Target car positioning method and device

Abstract

The application discloses a positioning method and device for a target carriage. The method comprises the following steps: acquiring positioning information of a target carriage in a positioning map; determining a region type where the target carriage is located according to the positioning information; and generating a mark in a generation mode matched with the region type, wherein the mark is used to show the position of the target carriage in the positioning map, and the mark is relatively static with the positioning map. The application solves the technical problem of low positioning accuracy of the carriage caused by the shaking of the positioning information.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and more specifically, to a method and apparatus for positioning a target carriage. Background Technology

[0002] In integrated multi-positioning vehicle positioning systems, indoor positioning technology uses UWB (Ultra Wide Band), while outdoor positioning technology uses GPS (Global Positioning System) or BDS (BeiDou Navigation Satellite System). Each vehicle to be positioned is individually bound to a positioning card (one card per vehicle). Indoors, when the vehicle is stationary at a workstation on the assembly line, it may exhibit slight vibrations. Outdoors, when the vehicle is parked or moving on the tracks, due to the small gap between the tracks and the large positioning error, the vehicle may repeatedly jump between adjacent tracks. Summary of the Invention

[0003] This application provides a method and apparatus for locating a target carriage, so as to at least solve the technical problem of low carriage positioning accuracy caused by positioning information jitter.

[0004] According to one aspect of the embodiments of this application, a method for locating a target carriage is provided, comprising: acquiring positioning information of a target carriage in a positioning map among multiple carriages; determining the region type of the target carriage based on the positioning information; generating a marker using a generation method matching the region type, wherein the marker is used to display the location of the target carriage in the positioning map, and the marker is stationary relative to the positioning map.

[0005] Optionally, the marker is generated using a generation method that matches the region type, including: when the region type is an internal factory area, the marker is generated using a first generation method that matches the internal factory area, wherein the internal factory area contains multiple assembly line workstations; when the region type is an external factory area, the marker is generated using a second generation method that matches the external factory area, wherein the external factory area contains multiple railway tracks.

[0006] Optionally, a first generation method matching the internal area of ​​the factory area is used to generate the marker, including: extracting the target location of the target carriage from the positioning information, and determining the target workstation where the target carriage is located from the multiple assembly line workstations according to the relative positional relationship between the target location and the multiple assembly line workstations; and generating the marker in the target workstation.

[0007] Optionally, generating the mark in the target workstation includes: extracting the orientation of the target carriage and the preset position information matching the target workstation from the received preset mark information, wherein the preset mark information is used to indicate the position of the target carriage when the target carriage is located in the target workstation; and generating the mark at the position indicated by the preset position information according to the orientation of the target carriage.

[0008] Optionally, a second generation method matching the external area of ​​the factory area is used to generate the marker, including: extracting the target position of the target carriage from the positioning information and determining the shortest distance between the target position and multiple storage lines; determining the storage line with the shortest distance among the multiple storage lines as the target storage line; selecting the point closest to the target position from the target storage line and determining the position of the point closest to the target position as the optimal position; generating the marker at the optimal position. The rail segment outside the factory area is divided into multiple segments of the same length as the target carriage; the multiple segments are determined as the multiple train lines.

[0009] Optionally, the multiple storage lines are determined by: dividing the multiple railway tracks into multiple line segments of equal length to the target carriage; and determining the multiple line segments as the multiple storage lines.

[0010] Optionally, determining the target workstation from the plurality of assembly line workstations based on the relative positional relationship between the target location and the plurality of assembly line workstations includes: determining the coordinates of the four vertices of each assembly line workstation; connecting the four vertices sequentially to determine the area covered by each assembly line workstation; and determining the target workstation as the workstation whose target location is located within the area covered by the workstation.

[0011] According to another aspect of the embodiments of this application, a target carriage positioning device is also provided, comprising: an acquisition module, configured to acquire positioning information of a target carriage in a positioning map among multiple carriages; a determination module, configured to determine the area type of the target carriage based on the positioning information; and a generation module, configured to generate a marker using a generation method matching the area type, wherein the marker is used to display the location of the target carriage in the positioning map, and the marker is stationary relative to the positioning map.

