A method and device for vehicle transportation alignment, a storage medium and an electronic device

Abstract

Some embodiments of the present application provide a method, device, storage medium and electronic equipment for vehicle transportation alignment, the method comprising: sending current position information of a vehicle target to a server, and receiving feedback results sent by the server; determining target pose data of the vehicle transportation based on the feedback results; and adjusting a pose of an alignment device based on the target pose data to realize adjustment of the alignment device. Some embodiments of the present application can realize accurate positioning of vehicle transportation in various cases, and have good versatility.

Description

Technical Field

[0001] This application relates to the field of vehicle alignment technology, and more specifically, to a method, apparatus, storage medium, and electronic device for vehicle-mounted transportation alignment. Background Technology

[0002] Accurate positioning or alignment in vehicle transportation plays a crucial role in completing vehicle transportation.

[0003] Currently, most methods for positioning / alignment in vehicle transportation employ laser ranging, consisting of a transmitter and a reflector. Both the transmitter and reflector are located directly in front of each other along the same path. Even with diffuse reflection without a reflector, a reflective object is still required directly in front of the path, and the device (transmitter) used to install the laser ranging is fixed. Clearly, existing technology can only achieve distance measurement in a straight line directly ahead, and cannot achieve distance measurement and positioning at curves or through-type workstations, resulting in poor versatility.

[0004] Therefore, how to provide a technical solution for a more universal vehicle-mounted transportation alignment method has become an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of some embodiments of this application is to provide a method, apparatus, storage medium and electronic device for vehicle transportation alignment. The technical solutions of the embodiments of this application can achieve accurate alignment of vehicle transportation and have high versatility.

[0006] In a first aspect, some embodiments of this application provide a method for vehicle-mounted transportation alignment, including: sending the current location information of a vehicle-mounted target to a server and receiving feedback results sent by the server; determining the target pose data of the vehicle-mounted transportation based on the feedback results; and adjusting the pose of the alignment device based on the target pose data to achieve adjustment of the alignment device.

[0007] Some embodiments of this application can determine the target pose data by using feedback results related to the current location information of the vehicle transportation sent by the server, and adjust the alignment device based on the target pose data. This can achieve distance measurement and positioning at curves or through workstations, achieving accurate alignment of the vehicle transportation and high versatility.

[0008] In some embodiments, determining the target pose data for vehicle transportation based on the feedback result includes: confirming whether the current location information in the feedback result belongs to a repetitive work site; and obtaining the target pose data according to the determination result.

[0009] Some embodiments of this application obtain target pose data by confirming whether the current location is a repeating work point through a server, which can save computational costs.

[0010] In some embodiments, confirming whether the current location information in the feedback result belongs to the repetitive work site includes: when the determination result indicates that the current location information belongs to the repetitive work site, obtaining the initial pose data fed back by the server; obtaining the target pose data based on the determination result includes: verifying the initial pose data to determine the target pose data.

[0011] Some embodiments of this application obtain target pose data by verifying the initial pose data sent by the server when confirming that the current location information belongs to a repetitive work point, thereby saving time and system resources and improving the accuracy of the results.

[0012] In some embodiments, verifying the initial pose data to determine the target pose data includes: if the initial pose data passes the verification, then using the initial pose data as the target pose data; if the initial pose data fails the verification, then calculating the current position data corresponding to the current position information to obtain the target pose data.

[0013] Some embodiments of this application verify the initial pose data to confirm the final target pose data, thereby ensuring the accuracy of the final result.

[0014] In some embodiments, confirming whether the current location information in the feedback result belongs to the repetitive work site includes: confirming that the determination result is that the current location information does not belong to the repetitive work site; obtaining the target pose data based on the determination result includes: calculating the current location data corresponding to the current location information to obtain the target pose data.

[0015] Some embodiments of this application calculate the target pose data from the current position data when it is confirmed that the current position information does not belong to the repetitive work point, which can ensure the accuracy of the alignment device adjustment.

[0016] In some embodiments, after adjusting the pose of the alignment device based on the target pose data, the method further includes: sending the current position information and the target pose data to the server so that the server can store the current position information and the target pose data.

[0017] Some embodiments of this application store the current location information and target pose data of the vehicle transportation on a server so that it can be directly called when it arrives at the same work station again, thereby reducing computing costs and system resource consumption.

[0018] In some embodiments, the method further includes: executing a remote upgrade command sent by the server; or sending the operating status of the positioning device to the server in real time.

[0019] In some embodiments of this application, the server can remotely upgrade the controller and monitor the positioning device, exhibiting a high degree of intelligence and efficiency.

[0020] Secondly, some embodiments of this application provide a vehicle-mounted transportation alignment device, comprising: a sending module for sending the current location information of a vehicle-mounted target to a server and receiving feedback results sent by the server; a determining module for determining the target pose data of the vehicle-mounted transportation based on the feedback results; and an adjusting module for adjusting the pose of the alignment device based on the target pose data, so as to achieve adjustment of the alignment device.

[0021] Thirdly, some embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0022] Fourthly, some embodiments of this application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, can implement the method as described in any embodiment of the first aspect.

