Method, device and storage medium for positioning a rubber-tyred train

Abstract

The present application provides a positioning method, device and computer-readable storage medium for a rubber-tired train. The rubber-tired train can move on a preset track, and first coding identifiers and second coding identifiers are provided on at least part of the track. The method includes: obtaining the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tired train; determining the first code corresponding to the first coding identifier and determining the second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different; performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet preset conditions according to the conversion processing result; in the case of meeting the preset conditions, determining the position information of the target rubber-tired train according to the first code; and determining the current position of the target rubber-tired train according to the position information. The present application can improve the accuracy of rubber-tired train positioning and improve the convenience of maintaining the identifiers used for positioning.

Description

Technical Field

[0001] The present application relates to the technical field of positioning, and in particular, to a positioning method, device, and computer-readable storage medium for a rubber-tyred train. Background Art

[0002] Common methods for positioning tram trains include beacons, loops, axle counters, dedicated track circuits, and GPS, each with its own advantages and disadvantages. Beacons, loops, and dedicated track circuits all need to be buried below the rail surface and installation positions need to be reserved. Considering the rolling of social vehicles and municipal drainage, etc., maintenance is relatively inconvenient in case of a failure, and even the hardened road surface may be damaged. At the same time, if the tram is a rubber-tyred tram, the common train positioning methods all need to be changed or are no longer applicable. Therefore, how to position a rubber-tyred tram has become an urgent problem to be solved. Summary of the Invention

[0003] The main purpose of the present application is to provide a positioning method, device, and computer-readable storage medium for a rubber-tyred train, aiming to improve the accuracy of rubber-tyred train positioning and the convenience of maintaining the identifiers used for positioning.

[0004] In a first aspect, the present application provides a positioning method for a rubber-tyred train. The rubber-tyred train can move on a preset track, and first coding identifiers and second coding identifiers are provided on at least part of the track. The method includes:

[0005] Obtaining the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tyred train;

[0006] Determining a first code corresponding to the first coding identifier and a second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different;

[0007] Performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet a preset condition according to the result of the conversion processing;

[0008] When meeting the preset condition, determining the position information of the target rubber-tyred train according to the first code;

[0009] Determining the current position of the target rubber-tyred train according to the position information.

[0010] In a second aspect, the present application further provides a computer device, which includes a processor, a memory, and a computer program stored on the memory and executable by the processor. When the computer program is executed by the processor, the steps of the positioning method for a rubber-tyred train as described above are implemented.

[0011] In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the rubber-tired train positioning method as described above are implemented.

[0012] The present application provides a rubber-tired train positioning method, device, and computer-readable storage medium. The rubber-tired train in the present application can move on a preset track, and first coding identifiers and second coding identifiers are provided on at least part of the track. By obtaining the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tired train; determining the first code corresponding to the first coding identifier, and determining the second code corresponding to the second coding identifier, the coding methods of the first code and the second code are different; performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet a preset condition according to the conversion processing result; in the case of meeting the preset condition, determining the position information of the target rubber-tired train according to the first code; determining the current position of the target rubber-tired train according to the position information. Since it is determined whether the first code and the second code meet the preset condition to determine the position information of the target rubber-tired train, the accuracy of positioning the rubber-tired train is improved. At the same time, the first coding identifier and the second coding identifier do not need to be buried in the track surface or the ground, which is convenient for installation and improves the maintenance convenience of the identifier. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic flowchart of the rubber-tired train positioning method provided by an embodiment of the present application;

[0015] Figure 2 It is a usage scenario diagram of a coding identifier provided by an embodiment of the present application;

[0016] Figure 3 It is a schematic block diagram of the structure of a computer device related to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0017] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0018] The flowcharts shown in the accompanying drawings are only illustrative examples, not necessarily including all the contents and operations / steps, nor necessarily executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged, so the actual execution order may change according to the actual situation.

[0019] The embodiments of the present application provide a positioning method for a rubber-tired train, a computer device, and a computer-readable storage medium. Among them, the positioning method for the rubber-tired train can be applied to a terminal device, and the terminal device can be an electronic device such as a tablet computer, a notebook computer, or a desktop computer. It can also be applied to a server, and the server can be a single server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0020] Next, in conjunction with the accompanying drawings, some embodiments of the present application will be described in detail. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0021] Please refer to Figure 1 , Figure 1 , which is a schematic flowchart of a positioning method for a rubber-tired train provided by an embodiment of the present application.

