Locomotive positioning system, method, apparatus, electronic device, and readable storage medium

Abstract

The application provides a locomotive positioning system, method, device, electronic equipment and readable storage medium. The system comprises a code plate, an information acquisition device and a control module; the number coding hole of the code plate is configured to represent the number information of a target device and is arranged at the side end position in the first direction of the code plate; the positioning coding hole of the code plate is configured to represent the position information of the target device and is arranged continuously in the first direction of the code plate; the information acquisition device is arranged on a locomotive to be positioned, is used for scanning the code plate to obtain scanning data, and sends the scanning data to the control module; the control module is used for analyzing the scanning data, obtaining the number information and the position information, and positioning the locomotive to be positioned according to the number information and the position information. In the application, the number coding hole is arranged at the side end of the code plate, and the information acquisition device can determine the corresponding coke oven of the code plate when the code plate is just scanned, so that the positioning efficiency is improved compared with the mode that the coke oven is determined after the code plate is completely scanned.

Description

Technical Field

[0001] This application relates to the field of coking coal production, and more specifically, to a locomotive positioning system, method, electronic device, and readable storage medium. Background Technology

[0002] In coke production operations, precise alignment between the coke oven and the mobile locomotive is required. Currently, the positioning and detection technologies commonly used in the automation process of coke oven mobile locomotive operations mainly include: inductive wireless technology, RFID card technology, and laser tagging systems. Among these, laser tagging systems are easier to install and maintain, and more stable and reliable than inductive wireless and RFID card technologies, but they also have significant drawbacks.

[0003] Existing laser code tag alignment systems for coke oven locomotives require scanning all the furnace number encoding holes on the code tag in one go to decode and locate the locomotive. However, each code tag represents only one point of location information, so only the location of a single point within the code tag's range is known, not the continuous and precise locations within that range. Knowing only one point of location within the code tag's range is detrimental to the control of locomotive alignment and stopping. When the coke oven position is detected and then the locomotive is stopped, it is very easy to miss the set locomotive alignment position, requiring multiple back-and-forth positioning attempts to achieve successful alignment, resulting in low locomotive alignment efficiency. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a locomotive positioning system, method, electronic device and readable storage medium that can improve locomotive positioning efficiency.

[0005] In a first aspect, embodiments of this application provide a locomotive positioning system, comprising: a code plate, an information acquisition device, and a control module; the code plate is configured with a numbering encoding hole and a positioning encoding hole, the numbering encoding hole being configured to represent the number information of a target device and being located at a side position in a first direction of the code plate, and the positioning encoding hole being configured to represent the position information of the target device and being continuously arranged in the first direction of the code plate, the first direction being the direction of movement of the locomotive to be positioned; the information acquisition device is disposed on the locomotive to be positioned and is used to scan the code plate to obtain scanning data and send the scanning data to the control module; the control module is used to parse the scanning data to obtain the number information and the position information, and to position the locomotive to be positioned according to the number information and the position information, wherein the number information is determined by the opening information of the numbering encoding hole, and the position information is determined by the opening information of the positioning encoding hole. In the above implementation process, by setting the number coding hole on the side of the code plate in the direction of movement of the locomotive to be positioned, the number of the target device corresponding to the code plate can be determined first when the locomotive to be positioned just passes the code plate, so as to identify the target device. Then, the specific position can be determined according to the positioning coding hole. It is no longer necessary to scan the entire code plate before identifying the target device, nor is it necessary to locate back and forth, thus improving the positioning efficiency.

[0006] In one embodiment, the positioning coding holes are distributed in a stepped manner at the middle position of the code plate in a first direction; adjacent positioning coding holes in a second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes in the first direction, the second direction being the direction of the height of the locomotive to be positioned; wherein, the first positioning coding holes are the same size, the second positioning coding holes are the same size, the width of the positioning coding holes in the first direction is half the width of the second positioning coding holes in the first direction, the first positioning coding holes are the first and the last positioning coding holes, and the second positioning coding holes are all positioning coding holes except the first positioning coding holes.

[0007] In the above implementation process, by setting adjacent positioning coding holes to overlap by half, when the information acquisition device collects information from the positioning coding holes, it needs to simultaneously collect information from two adjacent positioning coding holes to determine that the information acquisition device is not experiencing jitter or other issues. In other words, mutual verification can be performed between two adjacent positioning coding holes to ensure that the information acquisition device is collecting information under normal conditions, thus improving the accuracy of location information.

[0008] In one embodiment, the information acquisition device includes: a plurality of numbering and positioning code emitting lights; the plurality of numbering and positioning code emitting lights are arranged in a straight line at a predetermined distance in the second direction, and the numbering and positioning code emitting lights are arranged on at least one side of the locomotive to be positioned in the first direction; wherein, the number of numbering and positioning code emitting lights is equal to the greater of the maximum number of numbering code holes and the maximum number of positioning code holes that can be opened in the second direction, and the numbering and positioning code emitting lights are configured to scan the numbering code holes and the positioning code holes.

[0009] In the above implementation process, by setting each positioning code hole and numbered code hole to correspond to a numbered and positioning code transmitting light for scanning, the signal of each positioning code hole and numbered code hole is collected independently, preventing mutual interference between multiple positioning code holes or numbered code holes and improving the accuracy of positioning code hole and numbered code hole information acquisition. In addition, by setting the numbered and positioning code transmitting lights on the side of the locomotive to be positioned in the first direction, the target device corresponding to the code plate can be immediately acquired as soon as the locomotive to be positioned moves to the code plate position, improving positioning efficiency.