[0012] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, wherein a program is stored in the non-volatile storage medium, and the program controls the device where the non-volatile storage medium is located to execute the above-described target carriage positioning method when it runs.

[0013] According to another aspect of the embodiments of this application, a computer device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes the above-described method for positioning a target carriage when it runs.

[0014] In this embodiment, the positioning information of a target carriage in a positioning map is obtained from multiple carriages; the region type of the target carriage is determined based on the positioning information; a marker is generated using a generation method matching the region type, wherein the marker is used to display the location of the target carriage in the positioning map. The marker is relatively stationary with respect to the positioning map. By generating markers that are relatively stationary with respect to the positioning map according to different region types, the position of the carriage is displayed in the positioning map, thereby achieving the purpose of fixing the positioning information and thus realizing the technical effect of improving positioning accuracy. This solves the technical problem of low positioning accuracy of carriages caused by positioning information jitter. Attached Figure Description

[0015] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 This is a hardware structure block diagram of a computer terminal (or mobile device) for a positioning method for a target carriage according to an embodiment of this application.

[0017] Figure 2 This is a flowchart of a method for locating a target carriage according to an embodiment of this application;

[0018] Figure 3 This is an optional target carriage positioning diagram according to an embodiment of this application;

[0019] Figure 4 This is another optional target carriage positioning diagram according to an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of an optional parking line according to an embodiment of this application;

[0021] Figure 6 This is a schematic diagram of an optional assembly line station according to an embodiment of this application;

[0022] Figure 7 This is another optional target carriage positioning diagram according to an embodiment of this application;

[0023] Figure 8 This is a schematic diagram of a positioning device for a target carriage according to an embodiment of this application. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] According to an embodiment of this application, a method embodiment for locating a target carriage is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0027] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer terminal (or mobile device) for implementing a method for locating a target carriage is shown. Figure 1 As shown, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0028] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0029] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the target carriage positioning method in this embodiment. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the above-mentioned multi-hardware platform model compilation method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0030] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0031] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0032] Under the aforementioned operating environment, embodiments of this application provide a method for locating a target carriage, such as... Figure 2 As shown, the method includes the following steps:

[0033] Step S202: Obtain the location information of the target carriage in the location map among multiple carriages;

[0034] Step S204: Determine the area type of the target carriage based on the positioning information;

[0035] Step S206: Generate markers using a generation method that matches the region type. The markers are used to display the location of the target carriage in the positioning map, and the markers are stationary relative to the positioning map.

[0036] Through the above steps, the positioning information of the target carriage in the positioning map is obtained from multiple carriages; the area type of the target carriage is determined according to the positioning information; a marker is generated using a generation method that matches the area type. The marker is used to display the location of the target carriage in the positioning map. The marker is relatively stationary with respect to the positioning map. By generating markers that are relatively stationary with respect to the positioning map according to different area types, the position of the carriage is displayed in the positioning map, thus achieving the purpose of fixing the positioning information. This achieves the technical effect of improving positioning accuracy and solves the technical problem of low carriage positioning accuracy caused by positioning information jitter.

[0037] The entity performing the above steps can be a positioning system, including a user login system. In the user system, the positioning of the object is managed and a positioning map is generated.

[0038] In step S204, the area type can be either inside the factory area or outside the factory area;

[0039] In step S206, different marker generation methods need to be determined for the different area planning inside and outside the factory area to ensure the accuracy of positioning.

[0040] Steps S202 to S206 are described in detail below through examples.

[0041] In step S206, the specific method of generating the mark using a generation method that matches the area type includes: when the area type is an internal area of ​​the factory, generating the mark using a first generation method that matches the internal area of ​​the factory, wherein the internal area of ​​the factory contains multiple assembly line workstations; when the area type is an external area of ​​the factory, generating the mark using a second generation method that matches the external area of ​​the factory, wherein the external area of ​​the factory contains multiple railway tracks.

