting the upper limit accurate value from the distance value corresponding to the straight-line distance information. The car body is controlled to move along the track direction by the distance corresponding to the difference distance information so that the car body can be close to the distance measuring device, thereby reducing the distance measurement error, and repositioning the car body according to the current straight-line distance information, so that the car body positioning is more accurate.

[0172] Reference Figure 6 , the method for selecting the ranging device also includes:

[0173] Step S500: Determine valid quantity information according to valid device count.

[0174] The quantity value corresponding to the valid quantity information is the total quantity value of valid devices, which is obtained through the counting method.

[0175] Step S501: Determine whether the quantity value corresponding to the valid quantity information is zero.

[0176] The purpose of the judgment is to find out whether there is a ranging device in the base station that meets the power requirements to provide the operation.

[0177] Step S5011: If the quantity value corresponding to the valid quantity information is zero, an operation failure signal is output.

[0178] When the quantity value corresponding to the valid quantity information is zero, it means that there is no ranging equipment that meets the power requirements inside the base station. At this time, an inoperable signal is output to inform the staff so that the staff can intervene in time. The inoperable signal can be the indicator light on the staff's operation panel. The specific method is set by the staff according to the actual situation and will not be elaborated here.

[0179] Step S5012: If the quantity value corresponding to the valid quantity information is not zero, then the weather condition information stored in the preset variable database is matched and analyzed with the change power information to determine the change power information corresponding to the weather condition information.

[0180] When the quantity value corresponding to the valid quantity information is not zero, it means that there is a distance measuring device that meets the power requirements for use. At this time, the operating time of the distance measuring device may be extended due to weather reasons. At this time, the power required for the distance measuring device needs to be re-determined; the power value corresponding to the variable power information is the power value that needs to be adjusted for the required power. Different weather condition information corresponds to different variable power information. For example, when the weather condition information corresponds to sunny weather, the value corresponding to the variable power information is zero. When the weather condition information corresponds to rainy weather, the value corresponding to the variable power information is 10%. The specific value is set by the staff according to the actual situation. A variable database can be established according to different weather condition information and variable power information. The establishment method is a conventional technical means of personnel in this field and will not be elaborated on.

[0181] Step S502: Calculate the sum of the device power information and the changed power information to update the device power information, and update the effective quantity information according to the new device power information.

[0182] The power value corresponding to the original device power information is added to the power value corresponding to the changed quantitative information to update the power situation required by the ranging device. At this time, the effective device is updated according to the new device power information, thereby updating the effective quantity information to facilitate subsequent control of the ranging device.

[0183] Step S503: Determine whether the quantity value corresponding to the current valid quantity information is zero.

[0184] The purpose of the judgment is to find out whether there is a ranging device in the base station with enough power to meet the operation requirements after the power required by the ranging device changes.

[0185] Step S5031: If the quantity value corresponding to the current valid quantity information is not zero, then the remaining power information corresponding to the smallest power value is determined in the valid device according to the first sorting rule, and the valid device is controlled to move to the position corresponding to the ranging position information to perform operation.

[0186] When the quantity value corresponding to the current valid quantity information is not zero, it indicates that there is a ranging device in the base station that meets the power requirement. At this time, the ranging device with the smallest power among all valid devices is determined according to the first sorting rule to control the valid device to operate.

[0187] Step S5032: If the quantity value corresponding to the current valid quantity information is not zero, the remaining power information corresponding to the largest power value is determined in the invalid device according to the preset second sorting rule, and the invalid device is controlled to move to the position corresponding to the ranging position information to operate and output an insufficient power signal.

[0188] When the quantity value corresponding to the current valid quantity information is not zero, it means that there is no ranging device in the base station that meets the power requirements, but there is a ranging device that can move to the ranging position and operate for a certain period of time, and the required ranging device needs to be further determined; the second sorting rule is a pre-set method that can sort large and small values, such as the bubble method. According to the second sorting rule, the ranging device with the most power among the invalid devices can be determined to control the movement of the ranging device for operation, and output an insufficient power signal so that the staff can be informed of the situation in time, so that the staff can intervene before the power of the operating ranging device is completely consumed, thereby improving the stability of the car body positioning and ranging.