[0010] In one embodiment, the positioning coding holes are distributed in a stepped manner at the middle position of the code plate in a first direction, the steps including ascending steps and descending steps; adjacent positioning coding holes in a second direction overlap in the second direction, and the overlap width is half the width of the positioning coding hole in the first direction, the second direction being the direction of the height of the locomotive to be positioned; wherein, the first positioning coding holes are the same size, the second positioning coding holes are the same size, the third positioning coding holes are the same size, the width of the first positioning coding hole in the first direction is half the width of the second positioning coding hole in the first direction, the width of the second positioning coding hole in the first direction is half the width of the third positioning coding hole in the first direction; the first positioning coding hole is the first and the last positioning coding hole, the third positioning coding hole is the positioning coding hole at the junction of the ascending step and the descending step, and the second positioning coding hole is the positioning coding hole other than the first and the third positioning coding holes.

[0011] In the above implementation process, when the target device is large, multiple stepped positioning coding holes can be set so that each position of the target device can be represented by the positioning coding holes on the code plate, so as to achieve continuous positioning of each position of the target device and improve the positioning accuracy.

[0012] In one embodiment, the code plate is further provided with a positioning mark encoding hole; the positioning mark encoding hole is located on one side of the code plate in a second direction, and the width of the positioning mark encoding hole in the first direction is equal to the width of the ascending step in the first direction or the width of the descending step in the first direction; wherein, the mark encoding hole is configured to represent the position information of the positioning mark encoding hole to further determine the position of the positioning mark encoding hole.

[0013] In the above implementation process, by setting a positioning marker encoding hole, positioning encoding holes with the same binary code at different positions can be distinguished. Simultaneously, the information acquisition device scans the positioning encoding hole and the positioning marker encoding hole to further differentiate positioning encoding holes with the same binary code, thereby improving the positioning accuracy of the positioning system.

[0014] In one embodiment, the information collection device includes: a marker coding transmitter and a number and positioning coding transmitter, wherein there are multiple number and positioning coding transmitters; the multiple number and positioning coding transmitters and the marker coding transmitter are arranged in a straight line at a predetermined distance in the second direction, and the locomotive to be positioned is provided with at least one number and positioning coding transmitter on each side of the first direction; wherein the marker coding transmitter is configured to scan the marker coding hole, and the number and positioning coding transmitter is configured to scan the number coding hole and the positioning coding hole, and the number of number and positioning coding transmitters is equal to the greater of the maximum number of number coding holes that can be opened in the second direction and the maximum number of positioning coding holes that can be opened.

[0015] In the above implementation process, by additionally setting up a marker encoding emitting light for scanning the positioning marker encoding hole, the positioning marker encoding hole is scanned to obtain the position information of the positioning marker encoding hole, and then the positioning encoding hole with the same binary code is further positioned, thereby improving the positioning accuracy of the positioning system.

[0016] In one embodiment, there are multiple information collection devices; the multiple information collection devices are spaced apart in the first direction of the locomotive to be located; wherein the interval between two adjacent information collection devices is not greater than the width of the code plate in the first direction.

[0017] In the above implementation process, by setting up multiple information acquisition devices, the number coding holes, positioning coding holes, and positioning mark coding holes can be scanned in a timely manner when the locomotive to be positioned moves in both directions, realizing forward and reverse scanning and code reading positioning, thus improving the positioning efficiency of the positioning system. In addition, the multiple information acquisition devices scan the positioning coding holes on the code plate one after another, realizing continuous and accurate positioning within the range of the code plate.

[0018] In one embodiment, the numbering and encoding holes are located on both sides of the code plate in a first direction.

[0019] In the above implementation process, by setting numbering and encoding holes on both sides of the code plate in the first direction, the number of the target device corresponding to the code plate can be determined as soon as the code plate is scanned, regardless of whether the locomotive to be positioned is moving in the forward or reverse direction. This eliminates the need to scan the entire code plate before determining the target device and eliminates the need for back-and-forth positioning, thus improving positioning efficiency.

[0020] Secondly, embodiments of this application also provide a locomotive positioning method, comprising: acquiring number information and location information, wherein the number information and the location information are obtained through the above-mentioned locomotive positioning system; determining the actual position of the locomotive to be positioned based on the number information and the location information; wherein the number information is determined by the opening information of the numbering coding hole, and the location information is determined by the opening information of the positioning coding hole.

[0021] In one embodiment, adjacent positioning coding holes in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes in the first direction. The numbering information and the position information are binary codes. After obtaining the numbering information and the position information, the method further includes: determining whether the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously; if the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously, decoding the numbering information and the position information; determining the actual position of the locomotive to be positioned based on the numbering information and the position information includes: determining the actual position of the locomotive to be positioned through the decoded numbering information and the position information.

[0022] In the above implementation process, before decoding the binary code, it is first determined whether adjacent positioning coding holes in the second direction are obtained at the same time. If adjacent positioning coding holes in the second direction are obtained at the same time, the binary code is then decoded, which reduces the decoding of error information and improves positioning accuracy and efficiency.

[0023] In one embodiment, the location information includes positioning information and marker information. Determining the actual location of the locomotive to be positioned based on the number information and the location information includes: determining the target device based on the number information; determining the location range to which the positioning coding hole belongs based on the marker information; determining the corresponding positioning coding hole based on the positioning information; and determining the actual location of the locomotive to be positioned by the location of the corresponding positioning coding hole and the location of the target device.

[0024] Thirdly, embodiments of this application also provide an electronic device, including: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method described in the first aspect above, or any possible implementation of the first aspect.

[0025] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the locomotive positioning method described in the first aspect or any possible implementation of the first aspect.