[0042] In one alternative approach, a first generation method that matches the internal area of ​​the factory area generates a marker, specifically including: extracting the target location of the target carriage from the positioning information, and determining the target workstation where the target carriage is located from the plurality of assembly line workstations according to the relative positional relationship between the target location and the plurality of assembly line workstations; and generating the marker in the target workstation.

[0043] In practical applications, positioning information can be output by a positioning card placed at the rear of the carriage. The card and the carriage are associated one-to-one. For example, the positioning tag card 22309 is bound to carriage number 0401. The positioning information can be transmitted to the system through a standard API (Application Programming Interface).

[0044] An optional method for generating the mark in the target workstation includes: extracting the orientation of the target carriage and preset position information matching the target workstation from received preset mark information, wherein the preset mark information is used to indicate the position of the target carriage when the target carriage is located in the target workstation; and generating the mark at the position indicated by the preset position information according to the orientation of the target carriage.

[0045] It should be noted that the location information or position of the target carriage can be expressed in latitude and longitude.

[0046] Figure 3 A target carriage positioning diagram is shown, such as Figure 3 As shown, the marker for the target carriage can be an image with the shape of the carriage.

[0047] When the target carriage is located outside the factory area, a second generation method matching the external area is used to generate a marker. Specifically, this includes: determining the shortest distance between the target location and multiple storage lines; identifying the storage line with the shortest distance among the multiple storage lines as the target storage line; selecting the point on the target storage line closest to the target location, and identifying the location of this closest point as the optimal location; generating the marker at the optimal location; dividing the railway track outside the factory area into multiple segments of equal length to the target carriage; and identifying these multiple segments as the multiple storage lines. Figure 4 A schematic diagram of external markings for a factory area is shown.

[0048] The multiple storage lines are determined by the following method: dividing the multiple railway tracks into multiple line segments of equal length to the target carriage; and defining the multiple line segments as the multiple storage lines, such as... Figure 5 As shown, Figure 5The area marked by the horizontal line in the middle of the railway track is a section of the train storage line.

[0049] In some embodiments of this application, the target workstation can be determined from the plurality of assembly line workstations based on the relative positional relationship between the target location and the plurality of assembly line workstations. The specific steps are as follows: determine the coordinates of the four vertices of each assembly line workstation; connect the four vertices sequentially to determine the area covered by each assembly line workstation; and identify the workstations whose target location is within the area covered by the workstation to determine the target workstation. Figure 6 A schematic diagram of a production line station is shown. Figure 6 In the diagram, A2312 represents the assembly line workstation number.

[0050] It should be noted that this embodiment also provides an optional implementation method, which will be described in detail below.

[0051] For indoor positioning objects, achieving their stationary position on the assembly line involves three steps.

[0052] Step 1: Provide an entry point for users to customize the display form (marker) of the location object, showing the specific location of the location object. When indoors, it is necessary to show the assembly line station where the location object (carriage) is located. Therefore, it is necessary to enter the actual assembly line station information on the customer's site into the positioning system. When entering the assembly line station, we have made an extension: when drawing the assembly line station surface, mark the display form (orientation, size) of the location object point in the assembly line station (surface), and store the latitude and longitude information of the surface point in the spatial database.

[0053] If a location object is located in the current area (assembly line workstation area), then the location object will be displayed in this form. Figure 6 For example: Enter the location information of workstation A2312 (drawing surface, four points determine one surface), mark the display form when the carriage is located at this workstation, the carriage faces due west, and occupies 100% of the workstation area.

[0054] Step Two: Vehicle Card Binding and Real-Time Location Access. Place a location card at the rear of each carriage, linking the card to each carriage one-to-one. For example, bind location tag card 22309 to carriage number 0401. A standard API interface is provided for accessing location data.