[0022] Among them, the rubber-tired train provided by the present application can move on a preset track, and at least part of the track is also provided with a first coding identifier and a second coding identifier. It can be understood that the first coding identifier and the second coding identifier are used to position the rubber-tired train, and the present application determines the current position of the rubber-tired train through the first coding identifier and the second coding identifier provided on the track and the positioning method of the rubber-tired train.

[0023] As Figure 1 shown, the positioning method for the rubber-tired train includes steps S101 to S105.

[0024] Step S101, obtain the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tired train.

[0025] Exemplarily, during the running of the rubber-tyred train, since the first coding identifier and the second coding identifier are provided on the track where the rubber-tyred train runs, the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tyred train to be positioned can be determined.

[0026] Exemplarily and optionally, a photographing device is arranged on the rubber-tyred train to photograph the first coding identifier and the second coding identifier, so as to determine the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tyred train according to the photographed first coding identifier and second coding identifier.

[0027] In a specific implementation process, the first coding identifier can be arranged on both sides of the train central axis and is symmetrically distributed in a mirror image with the train central axis as the axis. Similarly, the second coding identifier is arranged in the same way as the first coding identifier, and the first coding identifier is farther away from the train central axis than the second coding identifier, so that the photographing device arranged on the rubber-tyred train can photograph the first coding identifier and the second coding identifier. Specifically, the photographing device is arranged at the bottom of the rubber-tyred train, and the photographing direction is perpendicular to the running plane of the rubber-tyred train, so that the photographing device can vertically photograph the first coding identifier and the second coding identifier to improve the recognition accuracy of the first coding identifier and the second coding identifier.

[0028] It should be noted that the above arrangement of the photographing device and the setting position of the photographing device are for exemplary illustration and do not limit the obtaining of the first coding identifier and the second coding identifier corresponding to the current position of the rubber-tyred train provided by the present application.

[0029] By analyzing the images corresponding to the first coding identifier and the second coding identifier corresponding to the current position obtained by photographing, the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tyred train can be determined, so that the current position of the target rubber-tyred train can be determined according to the first coding identifier and the second coding identifier.

[0030] Step S102: Determine the first code corresponding to the first coding identifier and determine the second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different.

[0031] Exemplarily, determine the first code indicated in the first coding identifier and determine the second code indicated in the second coding identifier. It can be understood that the first codes corresponding to different positions are different. Similarly, the second codes corresponding to different positions are also different, so that the current position of the target rubber-tyred train can be determined according to the first code and the second code.

[0032] Optionally, the encoding method of the first encoding is a binary code encoding method. In this case, the encoding method of the second encoding is a Gray code encoding method. It can be understood that there are other encoding methods for the first encoding and the second encoding, which will not be elaborated here.

[0033] In some embodiments, determining the first encoding corresponding to the first encoding identifier and determining the second encoding corresponding to the second encoding identifier includes: determining the first encoding according to multiple first color blocks and multiple second color blocks on the first encoding identifier, and determining the second encoding according to multiple first color blocks and multiple second color blocks on the second encoding identifier.

[0034] Exemplarily, as Figure 2 shown, Figure 2 FIG. is a usage scenario diagram of an encoding identifier provided by an embodiment of the present application. The first encoding identifier includes multiple first color blocks and multiple second color blocks. At the same time, the second encoding identifier also includes multiple first color blocks and multiple second color blocks. Optionally, the first encoding is determined according to the multiple first color blocks and multiple second color blocks included on the first encoding identifier, and the second encoding is determined according to the multiple first color blocks and multiple second color blocks included on the second encoding identifier.

[0035] It can be understood that when using a photographing device to photograph the first encoding identifier and the second encoding identifier, the obtained image includes multiple color blocks. Optionally, starting from the photographing midpoint and extending to both sides, a target number of color blocks are determined, so as to determine the first encoding and the second encoding according to the determined target number of color blocks. Optionally, the width of the color block is 10 mm, the length is 200 mm, and the target number is 16.