[0026] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, specific embodiments are described below in conjunction with the accompanying drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of a locomotive positioning system provided in an embodiment of this application;

[0029] Figure 2 A schematic diagram of a code plate with a stepped positioning coding hole provided in an embodiment of this application;

[0030] Figure 3 A schematic diagram of a code plate with multiple stepped positioning coding holes provided in an embodiment of this application;

[0031] Figure 4 A schematic diagram of a code tag with a positioning mark encoding hole provided in an embodiment of this application;

[0032] Figure 5 A schematic diagram of the information collection device provided in the embodiments of this application;

[0033] Figure 6 A flowchart of the locomotive positioning method provided in the embodiments of this application;

[0034] Figure 7 This is a schematic diagram of the functional modules of the locomotive positioning device provided in the embodiments of this application;

[0035] Figure 8 This is a block diagram of an electronic device provided in an embodiment of this application.

[0036] Figure descriptions: 10-Locomotive positioning system, 100-Code plate, 101-Number coding hole, 102-Positioning coding hole, 103-Positioning mark coding hole, 20-Locomotive to be positioned, 200-Information acquisition device, 501-Acquisition module, 502-Determination module, 600-Electronic equipment, 611-Memory, 613-Processor. Detailed Implementation

[0037] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0038] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] In the coke production process, there are four main mobile locomotives used in the coke oven: the coke pusher, the coal charging car, the coke quencher, and the coke quencher. When these four cars are in operation, they must be aligned and parked at the center line of the same carbonization chamber. The alignment accuracy must be within the safety range required by the process, such as ±5mm. However, due to the obstruction of the coke oven's carbonization chamber, the coke pusher, coal charging car, and coke quencher are not visible to each other. Therefore, operators cannot guarantee that all four cars will be precisely aligned at the center line of the same carbonization chamber. If any of the four cars is not correctly aligned at the center line of the same carbonization chamber, and the coke pusher operator starts pushing the coke, the coke, which reaches temperatures as high as 1000℃, will be pushed outside the coke pot, burning the coke quencher and coke quencher, causing a serious production accident.

[0040] Existing positioning technologies for coke oven locomotives mainly include coded cable position detection technology, laser ranging technology, RFID positioning technology, and code tag positioning technology. Among them, code tag positioning technology uses code tag recognition technology and rotary encoder continuous addressing technology to combine the fixed address of the code tag with the continuous address of the rotary encoder to calculate the comprehensive absolute address of the locomotive.

[0041] Radio Frequency Identification (RFID) technology uses wireless radio frequency for non-contact, two-way communication to identify targets and exchange data. Using RFID for locomotive address detection involves embedding electronic tags with fixed numbers in the middle of the rails, and then using readers on the train to identify and determine the vehicle's absolute address.

[0042] The coded cable displacement sensor communicates via electromagnetic coupling between a flat coded cable and an antenna box that are close to each other, and detects the position of the antenna box along the length of the coded cable while communicating.

[0043] Through long-term research, the inventors of this application have discovered that in existing coke oven locomotive code plate positioning systems, the code plate's oven number encoding holes are arranged horizontally. Therefore, during decoding, the positioning system needs to scan all the oven number encoding holes on the code plate at once to determine which oven number it represents. Since each oven number encoding hole represents the absolute position of a coke oven, the existing code plate positioning system can only locate a single absolute point of the coke oven, and cannot achieve continuous and precise positioning within the range of the code plate. In actual production operations, knowing only the absolute position of a single coke oven point is detrimental to locomotive positioning and stopping control. When the coke oven position is detected and then the locomotive is stopped, it is very easy to miss the set locomotive alignment position, requiring multiple back-and-forth positioning attempts to achieve successful alignment, resulting in low locomotive alignment efficiency. Furthermore, in existing code plate systems, the laser scans only a single encoding hole during scanning without verifying the scan results, leading to a high error rate and frequent alignment errors.

[0044] In view of this, this application proposes a locomotive positioning system that improves positioning efficiency by placing numbered coding holes on the side of the code plate, so that the corresponding coke oven number can be determined as soon as the information acquisition device scans the code plate. Furthermore, by setting continuous overlapping positioning coding holes on the code plate, real-time continuous absolute precision position detection can be performed within the code plate area, and the scanning results can be verified in real time. The positioning is stable, highly reliable, easy to install and maintain, and can be widely used for position identification and precise positioning of coke oven locomotives in limited point fixed-point operations. It should be noted that the locomotive positioning system provided in this application is not limited to coke oven locomotive positioning, but can also be applied to other scenarios such as positioning of shelves by logistics carts and positioning of work objects by operating robots.

[0045] For ease of understanding, the code plates appearing in this application are described in detail below:

[0046] In industries such as assembly, transportation, and manufacturing, to easily determine the specific location of equipment to be operated (e.g., boilers, shelves, packaging boxes), corresponding location marking devices are typically installed on the objects being operated. Among these, code tags are a commonly used method for marking equipment locations. By setting markings on the code tags that are easily recognizable by information acquisition devices, various locations on the equipment are marked (e.g., openings, protrusions, etc.). After the information acquisition device acquires the corresponding markings, it identifies the corresponding location information, thus enabling the identification of the specific location of the equipment. These code tags can generally be placed on the equipment itself or within a preset distance range from the equipment, such as in front of the equipment or on the guide rails of a moving vehicle.

[0047] Please see Figure 1 This is a schematic diagram of a locomotive positioning system provided in an embodiment of this application, including: a code plate 100, an information collection device 200, and a control module.

[0048] The code plate 100 here is equipped with a numbering encoding hole 101 and a positioning encoding hole 102. The numbering encoding hole 101 is configured to represent the number information of the target device and is set at the side end of the code plate 100 in the first direction. The positioning encoding hole 102 is configured to represent the position information of the target device and is continuously set in the first direction of the code plate 100. The information acquisition device 200 is installed on the locomotive to be positioned and is used to scan the code plate 100 to obtain scanning data and send the scanning data to the control module.

[0049] The aforementioned control module is used to parse the scanned data to obtain numbering and location information, and to locate the locomotive to be positioned based on the numbering and location information. The numbering information is determined by the opening information of the numbering encoding hole, and the location information is determined by the opening information of the positioning encoding hole. Optionally, this control module can be installed in a control system with a positioning locomotive, or it can be installed independently on the locomotive, integrated into the data acquisition device, or it can be installed in a remote server.