[0189] Reference Figure 7 , the methods of moving the car along the track include:

[0190] Step S600: Control the car body to move with a preset driving force, and obtain the overall train load weight information and the moving speed information of the car body after a preset fixed time period.

[0191] The driving force is the force that drives the train to accelerate and move. This value is fixed and input in advance by the staff. The weight corresponding to the on-board weight information is the weight of the entire train, which includes the weight of the train itself, the weight of the on-board cargo, and the weight of the personnel. The weight of the personnel can be obtained by the personnel passing through the weighing area before boarding the train. The fixed duration is the duration set by the staff. This duration is generally short to reduce the occurrence of the train moving out of the track. The speed corresponding to the moving speed information is the corresponding speed of the car body after the car body is accelerated by the driving force for a fixed period of time, which is obtained through a speedometer.

[0192] Step S601: Determine acceleration change information based on movement speed information and fixed duration.

[0193] The value corresponding to the acceleration change information is the acceleration of the car body within a fixed time period, which is obtained by dividing the speed corresponding to the moving speed information by the fixed time period.

[0194] Step S602: Calculate resistance information based on acceleration change information, vehicle weight information, and driving force.

[0195] The value corresponding to the resistance information is the resistance value encountered by the train during movement, and the calculation formula is: ,in As driving force, is the weight corresponding to the vehicle weight information, is the value corresponding to the acceleration change information, This is the value corresponding to the resistance information.

[0196] Step S603: Calculate the deceleration change information based on the resistance information and the vehicle weight information.

[0197] The value corresponding to the deceleration change information is the acceleration of the car body when it is decelerating by the resistance corresponding to the resistance information, and is obtained by dividing the value corresponding to the resistance information by the weight value corresponding to the vehicle weight information.

[0198] Step S604: performing calculations based on the deceleration change information, the acceleration change information, and the difference distance information to determine the acceleration duration information.

[0199] The acceleration duration information corresponds to the acceleration duration when the car skin can move the distance corresponding to the difference distance information after the acceleration and deceleration operation. The calculation method is ,in is the value corresponding to the deceleration change information, is the value corresponding to the difference distance information, The duration corresponding to the acceleration duration information.

[0200] Step S605: Control the car body to move with the driving force for the time period corresponding to the acceleration time period information, and then cut off the driving force supply.

[0201] The car body is controlled to accelerate for the time period corresponding to the acceleration time information, and the driving force supply is cut off after the time period is reached, so that the car body moves to the required position, which facilitates the car body positioning operation.

[0202] Reference Figure 8 After the acceleration duration information is determined, the car body movement control method further includes:

[0203] Step S700: Determine target speed information according to the acceleration change information and the acceleration duration information.

[0204] The speed corresponding to the target speed information is the maximum speed that the car body needs to reach during the acceleration and deceleration operation, which is obtained by multiplying the value corresponding to the acceleration change information by the duration value corresponding to the acceleration duration information.

[0205] Step S701: Determine whether the speed corresponding to the target speed information is greater than a preset safety speed.

[0206] The safe speed is the maximum speed allowed for the car body when approaching the track terminal. The specific value is set by the staff based on the actual situation. The purpose of the judgment is to know whether the current maximum speed is allowed.

[0207] Step S7011: If the speed corresponding to the target speed information is not greater than the safe speed, the car body is controlled to move with the driving force for the time corresponding to the acceleration time information, and then the driving force supply is cut off.

[0208] When the speed corresponding to the target speed information is not greater than the safe speed, it means that the target speed is allowed. At this time, the car body is controlled to move for the time corresponding to the acceleration time information and then the driving force supply is switched to move the car body to the desired position.

[0209] Step S7012: If the speed corresponding to the target speed information is greater than the safe speed, the speed change duration information is calculated based on the safe speed and the acceleration change information, and the speed change distance information is calculated based on the safe speed, the acceleration change information, and the deceleration change information.