[0036] Optionally, the color block containing the start identifier in the color blocks photographed by the photographing device is used as the starting point, and the target number or the color block containing the end identifier is used as the ending point, so as to determine multiple color blocks. The start identifier and the end identifier are provided in the color block. For example, a triangle identifier is set as the start identifier in the color block, and a circular identifier is set as the end identifier. Moreover, both the start identifier and the end identifier are smaller than the color block. At the same time, the color of the start identifier is different from the color of the color block where it is located. For example, the start identifier in the color block of the first color is the second color.

[0037] In some embodiments, determining the first code based on the first color block and the second color block on the first coding identifier includes: determining the first code according to the sorting of the first color block and the second color block on the first coding identifier, the coding value corresponding to the first color block, and the coding value corresponding to the second color block; determining the second code according to the multiple first color blocks and the multiple second color blocks on the second coding identifier includes: determining the second code according to the sorting of the first color block and the second color block on the second coding identifier, the coding value corresponding to the first color block, and the coding value corresponding to the second color block.

[0038] Exemplarily, after determining the color blocks with the target number, optionally, determine the first code according to the sorting corresponding to the color blocks with the target number, and determine the second code according to the sorting corresponding to the color blocks with the target number.

[0039] In a specific implementation process, optionally, the first color block is a black color block, and the second color block is a white color block. Taking the first color block and the second color block on the first coding identifier as an example, if after determining the color blocks with the target number, the sorting of the color blocks is that the first 5 consecutive color blocks from the left are black color blocks, then the next 7 consecutive ones are white color blocks, and then the next 4 consecutive ones are black color blocks, and if it is determined that the coding value corresponding to the black color block is 0 and the coding value corresponding to the white color block is 1, then the coding sequence of the first code determined according to the above sorting of the color blocks is 0000011111110000. It can be understood that the determination method of the second code is similar to that of the first code and will not be repeated here.

[0040] It should be noted that the above target number of color blocks, the coding values corresponding to different color blocks, and the sorting of the color blocks are only examples and do not limit the target number of color blocks, the coding values corresponding to different color blocks, and the sorting of the color blocks in the present application.

[0041] It can be understood that since the first code and the second code at different positions are different, the current position of the target rubber-tyred train can be determined through the first code and the second code.

[0042] Step S103: Perform coding conversion processing on the first code and the second code, and determine whether the first code and the second code meet the preset conditions according to the conversion processing result.

[0043] Exemplarily, perform encoding conversion processing on the first encoding and the second encoding, and determine whether the first encoding and the second encoding meet the preset conditions according to the conversion processing result. It can be understood that if the conversion processing result determines that the first encoding and the second encoding meet the preset conditions, the next step of determining the position information can be carried out; if the conversion processing result determines that the first encoding and the second encoding do not meet the preset conditions, it is necessary to re-determine the first encoding and the second encoding to determine whether there is an error in the process of obtaining or determining the first encoding and the second encoding, so as to improve the accuracy of determining the current position of the target rubber-tyred train.

[0044] In some embodiments, the first encoding is a binary code, and the second encoding is a Gray code; the performing encoding conversion processing on the first encoding and the second encoding, and determining whether the first encoding and the second encoding meet the preset conditions according to the conversion processing result includes: performing Gray code encoding conversion processing on the binary code sequence corresponding to the first encoding to obtain a target Gray code sequence corresponding to the binary code sequence; performing binary code encoding conversion processing on the target Gray code sequence to obtain a target binary code sequence corresponding to the target Gray code sequence; and determining whether the first encoding and the second encoding meet the preset conditions according to the binary code sequence, the Gray code sequence corresponding to the second encoding, the target Gray code sequence, and the target binary code sequence.

[0045] Exemplarily, in the case where the first encoding is a binary encoding and the second encoding is a Gray code, perform Gray code encoding conversion processing on the binary code sequence corresponding to the first encoding to obtain a target Gray code sequence corresponding to the binary code sequence, and perform binary code encoding conversion processing on the target Gray code sequence to obtain a target binary code sequence corresponding to the target Gray code sequence, so as to be able to determine whether the first encoding and the second encoding meet the preset conditions according to the binary code sequence corresponding to the first encoding, the Gray code sequence corresponding to the second encoding, the target binary code sequence, and the target Gray code sequence.