[0050] The identification information of the target device may include the target device's serial number, which can be represented by binary code. This binary code can be determined based on the opening of the corresponding serial number encoding hole 101 on the code plate 100. When there are many target devices, each target device can be numbered to distinguish them. For example, the serial number of target device number one can be represented by 100000, the serial number of target device number two can be represented by 010000, the serial number of target device number three can be represented by 001000, the serial number of target device number four can be represented by 000100, the serial number of target device number five can be represented by 000010, the serial number of target device number six can be represented by 000001, and so on. It is understood that the above is only an example, and the identification information of the target device can be adjusted according to the actual situation. This application does not impose specific limitations.

[0051] The aforementioned information acquisition device 200 can be a laser device, an image acquisition device, a radio frequency device, etc. This information acquisition device 200 is used to acquire the opening information of the numbered coding hole 101 and the positioning coding hole 102 on the code plate 100. After acquiring the opening information of the numbered coding hole 101 and the positioning coding hole 102, the information acquisition device 200 can convert the opening information into binary information. Taking a laser device as an example, if the laser device is set to output 1 if the scanned numbered coding hole 101 and / or positioning coding hole 102 are open, then it outputs 1; if the scanned numbered coding hole 101 and / or positioning coding hole 102 are not open, then it outputs 0. Alternatively, if the laser device is set to output 0 if the scanned numbered coding hole 101 and / or positioning coding hole 102 are open, then it outputs 1. Because the opening positions of the code plate 100 are different at different locations on the code plate 100, the output binary codes are different, and the corresponding positions they represent are also different.

[0052] For example, with Figure 1 For example, if the numbering coding hole 101 and the positioning coding hole 102 can each have 6 holes at each position in the second direction of the code plate 100, and the binary code of the hole is 1, and the binary code of the hole is 0, then the information acquisition device 200 obtains the positioning codes of the position points corresponding to each dotted line from left to right on the code plate 100 as follows: 000001, 000010, 000100, 001000, 010000, 100000, and the coke oven number is: 111111.

[0053] Furthermore, the information acquisition device 200 determines the position of the locomotive 20 to be positioned based on the acquired positioning code hole 102 and number code hole 101. For example (using...) Figure 1For example, if the location code obtained by the information collection device 200 is 001000 (assuming it corresponds to the fourth column position of code plate 100) and the coke oven code is 100000 (assuming it corresponds to the target device No. 1), then the location of the locomotive 20 to be located is the fourth column position of the target device No. 1 (if the corresponding coordinate value is x14, y14), that is, the location of the locomotive 20 to be located is the position of x14, y14.

[0054] Understandably, the location information or number information corresponding to each of the above binary codes can be stored in advance in the control system. After the information acquisition device 200 acquires these binary codes, it can parse out the corresponding location information or number information based on the binary codes, so as to further control the locomotive movement based on the location information and number information.

[0055] The target equipment here can be coke ovens, shelves, etc.

[0056] The first direction mentioned above is the direction of movement of the locomotive 20 to be positioned, and the second direction is the direction of the height of the locomotive 20 to be positioned.

[0057] Understandably, the numbering and coding hole 101 is set on the side end of the code plate 100 in the first direction. This side end can be a single side end or a double side end. For example, when the locomotive 20 to be positioned moves in a unidirectional direction, the side end can be a single side end, and the numbering and coding hole 101 is set on the side that the locomotive 20 passes first. When the locomotive 20 to be positioned moves in a bidirectional direction, the side end can be a double side end, and the numbering and coding hole 101 is set on both sides of the code plate 100 in the first direction.

[0058] In the above implementation process, by setting the number coding hole on the side of the code plate in the direction of movement of the locomotive to be positioned, the number of the target device corresponding to the code plate can be determined first when the locomotive to be positioned just passes the code plate, so as to identify the target device. Then, the specific position can be determined according to the positioning coding hole. It is no longer necessary to scan the entire code plate before identifying the target device, nor is it necessary to locate back and forth, thus improving the positioning efficiency.

[0059] One possible implementation, such as Figure 2 As shown, the positioning coding holes 102 are distributed in a stepped manner in the middle position of the first direction of the code plate 100.

[0060] Wherein, adjacent positioning coding holes 102 in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding hole 102 in the first direction. The first positioning coding holes 102 are the same size, the second positioning coding holes 102 are the same size, and the width of the positioning coding hole 102 in the first direction is half the width of the second positioning coding hole 102 in the first direction. The first positioning coding hole 102 is the first positioning coding hole 102 and the last positioning coding hole 102, and the second positioning coding hole 102 is the positioning coding hole 102 other than the first positioning coding hole 102.

[0061] Understandably, by setting adjacent positioning coding holes 102 to overlap in the second direction, and the overlap width being half the width of the positioning coding holes 102 in the first direction, the information of the two positioning coding holes 102 can be collected simultaneously each time the information collection device 200 collects information, so as to verify whether the information collection device 200 has problems such as shaking.

[0062] like Figure 2 As shown, if an opening in the positioning coding hole 102 is represented as 1, and no opening is represented as 0, then Figure 2 The location codes corresponding to each dotted line on the code plate 100 from left to right are: 000011, 000110, 001100, 011000, and 110000. For the location code acquired by the information acquisition device 200 to be considered valid, it must simultaneously acquire two adjacent location code holes 102; that is, both adjacent binary codes of the location code must be 1. Only then can the specific location of the locomotive 20 to be located be determined based on the location code.

[0063] for Figure 2 In order to ensure that the information of the code plate 100 obtained at each location point can be mutually verified, the first positioning encoding hole 102 and the last positioning encoding hole 102 of the code plate 100 are set to half the width of the other encoding holes in the first direction. This allows each location point of the target device to obtain the opening signal of two adjacent positioning encoding holes 102, so as to ensure that mutual verification can be performed at each location point of the target device.