[0210] When the speed corresponding to the target speed information is greater than the safe speed, it means that the maximum speed required at this time is not allowed, and the car body moving speed needs to be replanned. The time corresponding to the speed change duration information is the time required for the car body to accelerate to the safe speed, which is obtained by dividing the safe speed by the value corresponding to the acceleration change information. The distance value corresponding to the speed change distance information is the distance length required for the car body to accelerate to the safe speed and decelerate to 0. The calculation formula is ,in For safe speed, It is the distance value corresponding to the speed change distance information.

[0211] Step S702: Calculate the difference between the difference distance information and the speed change distance information to determine the uniform speed distance information, and calculate the uniform speed duration information based on the uniform speed distance information and the safe speed.

[0212] The distance value corresponding to the uniform speed distance information is the distance that the car body needs to travel at a uniform speed at a safe speed, which is obtained by subtracting the distance value corresponding to the variable speed distance information from the distance value corresponding to the difference distance information. The duration value corresponding to the uniform speed duration information is the duration that the car body travels at a safe speed, which is obtained by dividing the distance value corresponding to the uniform speed distance information by the safe speed.

[0213] Step S703: Control the car body to move with driving force for the time corresponding to the speed change duration information, then switch to the driving force corresponding to the resistance information to supply the time corresponding to the uniform speed duration information, and cut off the power supply after the time corresponding to the uniform speed duration information.

[0214] Control the car body to move to a safe speed with driving force, and then control the car body to move at a constant speed at a safe speed for a certain period of time before cutting off the power increase so that the car body can move to the required position, which is convenient for subsequent positioning operations of the car body.

[0215] Reference Figure 9 Based on the same inventive concept, an embodiment of the present invention provides a car body positioning system, comprising:

[0216] Acquisition module, used to obtain ranging track information;

[0217] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0218] The processing module controls the operation of the corresponding preset distance measuring device according to the ranging track information so that the acquisition module obtains characteristic distance information between the distance measuring device and each characteristic point on the front end surface of the first car body and offset angle information relative to the preset center line;

[0219] The processing module calculates the projection distance information based on the offset angle information and the feature distance information;

[0220] The processing module performs mean calculation based on each projection distance information to determine mean distance information, and performs difference calculation based on the projection distance information and the mean distance information to determine difference distance information;

[0221] A judgment module, used to judge whether the distance value corresponding to the difference distance information is less than a preset allowable error value;

[0222] If the judging module determines that the distance value corresponding to the difference distance information is not less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as an invalid point;

[0223] If the judgment module determines that the distance value corresponding to the difference distance information is less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as a valid point;

[0224] The processing module recalculates the mean value based on the projection distance information at the valid point to determine the straight-line distance information, and locates the car body based on the position of the distance measuring device and the straight-line distance information;

[0225] The equipment movement determination module determines and controls the movement of the distance measuring equipment according to the required distance measurement track conditions, so that the distance measurement and positioning operations of each track car can be carried out in an orderly manner;

[0226] The ranging device selection module selects the ranging device according to the power required and remaining power of the ranging device to improve the stability of the ranging device during use;

[0227] The data optimization and determination module determines whether the weather conditions will cause large errors in the distance measurement values. If errors are likely to occur, the module controls the movement of the car body to reduce the errors, optimizes the acquired data, and improves the accuracy of the first car body positioning.

[0228] The distance measuring device control module selects the most suitable distance measuring device according to weather conditions and power requirements, ensuring better stability of the distance measuring device during operation.

[0229] The car body movement control module limits the car body driving time according to the actual situation of track friction so that the car body can move to the required position;

[0230] The car body drive control module controls the drive of the car body according to the maximum speed at which the car body can travel at the current track, so that the car body can move to the required position while also being able to operate relatively safely.

[0231] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0232] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a car body positioning method.

[0233] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0234] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the car body positioning method.