[0046] In some embodiments, the performing Gray code encoding conversion processing on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence includes: performing exclusive OR operation processing on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence.

[0047] Optionally, perform exclusive OR operation processing on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence.

[0048] For example, a binary code sequence is composed of multiple encoded characters, and the encoded characters are 0 or 1. Exclusive OR operations are performed on the encoded characters at different positions in the binary code sequence to obtain the target Gray code sequence corresponding to the binary code sequence. Among them, the target Gray code sequence is also composed of multiple encoded characters. At least one encoded character in the binary code sequence is different from the encoded character at the same position in the target Gray code sequence. For example, the second encoded character in the binary code sequence is 0, and the second encoded character in the target Gray code sequence is 1.

[0049] In some embodiments, the exclusive OR operation is performed on the binary code sequence to obtain the target Gray code sequence corresponding to the binary code sequence, including: using the encoded character at the starting position in the binary code sequence as the encoded character at the starting position of the target Gray code sequence; performing an exclusive OR operation on the Nth encoded character and the (N + 1)th encoded character in the binary code sequence, and obtaining the Nth encoded character of the target Gray code sequence according to the operation result; where the encoded character is 0 or 1, N is a natural number greater than 0, and N is not greater than the total number of encoded characters in the binary code sequence.

[0050] Exemplarily, determine the encoded character at the starting position of the binary code sequence. Among them, the encoded character at the starting position of the binary code sequence can be determined by the first encoded identifier captured. For example, determine the encoded character at the shooting center of the first code corresponding to the first encoded identifier captured, and determine the target number of encoded characters on both sides to obtain the binary code sequence, so as to obtain the encoded character at the starting position.

[0051] Optionally, use the encoded character at the starting position of the binary code sequence as the encoded character at the starting position of the target Gray code sequence.

[0052] Exemplarily, perform an exclusive OR operation on the Nth encoded character and the (N + 1)th encoded character in the binary code sequence, and determine the Nth encoded character of the target Gray code sequence according to the operation result, where the encoded character is 0 or 1, N is a natural number greater than 0, and N is not greater than the total number of encoded characters in the binary code sequence, that is, N is not greater than the target number of determined color blocks, such as 16.

[0053] In a specific implementation process, for example, if a partial binary code sequence is 101101, the exclusive OR operation is performed on this binary code sequence as follows: the first encoded character 1 is used as the first encoded character of the target Gray code sequence; and the first encoded character 1 in the binary code sequence is exclusive ORed with the second encoded character 0 in the binary code sequence to obtain an encoded character 1, which is used as the second encoded character of the target Gray code sequence. By analogy, the target Gray code sequence 111011 is obtained. Thus, it is possible to determine whether the first encoding and the second encoding meet the preset conditions based on the binary code sequence, the Gray code sequence, the target binary code sequence, and the target Gray code sequence.

[0054] In some other embodiments, performing a conversion process of binary code encoding on the target Gray code sequence to obtain a target binary code sequence corresponding to the target Gray code sequence includes: performing an exclusive OR operation on the binary code sequence and the target Gray code sequence to obtain the target binary code sequence.

[0055] In a specific implementation process, the encoded character at the starting position of the target Gray code sequence is used as the starting encoded character of the target binary code sequence. The Nth encoded character of the binary code sequence is exclusive ORed with the (N + 1)th encoded character of the target Gray code sequence, and the Nth encoded character of the target binary code sequence is determined according to the operation result, where the encoded character is 0 or 1, and N is a natural number greater than 0 and not greater than the total number of characters in the target Gray code sequence.

[0056] For example, if the target Gray code sequence is 111011 and the binary code sequence is 101101, then according to the above processing process, a conversion process of binary code encoding is performed on the target Gray code sequence, and the obtained target binary code sequence is 101101. It can be seen that the target binary code sequence is the same as the binary code sequence.

[0057] In some embodiments, determining whether the first encoding and the second encoding meet the preset conditions according to the binary code sequence, the Gray code sequence, the target Gray code sequence, and the target binary code sequence includes: determining that the first encoding and the second encoding meet the preset conditions when the target binary code sequence is the same as the binary code sequence and the target Gray code sequence is the same as the Gray code sequence.