[0064] In the above implementation process, by setting adjacent positioning coding holes to overlap by half, when the information acquisition device collects information from the positioning coding holes, it needs to simultaneously collect information from two adjacent positioning coding holes to determine that the information acquisition device is not experiencing jitter or other issues. In other words, mutual verification can be performed between two adjacent positioning coding holes to ensure that the information acquisition device is collecting information under normal conditions, thus improving the accuracy of location information.

[0065] In one possible implementation, the information collection device 200 includes: a plurality of numbered and positioning code transmitting lights; the plurality of numbered and positioning code transmitting lights are arranged in a straight line at a preset distance in a second direction, and the numbered and positioning code transmitting lights are arranged on at least one side of the locomotive 20 to be positioned in the first direction.

[0066] The number of numbering and positioning code transmitters is equal to the greater of the maximum number of numbering code holes 101 and the maximum number of positioning code holes 102 in the second direction. The numbering and positioning code transmitters are configured to scan numbering code holes 101 and positioning code holes 102.

[0067] The preset distance here is set according to the spacing between the positioning code hole 102 and the number code hole 101. That is, each number corresponds to a positioning code hole 102 or number code hole 101 for each positioning code transmitter light, so as to scan the opening status of the positioning code hole 102 or number code hole 101 at each position.

[0068] according to Figure 1 , Figure 2 As shown, the positioning coding hole 102 and the numbering coding hole 101 are both correspondingly arranged in the second direction of the code plate 100. Therefore, the transmitting lights used to scan the positioning coding hole 102 and the numbering coding hole 101 can be set to the same group. The number of these numbering and positioning coding transmitting lights should be consistent with the number of positioning coding holes 102 or numbering coding holes 101 in the second direction of the code plate 100. For example, as... Figure 1 , Figure 2 As shown in the figure, the maximum number of holes that can be opened in each column of the positioning coding hole 102 and the number coding hole 101 in the second direction of the code plate 100 is 6. Therefore, the number of the numbering and positioning coding emitting lights can be set to 6. Figure 1 The diagram shows that the number of the numbered and positioning code transmitters is 6. If the maximum number of positioning code holes 102 that can be opened in each column in the second direction of the code plate 100 is 6, and the maximum number of numbered code holes 101 that can be opened in each column in the second direction of the code plate 100 is 7, then the number of the numbered and positioning code transmitters can be set to 7.

[0069] Understandably, if the vehicle 20 to be positioned is moving in one direction, the number and positioning code transmitter light can be placed on one side of the vehicle 20 in the first direction. If the vehicle 20 to be positioned is moving in both directions, the number and positioning code transmitter light can be placed on both sides of the vehicle 20 in the first direction. When the number and positioning code transmitter light is placed on both sides of the vehicle 20 in the first direction, the corresponding number coding hole 101 is also placed on both sides of the vehicle 20 in the first direction, so that the number coding hole 101 can be scanned first when the vehicle 20 moves in either the forward or reverse direction.

[0070] In the above implementation process, by setting each positioning code hole and numbered code hole to correspond to a numbered and positioning code transmitting light for scanning, the signal of each positioning code hole and numbered code hole is collected independently, preventing mutual interference between multiple positioning code holes or numbered code holes and improving the accuracy of positioning code hole and numbered code hole information acquisition. In addition, by setting the numbered and positioning code transmitting lights on the side of the locomotive to be positioned in the first direction, the target device corresponding to the code plate can be immediately acquired as soon as the locomotive to be positioned moves to the code plate position, improving positioning efficiency.

[0071] One possible implementation, such as Figure 3 As shown, the positioning coding holes 102 are distributed in a stepped manner in the middle position of the code plate 100 in the first direction; the adjacent positioning coding holes 102 in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes 102 in the first direction.

[0072] The first positioning coding hole 102 is the same size, the second positioning coding hole 102 is the same size, and the third positioning coding hole 102 is the same size. The width of the first positioning coding hole 102 in the first direction is half the width of the second positioning coding hole 102 in the first direction, and the width of the second positioning coding hole 102 in the first direction is half the width of the third positioning coding hole 102 in the first direction.

[0073] The first positioning coding hole 102 here refers to the first positioning coding hole 102 and the last positioning coding hole 102. The third positioning coding hole 102 is the positioning coding hole 102 at the junction of the ascending and descending steps. The second positioning coding hole 102 is the positioning coding hole 102 other than the first positioning coding hole 102 and the third positioning coding hole 102.

[0074] The aforementioned steps may include ascending steps and descending steps, or only ascending steps or descending steps. When the target device is large, the code plate 100 will be set to a correspondingly larger size. In this case, a single set of stepped positioning coding holes 102 cannot achieve the positioning of the target device. By setting multiple sets of stepped positioning coding holes 102, each position of the code plate 100 in the first direction can be displayed through the positioning coding hole 102.

[0075] Understandably, when the positioning coding hole 102 is arranged in multiple stepped patterns, such as Figure 3 As shown, there may be identical binary codes at different positions within different stepped structures. If an opening in the positioning coding hole 102 represents 1, and no opening represents 0, then... Figure 3The location codes corresponding to each dotted line on the code plate 100 from left to right are as follows: 000011, 000110, 001100, 011000, 110000; 110000, 011000, 001100, 000110, 000011; 000011, 000110, 001100, 011000, 110000; 110000, 011000, 001100, 000110, 000011; 000011, 000110, 001100, 011000, 110000; 110000, 011000, 001100, 000110, 000011. Clearly, Figure 3 The code plate 100 shown will contain positions with the same binary code. Timing can be started when the locomotive 20 to be positioned passes through the numbered code hole 101. Based on the time it takes for the locomotive 20 to move from the numbered code hole 101 to the target positioning code hole 102 and the speed of the locomotive 20, the position of the target positioning code hole 102 relative to the numbered code hole 101 can be determined, and the target step corresponding to the target code hole can be roughly determined, thereby determining the specific position of the target code hole.