[0055] Step 3: Determine the relationship between the location object (point-carriage) and the assembly line station, and display it in the form of the carriage marked by that assembly line station. When receiving real-time data of the location object, determine the area information of the location object. If it is on an area, replace its latitude and longitude information with the latitude and longitude information of the carriage marked in Step 1. For example, when receiving the location data of location tag 22309, using the point-area analysis method of PostGIS (an object-relational database system), it is determined that the point belongs to station A2312. Then, the latitude and longitude data of the location object 22309 is replaced with the latitude and longitude data of the carriage marked in Step 1. After this conversion, even if there is a certain range of difference in the real-time latitude and longitude of the location object, the upper-level display still remains stationary at the assembly line station according to the carriage form marked in Step 1. Figure 7 As shown.

[0056] For outdoor objects, achieving their stillness or movement on a designated railway track involves two steps:

[0057] Step 1: Draw the railway track segment - storage line, and save its latitude and longitude data into the spatial database. Divide the railway track into line segments of the same length as the carriage (two points determine a line).

[0058] Step Two: Calculate the optimal point for the location object. Upon receiving outdoor positioning data, use the PostGIS point-line analysis algorithm to analyze the point with the shortest distance to the parking line and calculate the distance. Select the parking line with the shortest distance to the location object as the optimal line segment (target parking line), and the point on the optimal line segment closest to the location object is the optimal point. Example: Upon receiving positioning data from card 23310, calculate the coordinates of the closest point to parking line A (1 meter); the coordinates of the closest point to parking line B (3 meters). Therefore, the closest parking line for location object 23310 is parking line A, with an optimal distance of 1 meter, and the optimal point is the closest point on parking line A. The real-time position of location object 23310 is then replaced with the coordinates of the optimal point on parking line A. This achieves the effect of the outdoor carriage remaining stationary on the rails, such as... Figure 4 As shown.

[0059] It should be noted that the positioning method provided in this application offers an entry point for users to customize the display form of the positioned object indoors. Once set, the positioned object is displayed on the display layer according to the user's settings, statically displayed at the assembly line station with the user-defined orientation and position. Outdoors, the track is divided into line segments of equal length to the carriages. When the positioned object (carriage) moves and stops, the optimal path between the positioned object (point) and the track line segment is calculated, and the positioned object is positioned on the optimal line segment. This solves the problem of display jitter of positioned objects both indoors and outdoors.

[0060] Figure 8According to an embodiment of this application, a target carriage positioning device includes: an acquisition module 80, used to acquire positioning information of a target carriage in a positioning map among multiple carriages; a determination module 82, used to determine the area type of the target carriage based on the positioning information; and a generation module 84, used to generate a marker using a generation method matching the area type, wherein the marker is used to display the location of the target carriage in the positioning map, and the marker is stationary relative to the positioning map.

[0061] The aforementioned device acquires the positioning information of a target carriage in a positioning map from multiple carriages; determines the region type of the target carriage based on the positioning information; and generates a marker using a generation method matching the region type. This marker is used to display the location of the target carriage in the positioning map. By generating markers that are relatively stationary relative to the positioning map according to different region types, the position of the carriage is displayed in the positioning map, achieving the purpose of fixing the positioning information. This improves positioning accuracy and solves the technical problem of low carriage positioning accuracy caused by positioning information jitter.

[0062] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, wherein a program is stored in the non-volatile storage medium, and the program controls the device where the non-volatile storage medium is located to execute the above-described target carriage positioning method when it runs.

[0063] According to another aspect of the embodiments of this application, a computer device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes the above-described target carriage positioning method when it runs.