[0235] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0236] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise specified, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise specified, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A car body positioning method, characterized in that: include: Get ranging track information; According to the ranging track information, the corresponding preset ranging equipment is controlled to obtain characteristic distance information between the ranging equipment and each characteristic point on the front end of the first car body, as well as offset angle information relative to the preset center line; Calculate the projection distance information based on the offset angle information and the feature distance information; Performing mean calculation based on each projection distance information to determine mean distance information, and performing difference calculation based on the projection distance information and the mean distance information to determine difference distance information; Determine whether the distance value corresponding to the difference distance information is less than a preset allowable error value; If the distance value corresponding to the difference distance information is not less than the allowable error value, the feature point corresponding to the difference distance information is defined as an invalid point; If the distance value corresponding to the difference distance information is less than the allowable error value, the feature point corresponding to the difference distance information is defined as a valid point; Recalculate the average value at the valid point based on the projected distance information to determine the straight-line distance information, and locate the car body based on the position of the distance measuring device and the straight-line distance information; The method for selecting a ranging device includes: obtaining remaining power information of the ranging device; determining movement distance information by calculation based on ranging position information and a preset base station position; determining device power information corresponding to the movement distance information by matching and analyzing the movement distance information and device power information stored in a preset power database; judging whether a power value corresponding to the remaining power information is greater than a power value corresponding to the device power information; if the power value corresponding to the remaining power information is not greater than the power value corresponding to the device power information, defining the ranging device as an invalid device; if the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information, defining the ranging device as a valid device; determining the remaining power information corresponding to the smallest power value among the valid devices according to a preset first sorting rule, and controlling the valid device to move to the position corresponding to the ranging position information to perform an operation.

2. The car body positioning method according to claim 1, characterized in that ,The method of controlling the operation of the ranging device includes: Obtain the subsequent status information of the track; determine whether the status corresponding to the subsequent status information is consistent with the preset pending operation status; If the status corresponding to the subsequent status information is inconsistent with the pending operation status, the track is defined as an idle track; If the status corresponding to the subsequent status information is consistent with the waiting status, the track is defined as the standby track; Obtaining the track number information corresponding to the ranging track information and the standby track number information; Determine whether the number value corresponding to the standby number information is before the number value corresponding to the used number information; If the number value corresponding to the standby number information is not before the number value corresponding to the active number information, the standby track corresponding to the standby number information is defined as an unaffected track; If the number value corresponding to the standby number information is before the number value corresponding to the active number information, the standby track corresponding to the standby number information is defined as the affected track; Matching and analyzing the ranging track information and the ranging position information stored in the preset position database to determine the ranging position information corresponding to the ranging track information; The affected track count is used to determine the affected quantity information, and a ranging device in a preset base station is controlled to move out of the quantity value corresponding to the affected quantity information to pass through the position corresponding to the ranging position information, and a ranging device in the base station is controlled again to move to the position corresponding to the ranging position information.

3. The car body positioning method according to claim 1, characterized in that ,After the straight-line distance information is determined, the methods for improving positioning accuracy include: Get weather information; Determine whether the situation corresponding to the weather information is consistent with the preset impact situation; If the weather information does not correspond to the impact situation, the car body is positioned based on the straight-line distance information; If the situation corresponding to the weather condition information is consistent with the impact situation, then determine whether the distance value corresponding to the straight-line distance information is less than the preset upper limit accuracy value; If the distance value corresponding to the straight-line distance information is less than the upper limit accuracy value, the car body is positioned according to the straight-line distance information; If the distance value corresponding to the straight-line distance information is not less than the upper limit accurate value, the difference is calculated based on the straight-line distance information and the upper limit accurate value to determine the difference distance information, and the car body is controlled to move along the track the distance corresponding to the difference distance information, and the car body is positioned according to the straight-line distance information at this time.