[0076] In the above implementation process, when the target device is large, multiple stepped positioning coding holes can be set so that each position of the target device can be represented by the positioning coding holes on the code plate, so as to achieve continuous positioning of each position of the target device and improve the positioning accuracy.

[0077] One possible implementation, such as Figure 4 As shown, the code plate 100 is also provided with a positioning mark encoding hole 103. The positioning mark encoding hole 103 is located on one side of the code plate 100 in the second direction, and the width of the positioning mark encoding hole 103 in the first direction is equal to the width of the ascending step in the first direction or the width of the descending step in the first direction.

[0078] The positioning mark encoding hole 103 is configured to represent the position information of the positioning mark encoding hole 103, so as to further determine the position of the positioning encoding hole 102.

[0079] The positioning mark encoding hole 103 can also be represented by binary encoding, with each positioning mark encoding hole 103 corresponding to an ascending step or a descending step. Figure 4The diagram shows that each positioning mark encoding hole 103 corresponds to an ascending step, so as to distinguish the positioning encoding hole 102 where the ascending or descending step is located through the positioning mark encoding hole 103. In order to distinguish each ascending or descending step, after scanning the positioning mark encoding hole 103, the information acquisition device 200 stores each scanned positioning mark encoding hole 103, so as to form the position information of the step where the current positioning mark encoding hole 103 is located based on the binary code of each scanned positioning mark encoding hole 103.

[0080] For example, such as Figure 4 As shown, if an opening in the positioning mark coding hole 103 is represented as 1, and no opening is represented as 0, then Figure 4 The corresponding codes for each ascending and descending step on the code plate 100 from left to right are: 1, 10, 101, 1010, 10101, 101010.

[0081] In the above implementation process, by setting a positioning marker encoding hole, positioning encoding holes with the same binary code at different positions can be distinguished. Simultaneously, the information acquisition device scans the positioning encoding hole and the positioning marker encoding hole to further differentiate positioning encoding holes with the same binary code, thereby improving the positioning accuracy of the positioning system.

[0082] In one possible implementation, the information collection device 200 includes: a marker code transmitter and a number and location code transmitter; multiple number and location code transmitters and marker code transmitters are arranged in a straight line at a preset distance in a second direction, and at least one number and location code transmitter is respectively provided on both sides of the locomotive 20 to be located in the first direction.

[0083] The marking code transmitter is configured to scan the marking code hole, and the numbering and positioning code transmitter is configured to scan the numbering code hole 101 and the positioning code hole 102. The number of numbering and positioning code transmitters is equal to the greater of the maximum number of numbering code holes 101 and the maximum number of positioning code holes 102 that can be opened in the second direction. The numbering and positioning code transmitter is configured to scan the numbering code hole 101 and the positioning code hole 102.

[0084] The marker coding transmitter and the numbering transmitter can be the same type of transmitter as the positioning code transmitter, or they can be different types of transmitters. The marker coding transmitter acquires the marker information corresponding to the marker coding hole, and determines the location range corresponding to the positioning marker coding hole 103 based on this marker information.

[0085] Optionally, after scanning the positioning mark coding hole 103, the information acquisition device 200 can store each scanned positioning mark coding hole, or the control system can store each scanned positioning mark coding hole.

[0086] In the above implementation process, by additionally setting up a marker encoding emitting light for scanning the positioning marker encoding hole, the positioning marker encoding hole is scanned to obtain the position information of the positioning marker encoding hole, and then the positioning encoding hole with the same binary code is further positioned, thereby improving the positioning accuracy of the positioning system.

[0087] One possible implementation, such as Figure 5 As shown, there are multiple information collection devices 200; the multiple information collection devices 200 are spaced apart in the first direction of the locomotive 20 to be positioned.

[0088] The interval between two adjacent information collection devices 200 is no greater than the width of the code plate 100 in the first direction.

[0089] The plurality of information collection devices 200 here includes at least two. If there are two information collection devices 200, the interval between these two information collection devices 200 should not be greater than the width of the code plate 100 in the first direction. If there are multiple information collection devices 200, the distance between two adjacent information collection devices 200 should not be greater than the width of the code plate 100 in the first direction.

[0090] The aforementioned multiple information acquisition devices 200 are used to scan the continuous positioning code hole 102 when the locomotive 20 to be positioned moves in the forward and reverse directions. After one information acquisition device 200 finishes scanning the positioning code hole 102, another information acquisition device 200 takes over the positioning code hole 102 to increase the continuous positioning distance.

[0091] Understandably, with Figure 4 The code 100 shown is... Figure 5Taking the information collection device 200 shown as an example, the corresponding code codes for each ascending and descending step on the code plate 100 from left to right are: 1, 10, 101, 1010, 10101, 101010. When the locomotive moves to the right, the information collection device 200 in the right direction first scans and reads the codes, which are R5R6, R4R5, R3R4, R2R3, R1R2, R1R2, R2R3, R3R4, R4R5, R5R6, etc. When the locomotive moves to the left, the information collection device 200 in the left direction first scans and reads the codes. The positioning code information parsed by the code reading unit is L5L6, L4L5, L3L4, L2L3, L1L2, L1L2, L2L3, L3L4, L4L5, L5L6, etc.

[0092] In the above implementation process, by setting up multiple information acquisition devices, the number coding holes, positioning coding holes, and positioning mark coding holes can be scanned in a timely manner when the locomotive to be positioned moves in both directions, realizing forward and reverse scanning and code reading positioning, thus improving the positioning efficiency of the positioning system. In addition, the multiple information acquisition devices scan the positioning coding holes on the code plate one after another, realizing continuous and accurate positioning within the range of the code plate.