[0064] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0065] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0066] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0069] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0070] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for locating a target carriage, characterized in that, include: Obtain the location information of the target carriage in the location map among multiple carriages; The location information determines the area type of the target carriage, wherein the area type includes: internal factory area and external factory area; A marker is generated using a generation method that matches the region type, wherein the marker is used to display the location of the target carriage in the positioning map, and the marker is stationary relative to the positioning map; The marker is generated using a generation method that matches the area type, including: when the area type is an internal factory area, the marker is generated using a first generation method that matches the internal factory area, wherein the internal factory area contains multiple assembly line workstations; when the area type is an external factory area, the marker is generated using a second generation method that matches the external factory area, wherein the external factory area contains multiple railway tracks. The marker is generated using a first generation method that matches the internal area of ​​the factory, including: extracting the target location of the target carriage from the positioning information, and determining the target workstation where the target carriage is located from the multiple assembly line workstations according to the relative positional relationship between the target location and the multiple assembly line workstations; and generating the marker in the target workstation. A second generation method matching the external area of ​​the factory area is used to generate a marker, including: extracting the target position of the target carriage from the positioning information and determining the shortest distance between the target position and multiple storage lines; determining the storage line with the shortest distance among the multiple storage lines as the target storage line; selecting the point closest to the target position from the target storage line and determining the position of the point closest to the target position as the optimal position; generating the marker at the optimal position; dividing the rail segment outside the factory area into multiple line segments of the same length as the target carriage; and determining the multiple line segments as the multiple storage lines.

2. The method according to claim 1, characterized in that, Generating the marker in the target workstation includes: The orientation of the target carriage and the preset position information matching the target workstation are extracted from the received preset marker information, wherein the preset marker information is used to indicate the position of the target carriage when the target carriage is located at the target workstation; The mark is generated at the position indicated by the preset position information according to the orientation of the target carriage.

3. The method according to claim 1, characterized in that, The multiple parking lines are determined in the following ways, including: The multiple railway tracks are divided into multiple line segments of equal length to the target carriage; The multiple line segments are defined as the multiple vehicle storage lines.

4. The method according to claim 1, characterized in that, Determining the target workstation from the plurality of assembly line workstations based on the relative positional relationship between the target location and the plurality of assembly line workstations includes: Determine the coordinates of the four vertices of each of the multiple assembly line stations, and connect the four vertices in sequence to determine the area covered by each assembly line station; The target workstation is defined as the workstation whose location is within the area covered by the workstation.

5. A positioning device for a target carriage, characterized in that, include: The acquisition module is used to acquire the location information of the target carriage in the positioning map among multiple carriages; The determination module is used to determine the area type of the target carriage based on the positioning information, wherein the area type includes: internal factory area and external factory area; A generation module is used to generate a marker using a generation method that matches the region type, wherein the marker is used to display the location of the target carriage in the positioning map, and the marker is stationary relative to the positioning map; The marker is generated using a generation method that matches the area type, including: when the area type is an internal factory area, the marker is generated using a first generation method that matches the internal factory area, wherein the internal factory area contains multiple assembly line workstations; when the area type is an external factory area, the marker is generated using a second generation method that matches the external factory area, wherein the external factory area contains multiple railway tracks. The marker is generated using a first generation method that matches the internal area of ​​the factory, including: extracting the target location of the target carriage from the positioning information, and determining the target workstation where the target carriage is located from the multiple assembly line workstations according to the relative positional relationship between the target location and the multiple assembly line workstations; and generating the marker in the target workstation. A second generation method matching the external area of ​​the factory area is used to generate a marker, including: extracting the target position of the target carriage from the positioning information and determining the shortest distance between the target position and multiple storage lines; determining the storage line with the shortest distance among the multiple storage lines as the target storage line; selecting the point closest to the target position from the target storage line and determining the position of the point closest to the target position as the optimal position; generating the marker at the optimal position; dividing the rail segment outside the factory area into multiple line segments of the same length as the target carriage; and determining the multiple line segments as the multiple storage lines.

6. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores a program, wherein when the program is executed, it controls the device containing the non-volatile storage medium to perform the target carriage positioning method according to any one of claims 1 to 4.

7. A computer device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, executes the target carriage positioning method according to any one of claims 1 to 4.

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