[0058] Exemplarily, when the target binary code sequence is the same as the binary code sequence and the target Gray code sequence is the same as the Gray code sequence, it is determined that the first encoding and the second encoding meet the preset conditions.

[0059] For example, in the case where both the binary code sequence and the target binary code sequence are 101101, and both the target Gray code sequence and the Gray code sequence are 101101, it is determined that the first code and the second code meet the preset conditions.

[0060] In the case where the target binary code sequence is different from the binary code sequence, or the target Gray code sequence is different from the Gray code sequence, it is determined that the first code and the second code fail to meet the preset conditions.

[0061] If the target binary code sequence is different from the binary code sequence, or the target Gray code sequence is different from the Gray code sequence, problems of incorrect recognition may occur due to factors such as barcode damage and occlusion, and it is determined that the first code and the second code fail to meet the preset conditions.

[0062] Step S104: In the case of meeting the preset conditions, determine the position information of the target rubber-tyred train according to the first code.

[0063] Exemplarily, in the case of determining that the first code and the second code meet the preset conditions, the position information of the target rubber-tyred train is determined according to the first code. It can be understood that the first code is a binary code, there is a corresponding binary code sequence, and the position information of the target rubber-tyred train is determined according to the binary code sequence.

[0064] In some embodiments, the step of determining the position information of the target rubber-tyred train according to the first code in the case of meeting the preset conditions includes: performing a decimal encoding conversion process on the binary code sequence corresponding to the first code to obtain the decimal code corresponding to the first code; determining the position information of the target rubber-tyred train according to the decimal code.

[0065] In the specific implementation process, the binary code sequence corresponding to the first code is converted into a decimal code, and the converted decimal code is used as the position information of the target rubber-tyred train. For example, if the binary code sequence is 101101, the obtained decimal code is 45, and the decimal code 45 can be used to indicate the position information of the target rubber-tyred train, such as 45 kilometers away from the target monitoring point.

[0066] Step S105: Determine the current position of the target rubber-tyred train according to the position information.

[0067] Exemplarily, according to the position information of the target rubber-tyred train, the current position of the target rubber-tyred train can be obtained. For example, if the target rubber-tyred train is 45 kilometers away from the target monitoring point, combined with the location of the target monitoring point, the current position of the target rubber-tyred train is determined.

[0068] In the specific implementation process, different line numbers can be assigned different coding segments, and the distances between different monitoring points can be recalculated, thereby improving the accuracy of train positioning.

[0069] The rubber-tired train positioning method provided by the above embodiment includes obtaining a first coding identifier and a second coding identifier corresponding to the current position of a target rubber-tired train; determining a first code corresponding to the first coding identifier and a second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different; performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet a preset condition according to the conversion processing result; in the case of meeting the preset condition, determining the position information of the target rubber-tired train according to the first code; and determining the current position of the target rubber-tired train according to the position information. Through the coding identifier, accurate positioning of the train can be achieved, and the setting of the coding identifier is simple, which can reduce the setting cost of the identifier. Moreover, by identifying the coding identifier, determining whether it meets the preset condition, and performing calculations under the condition of meeting the preset condition to determine the current position of the rubber-tired train, the problem of abnormal positioning of the rubber-tired train caused by inaccurate identification of the coding identifier due to environmental factors such as weather and fouling can be effectively avoided.

[0070] Please refer to Figure 3 , Figure 3 which is a schematic block diagram of the structure of a computer device provided by an embodiment of the present application. The computer device can be a server or a terminal.

[0071] As Figure 3 shown, the computer device includes a processor, a memory, and a network interface connected through a system bus. Among them, the memory can include a storage medium and an internal memory.

[0072] The storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any rubber-tired train positioning method.

[0073] The processor is used to provide computing and control capabilities to support the operation of the entire computer device.

[0074] The internal memory provides an environment for the operation of the computer program in the storage medium. When the computer program is executed by the processor, the processor can execute any rubber-tired train positioning method.

[0075] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand, Figure 3The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0076] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0077] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps:

[0078] Obtain a first coding identifier and a second coding identifier corresponding to the current position of the target rubber-tyred train;

[0079] Determine a first code corresponding to the first coding identifier and a second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different;

[0080] Perform coding conversion processing on the first code and the second code, and determine whether the first code and the second code meet a preset condition according to the conversion processing result;

[0081] In the case of meeting the preset condition, determine the position information of the target rubber-tyred train according to the first code;

[0082] Determine the current position of the target rubber-tyred train according to the position information.