[0093] In one possible implementation, the numbering and coding holes 101 are located on both sides of the code plate 100 in a first direction.

[0094] In the above implementation process, by setting numbering and encoding holes on both sides of the code plate in the first direction, the number of the target device corresponding to the code plate can be determined as soon as the code plate is scanned, regardless of whether the locomotive to be positioned is moving in the forward or reverse direction. This eliminates the need to scan the entire code plate before determining the target device and eliminates the need for back-and-forth positioning, thus improving positioning efficiency.

[0095] Please see Figure 6 This is a flowchart of the locomotive positioning method provided in the embodiments of this application. The following will describe... Figure 6 The specific process shown will be explained in detail.

[0096] Step S201: Obtain the number information and location information.

[0097] The numbering and location information here are obtained through the locomotive positioning system mentioned above.

[0098] Step S202: Determine the actual position of the locomotive to be located based on the number information and location information.

[0099] The numbering information is determined by the opening information of the numbering coding hole, and the position information is determined by the opening information of the positioning coding hole.

[0100] After determining the numbering and location information based on the numbering and positioning coding holes, the relative position of the locomotive to be positioned is determined. Then, based on the absolute position of the target equipment, the relative position is added to or subtracted from the direction of movement of the locomotive to be positioned to obtain the actual position of the locomotive to be positioned.

[0101] The absolute position of the target device can be bound to the target device in advance, and once the target device is determined, the corresponding absolute position can be directly determined based on the target device.

[0102] In one possible implementation, after step S201, the method further includes: determining whether the position information of adjacent positioning coded holes in the second direction is obtained simultaneously. If the position information of adjacent positioning coded holes in the second direction is obtained simultaneously, the numbering information and the position information are decoded. Step 201 includes: determining the actual position of the locomotive to be positioned using the decoded numbering information and position information.

[0103] Understandably, by judging the acquired binary code, and simultaneously obtaining adjacent positioning coding holes in the second direction, it is determined that the information acquisition device did not experience jitter or offset during scanning, meaning the acquired binary code information is accurate. At this point, the binary code is decoded to obtain the corresponding number and position information.

[0104] In the above implementation process, before decoding the binary code, it is first determined whether adjacent positioning coding holes in the second direction are obtained at the same time. If adjacent positioning coding holes in the second direction are obtained at the same time, the binary code is then decoded, which reduces the decoding of error information and improves positioning accuracy and efficiency.

[0105] In one possible implementation, step S202 includes: determining the target device based on the number information; determining the location range of the positioning code hole based on the marking information; determining the corresponding positioning code hole based on the positioning information; and determining the actual position of the locomotive to be positioned by the location of the corresponding positioning code hole and the position of the target device.

[0106] Based on the same application concept, this application also provides a locomotive positioning device corresponding to the locomotive positioning method. Since the principle of the device in this application is similar to that of the aforementioned locomotive positioning method, the implementation of the device in this application can refer to the description in the above-mentioned method embodiments, and the repeated parts will not be described again.

[0107] Please see Figure 7This is a functional module diagram of the locomotive positioning device provided in this application embodiment. Each module in the locomotive positioning device in this embodiment is used to execute the steps in the above method embodiments. The locomotive positioning device includes an acquisition module 501 and a determination module 502; wherein,

[0108] The acquisition module 501 is used to acquire number information and location information, which are obtained through the above-mentioned locomotive positioning system.

[0109] The determining module 502 is used to determine the actual position of the locomotive to be positioned based on the numbering information and the position information, wherein the numbering information is determined by the opening information of the numbering coding hole, and the position information is determined by the opening information of the positioning coding hole.

[0110] In one possible implementation, the locomotive positioning device's judgment module is configured to: determine whether the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously; if the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously, decode the numbering information and the position information.

[0111] In one possible implementation, the determining module 502 is specifically used to: determine the actual position of the locomotive to be located by using the decoded numbering information and the position information.

[0112] In one possible implementation, the determining module 502 is specifically used for: determining the target device based on the numbering information; determining the location range of the positioning coding hole based on the marking information; determining the corresponding positioning coding hole based on the positioning information; and determining the actual position of the locomotive to be positioned by the location of the corresponding positioning coding hole and the position of the target device.

[0113] To facilitate understanding of this embodiment, the electronic device that performs the locomotive positioning method disclosed in this application embodiment will be described in detail below.

[0114] like Figure 8 The diagram shown is a block illustration of an electronic device. The electronic device 600 may include a memory 611 and a processor 613. Those skilled in the art will understand that... Figure 8 The structure shown is for illustrative purposes only and does not limit the structure of electronic device 600. For example, electronic device 100 may also include components that are more advanced than those shown in the diagram. Figure 8 The more or fewer components shown, or having the same Figure 8 The different configurations shown.

[0115] The memory 611 and processor 613 described above are electrically connected to each other directly or indirectly to enable data transmission or interaction. For example, these components can be electrically connected to each other via one or more communication buses or signal lines. The processor 613 described above is used to execute executable modules stored in the memory.

[0116] The memory 611 can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory 611 stores programs, and the processor 613 executes these programs upon receiving execution instructions. The methods executed by the electronic device 600 as defined in any embodiment of this application can be applied to the processor 613, or implemented by the processor 613.

[0117] The aforementioned processor 613 may be an integrated circuit chip with signal processing capabilities. The processor 613 may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a digital signal processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor.

[0118] The electronic device 600 in this embodiment can be used to execute various steps in the various methods provided in the embodiments of this application. The implementation process of the locomotive positioning method is described in detail below through several embodiments.

[0119] Furthermore, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the locomotive positioning method described in the above method embodiment.