4. The car body positioning method according to claim 3, characterized in that , the method for selecting the ranging device also includes: Determine valid quantity information based on valid device counts; Determine whether the quantity value corresponding to the valid quantity information is zero; If the quantity value corresponding to the valid quantity information is zero, an operation failure signal is output; If the quantity value corresponding to the valid quantity information is not zero, the weather condition information stored in the preset variable database is matched and analyzed with the change power information to determine the change power information corresponding to the weather condition information; Calculate the sum of the device power information and the changed power information to update the device power information, and update the effective quantity information based on the new device power information; Determine whether the quantity value corresponding to the current valid quantity information is zero; If the quantity value corresponding to the current valid quantity information is not zero, then determining the remaining power information corresponding to the smallest power value in the valid device according to the first sorting rule, and controlling the valid device to move to the position corresponding to the ranging position information to perform an operation; If the quantity value corresponding to the current valid quantity information is not zero, the remaining power information corresponding to the largest power value is determined in the invalid device according to the preset second sorting rule, and the invalid device is controlled to move to the position corresponding to the ranging position information to operate and output an insufficient power signal.

5. The car body positioning method according to claim 3, characterized in that , the methods of moving the car along the track include: Control the car to move with a preset driving force and obtain the overall train weight information and the car's moving speed information after a preset fixed time; Determine acceleration change information based on movement speed information and fixed duration; Calculate the resistance information based on the acceleration change information, vehicle weight information and driving force; Calculating the deceleration change information based on the resistance information and the vehicle weight information; Calculate the acceleration duration information based on the deceleration change information, the acceleration change information, and the difference distance information; The car body is controlled to move with driving force for a time period corresponding to the acceleration time period information, and then the driving force supply is cut off.

6. The car body positioning method according to claim 5, characterized in that After the acceleration duration information is determined, the car body movement control method further includes: Determine target speed information based on acceleration change information and acceleration duration information; Determine whether the speed corresponding to the target speed information is greater than the preset safety speed; If the speed corresponding to the target speed information is not greater than the safe speed, the car body is controlled to move with the driving force for the time corresponding to the acceleration time information and then the driving force supply is cut off; If the speed corresponding to the target speed information is greater than the safe speed, the speed change duration information is calculated based on the safe speed and the acceleration change information, and the speed change distance information is calculated based on the safe speed, the acceleration change information, and the deceleration change information; Calculating the difference between the difference distance information and the speed change distance information to determine the uniform speed distance information, and calculating the uniform speed duration information based on the uniform speed distance information and the safe speed; The car body is controlled to move with driving force for the time corresponding to the speed change duration information, and then switched to the driving force corresponding to the resistance information to supply the time corresponding to the uniform speed duration information, and the power supply is cut off after the time corresponding to the uniform speed duration information.

7. A car body positioning system, characterized in that: The system is used to execute the car body positioning method according to claim 1, comprising: Acquisition module, used to obtain ranging track information; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; The processing module controls the operation of the corresponding preset distance measuring device according to the ranging track information so that the acquisition module obtains characteristic distance information between the distance measuring device and each characteristic point on the front end surface of the first car body and offset angle information relative to the preset center line; The processing module calculates the projection distance information based on the offset angle information and the feature distance information; The processing module performs mean calculation based on each projection distance information to determine mean distance information, and performs difference calculation based on the projection distance information and the mean distance information to determine difference distance information; A judgment module, used to judge whether the distance value corresponding to the difference distance information is less than a preset allowable error value; If the judging module determines that the distance value corresponding to the difference distance information is not less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as an invalid point; If the judgment module determines that the distance value corresponding to the difference distance information is less than the allowable error value, the processing module defines the feature point corresponding to the difference distance information as a valid point; The processing module recalculates the mean value based on the projection distance information at the valid point to determine the straight-line distance information, and locates the car body based on the position of the distance measuring device and the straight-line distance information; The processing module is further used to obtain the remaining power information of the ranging device; perform calculations based on the ranging position information and the preset base station position to determine the moving distance information; determine the device power information corresponding to the moving distance information based on the matching analysis of the moving distance information and the device power information stored in the preset power database; determine whether the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information; if the power value corresponding to the remaining power information is not greater than the power value corresponding to the device power information, define the ranging device as an invalid device; if the power value corresponding to the remaining power information is greater than the power value corresponding to the device power information, define the ranging device as a valid device; determine the remaining power information with the smallest corresponding power value among the valid devices according to a preset first sorting rule, and control the valid device to move to the position corresponding to the ranging position information to perform an operation.

8. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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