[0083] In one embodiment, when the processor implements coding conversion processing on the first code and the second code and determines whether the first code and the second code meet a preset condition according to the conversion processing result, it is used to implement:

[0084] Perform conversion processing on the binary code sequence corresponding to the first code by Gray code encoding to obtain a target Gray code sequence corresponding to the binary code sequence;

[0085] Perform a conversion process of encoding the target Gray code sequence into a binary code to obtain the target binary code sequence corresponding to the target Gray code sequence;

[0086] Determine whether the first encoding and the second encoding meet a preset condition according to the binary code sequence, the Gray code sequence corresponding to the second encoding, the target Gray code sequence, and the target binary code sequence.

[0087] In one embodiment, when the processor implements determining whether the first encoding and the second encoding meet a preset condition according to the binary code sequence, the Gray code sequence, the target Gray code sequence, and the target binary code sequence, it is used to implement:

[0088] When the target binary code sequence is the same as the binary code sequence and the target Gray code sequence is the same as the Gray code sequence, determine that the first encoding and the second encoding meet the preset condition;

[0089] When the target binary code sequence is different from the binary code sequence or the target Gray code sequence is different from the Gray code sequence, determine that the first encoding and the second encoding do not meet the preset condition.

[0090] In one embodiment, when the processor implements a conversion process of encoding the binary code sequence into a Gray code to obtain the target Gray code sequence corresponding to the binary code sequence, it is used to implement:

[0091] Perform an exclusive OR operation on the binary code sequence to obtain the target Gray code sequence corresponding to the binary code sequence.

[0092] In one embodiment, when the processor implements performing an exclusive OR operation on the binary code sequence to obtain the target Gray code sequence corresponding to the binary code sequence, it is used to implement:

[0093] Use the encoding character at the starting position in the binary code sequence as the encoding character at the starting position of the target Gray code sequence;

[0094] Perform an exclusive OR operation on the Nth encoding character and the (N + 1)th encoding character in the binary code sequence, and obtain the Nth encoding character of the target Gray code sequence according to the operation result;

[0095] Wherein, the encoding character is 0 or 1, N is a natural number greater than 0, and N is not greater than the total number of encoding characters in the binary code sequence.

[0096] In one embodiment, when the processor determines the position information of the target rubber-tyred train according to the first encoding when the preset conditions are met, it is configured to:

[0097] Perform a decimal encoding conversion process on the binary code sequence corresponding to the first encoding to obtain the decimal code corresponding to the first encoding;

[0098] Determine the position information of the target rubber-tyred train according to the decimal code.

[0099] In one embodiment, when the processor determines the first encoding corresponding to the first encoding identifier and the second encoding corresponding to the second encoding identifier, it is configured to:

[0100] Determine the first encoding according to the multiple first color blocks and multiple second color blocks on the first encoding identifier, and determine the second encoding according to the multiple first color blocks and multiple second color blocks on the second encoding identifier.

[0101] In one embodiment, when the processor determines the first encoding according to the first color block and the second color block on the first encoding identifier, it is configured to:

[0102] Determine the first encoding according to the sorting of the first color block and the second color block on the first encoding identifier, the encoding value corresponding to the first color block, and the encoding value corresponding to the second color block;

[0103] When the processor determines the second encoding according to the multiple first color blocks and multiple second color blocks on the second encoding identifier, it is configured to:

[0104] Determine the second encoding according to the sorting of the first color block and the second color block on the second encoding identifier, the encoding value corresponding to the first color block, and the encoding value corresponding to the second color block.

[0105] It should be noted that those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described train positioning can refer to the corresponding process in the foregoing embodiments of the train positioning control method, and will not be elaborated herein.

[0106] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions, and the method implemented when the program instructions are executed can refer to the various embodiments of the rubber-tyred train positioning method of the present application.

[0107] Among them, the computer-readable storage medium may be an internal storage unit of the computer device described in the foregoing embodiments, such as the hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer device.