[0120] The computer program product of the locomotive positioning method provided in this application includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the steps of the locomotive positioning method described in the above method embodiments. For details, please refer to the above method embodiments, which will not be repeated here.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0122] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0123] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they 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 a 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 described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks. It should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0124] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0125] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A locomotive positioning system, characterized in that, include: Code tags, information collection devices, and control modules; The code plate is equipped with a numbering encoding hole and a positioning encoding hole. The numbering encoding hole is configured to represent the number information of the target device and is set at the side end position of the code plate in a first direction. The positioning encoding hole is configured to represent the position information of the target device and is continuously set in the first direction of the code plate, which is the direction of movement of the locomotive to be positioned. The information collection device is installed on the locomotive to be located and is used to scan the code plate to obtain scanning data and send the scanning data to the control module. The control module is used to parse the scanned data to obtain the number information and the position information, and to locate the locomotive to be located according to the number information and the position information, wherein the number information is determined by the opening information of the numbering coding hole, and the position information is determined by the opening information of the positioning coding hole; The positioning coding holes are distributed in a stepped manner at the middle position of the code plate in the first direction; The adjacent positioning coding holes in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes in the first direction. The second direction is the direction in which the height of the locomotive to be positioned is located. Wherein, the first positioning coding hole is the same size, the second positioning coding hole is the same size, the width of the first positioning coding hole in the first direction is half the width of the second positioning coding hole in the first direction, the first positioning coding hole is the first positioning coding hole and the last positioning coding hole, and the second positioning coding hole is the positioning coding hole other than the first positioning coding hole. The information collection device includes: multiple numbered and location-coded transmitters; Multiple numbered and positioning code transmitters are arranged in a straight line at a predetermined distance in the second direction, and the numbered and positioning code transmitters are located on at least one side of the locomotive to be positioned in the first direction; The number of numbering and positioning code emitting lights is equal to the greater of the maximum number of numbering code holes and the maximum number of positioning code holes that can be opened in the second direction, and the numbering and positioning code emitting lights are configured to scan the numbering code holes and the positioning code holes.

2. The system according to claim 1, characterized in that, The positioning coding holes are distributed in a stepped manner in the middle position of the code plate in the first direction, and the steps include ascending steps and descending steps; The adjacent positioning coding holes in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes in the first direction. The second direction is the direction in which the height of the locomotive to be positioned is located. The first positioning coding hole is the same size, the second positioning coding hole is the same size, and the third positioning coding hole is the same size. The width of the first positioning coding hole in the first direction is half the width of the second positioning coding hole in the first direction, and the width of the second positioning coding hole in the first direction is half the width of the third positioning coding hole in the first direction. The first positioning coding hole is the first and last positioning coding hole, the third positioning coding hole is the positioning coding hole at the junction of the ascending step and the descending step, and the second positioning coding hole is the positioning coding hole other than the first and third positioning coding holes.

3. The system according to claim 2, characterized in that, The code plate is also provided with positioning mark encoding holes; The positioning mark encoding hole is located on one side of the code plate in the second direction, and the width of the positioning mark encoding hole in the first direction is equal to the width of the ascending step in the first direction or the width of the descending step in the first direction. The mark encoding hole is configured to represent the position information of the positioning mark encoding hole, so as to further determine the position of the positioning mark encoding hole.

4. The system according to claim 1, characterized in that, The information collection device includes: a marker coding transmitter and a number and location coding transmitter, wherein there are multiple number and location coding transmitters; Multiple number and positioning code transmitters and the mark code transmitters are arranged in a straight line at a predetermined distance in the second direction, and the locomotive to be positioned is provided with at least one number and positioning code transmitter on each side of the first direction; The sign coding transmitter is configured to scan the sign coding hole, and the number and positioning coding transmitter is configured to scan the number coding hole and the positioning coding hole. The number of number and positioning coding transmitters is equal to the greater of the maximum number of number coding holes that can be opened in the second direction and the maximum number of positioning coding holes that can be opened.

5. The system according to any one of claims 1-4, characterized in that, There are multiple information collection devices; Multiple information collection devices are spaced apart along the first direction of the locomotive to be located; The interval between two adjacent information collection devices is no greater than the width of the code plate in the first direction.

6. The system according to claim 5, characterized in that, The numbering and encoding holes are located on both sides of the code plate in the first direction.

7. A locomotive positioning method, characterized in that, include: The numbering information and the location information are obtained through the locomotive positioning system according to any one of claims 1-6; The actual position of the locomotive to be located is determined based on the number information and the location information; The numbering information is determined by the opening information of the numbering coding hole, and the position information is determined by the opening information of the positioning coding hole.

8. The method according to claim 7, characterized in that, Adjacent positioning coding holes in the second direction overlap in the second direction, and the overlap width is half the width of the positioning coding holes in the first direction. The numbering information and the position information are binary encoded. After obtaining the numbering information and the position information, the method further includes: Determine whether the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously; If the position information of the adjacent positioning coding holes in the second direction is obtained simultaneously, the numbering information and the position information are decoded; Determining the actual position of the locomotive to be located based on the number information and the location information includes: The actual location of the locomotive to be located is determined by the decoded number information and the location information.

9. The method according to claim 7, characterized in that, The location information includes positioning information and marker information. Determining the actual location of the locomotive to be located based on the number information and the location information includes: The target device is determined based on the numbering information; The location range of the positioning encoding hole is determined based on the marking information; The corresponding positioning encoding hole is determined based on the positioning information; The actual position of the locomotive to be positioned is determined by the location of the corresponding positioning coding hole and the position of the target device.

10. An electronic device, characterized in that, include: The processor and memory, wherein the memory stores machine-readable instructions executable by the processor, wherein when the electronic device is running, the machine-readable instructions are executed by the processor to perform the steps of the method as described in any one of claims 7 to 9.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 7 to 9.

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