[0108] It should be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in the specification of this application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0109] It should also be understood that the term " / or" used in the specification of this application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations. It should be noted that in this document, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0110] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments. The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art in the technical field disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method for a rubber-tired vehicle, characterized in that The rubber-tyred train can move on a preset track, and first coding identifiers and second coding identifiers are provided on at least part of the track. The method includes: Obtaining the first coding identifier and the second coding identifier corresponding to the current position of the target rubber-tyred train; Determining a first code corresponding to the first coding identifier and determining a second code corresponding to the second coding identifier, where the coding methods of the first code and the second code are different; Performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet a preset condition according to the result of the conversion processing; When meeting the preset condition, determining the position information of the target rubber-tyred train according to the first code; Determining the current position of the target rubber-tyred train according to the position information; The first code is a binary code, and the second code is a Gray code. The performing coding conversion processing on the first code and the second code, and determining whether the first code and the second code meet a preset condition includes: Performing conversion processing of Gray code encoding on the binary code sequence corresponding to the first code to obtain a target Gray code sequence corresponding to the binary code sequence; Performing conversion processing of binary code encoding on the target Gray code sequence to obtain a target binary code sequence corresponding to the target Gray code sequence; Determining whether the first code and the second code meet a preset condition according to the binary code sequence, the Gray code sequence corresponding to the second code, the target Gray code sequence, and the target binary code sequence.

2. The positioning method of the rubber-tired train according to claim 1, characterized in that, The determining whether the first code and the second code meet a preset condition according to the binary code sequence, the Gray code sequence, the target Gray code sequence, and the target binary code sequence includes: When the target binary code sequence is the same as the binary code sequence and the target Gray code sequence is the same as the Gray code sequence, determining that the first code and the second code meet the preset condition; When the target binary code sequence is different from the binary code sequence or the target Gray code sequence is different from the Gray code sequence, determining that the first code and the second code do not meet the preset condition.

3. The positioning method of the rubber-tired train according to claim 1, wherein, The performing conversion processing of Gray code encoding on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence includes: Performing exclusive OR operation processing on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence.

4. The positioning method of the rubber-tyred train according to claim 2, characterized in that, The performing exclusive OR operation processing on the binary code sequence to obtain a target Gray code sequence corresponding to the binary code sequence includes: Taking the coding character at the starting position in the binary code sequence as the coding character at the starting position of the target Gray code sequence; Performing exclusive OR operation processing on the Nth coding character and the (N + 1)th coding character in the binary code sequence, and obtaining the Nth coding character of the target Gray code sequence according to the operation result; Among them, the encoded character is 0 or 1, N is a natural number greater than 0, and N is not greater than the total number of encoded characters in the binary code sequence.

5. The positioning method of the rubber-tyred train according to any one of claims 1-4, characterized in that, When meeting the preset conditions, determining the position information of the target rubber-tyred train according to the first encoding includes: Performing a decimal encoding conversion process on the binary code sequence corresponding to the first encoding to obtain the decimal code corresponding to the first encoding; Determining the position information of the target rubber-tyred train according to the decimal code.

6. The positioning method of the rubber-tired train according to any one of claims 1-4, characterized in that, Determining the first encoding corresponding to the first encoding identifier and determining the second encoding corresponding to the second encoding identifier includes: Determining the first encoding according to multiple first color blocks and multiple second color blocks on the first encoding identifier, and determining the second encoding according to multiple first color blocks and multiple second color blocks on the second encoding identifier.

7. The positioning method of the rubber-tired vehicle according to claim 6, characterized in that, Determining the first encoding according to the first color block and the second color block on the first encoding identifier includes: Determining the first encoding according to the sorting of the first color block and the second color block on the first encoding identifier, the encoding value corresponding to the first color block, and the encoding value corresponding to the second color block; Determining the second encoding according to multiple first color blocks and multiple second color blocks on the second encoding identifier includes: Determining the second encoding according to the sorting of the first color block and the second color block on the second encoding identifier, the encoding value corresponding to the first color block, and the encoding value corresponding to the second color block.

8. A computer device, characterized in that, The computer device includes a processor, a memory, and a computer program stored on the memory and executable by the processor. When the computer program is executed by the processor, the steps of the rubber-tyred train positioning method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the rubber-tyred train positioning method according to any one of claims 1 to 7 are implemented.

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