[0023] Fifthly, some embodiments of this application provide a computer program product, the computer program product including a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of some embodiments of this application, the accompanying drawings used in some embodiments of this application will be briefly described 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.

[0025] Figure 1 A system diagram of vehicle-mounted transportation alignment is provided for some embodiments of this application;

[0026] Figure 2 One of the flowcharts for a vehicle-mounted transportation alignment method provided in some embodiments of this application;

[0027] Figure 3 A flowchart illustrating the implementation of a digital PID control algorithm provided for some embodiments of this application;

[0028] Figure 4 A second flowchart of a vehicle-mounted transportation alignment method provided for some embodiments of this application;

[0029] Figure 5 One of the schematic diagrams of vehicle transportation provided for some embodiments of this application;

[0030] Figure 6 A second schematic diagram of vehicle-mounted transportation provided for some embodiments of this application;

[0031] Figure 7 A block diagram of a vehicle-mounted transportation alignment device provided for some embodiments of this application;

[0032] Figure 8 A schematic diagram of an electronic device provided for some embodiments of this application. Detailed Implementation

[0033] The technical solutions of some embodiments of this application will now be described with reference to the accompanying drawings.

[0034] 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.

[0035] In related technologies, most current vehicle-mounted transportation positioning / alignment ranging devices use laser ranging. Regardless of whether there is a reflective end, they are limited to straight-line ranging directly ahead of the route. Fixed ranging devices cannot be applied to curves or through-type workstations. Currently, conventional alignment control systems are isolated, cannot provide remote online services, and lack large amounts of historical data storage. They require repeated alignment or positioning, resulting in high computational costs and low efficiency.

[0036] In view of this, some embodiments of this application provide a method for vehicle-mounted transportation alignment. This method involves sending the current location information of the vehicle-mounted transportation to a server, determining the target pose data based on the feedback results from the server, and finally, adjusting the alignment device based on the target pose data. Some embodiments of this application can reduce alignment calculation costs through the interaction between the server and the controller, and can achieve accurate alignment of vehicle-mounted transportation at curves or through-type workstations, demonstrating high versatility.

[0037] The following is in conjunction with the appendix Figure 1The overall composition and structure of the vehicle-mounted transportation alignment system provided by some embodiments of this application are illustrated by way of example.

[0038] like Figure 1 As shown in the figure, some embodiments of this application provide a system diagram for vehicle-mounted transportation alignment. The system includes: a controller 100, an alignment device 110, an alignment equipment 120, a server 200, and a memory model 210. The controller 100 and the server 200 can communicate via wired or wireless networks (e.g., 4G or 5G networks).

[0039] In some embodiments of this application, the alignment device 120 is mounted on the alignment unit 110. The alignment device 120 can be a positioning or ranging sensor. For example, a photoelectric switch or a laser rangefinder (including a transmitter and a receiver) can obtain alignment data through the alignment device 120. The X, Y, and Z axes of the alignment unit 110 are adjustable. For example, a digital PID (Proportional Integral Derivative) control algorithm can be used to adjust the pose of the alignment device 120, and its pose information is stored in the controller 100. The controller can be a PLC (Programmable Logic Controller) or an industrial computer, etc. In addition, the vehicle-mounted transportation alignment system is also equipped with a server 200. The controller 100 and the server 200 can be connected via a 4G / 5G gateway. The server 200 can remotely monitor the operating status of the alignment device 120 online and can also remotely upgrade the control system of the controller 100. The memory model 210 is deployed on the server 200. The memory model 210 can store historical work site data.

[0040] The following is in conjunction with the appendix Figure 2 The implementation process of a vehicle transportation alignment method executed by a controller 100, provided by some embodiments of this application, is illustrated by way of example.

[0041] Please see the appendix Figure 2 , Figure 2 A flowchart of a vehicle-mounted transportation alignment method is provided for some embodiments of this application. The vehicle-mounted transportation alignment method includes:

[0042] S210, send the current location information of the vehicle target to the server, and receive the feedback result sent by the server.

[0043] For example, in some embodiments of this application, the controller 100 may collect data from the positioning device 120 to obtain the current physical location (as a specific example of current location information) and send it to the server 200.

[0044] S220, Based on the feedback results, determine the target pose data for the vehicle-mounted transportation.

[0045] For example, in some embodiments of this application, the server 200 can determine whether the location is a repetitive work site based on the current physical location, and send the feedback result to the controller 100, so that the controller 100 can determine the target pose data.

[0046] In some embodiments of this application, S220 may include:

[0047] S221, confirm whether the current location information in the feedback result belongs to the determination result of the repeated work site.

[0048] In some embodiments of this application, S221 includes: when it is confirmed that the determination result is that the current location information belongs to the repeating work site, obtaining the initial pose data fed back by the server.

[0049] For example, in some embodiments of this application, server 200 determines whether the current physical location of the vehicle-mounted transport exists in memory model 210 using GNSS (Global Navigation Satellite System) data. If it exists, it is determined to be a duplicate work site, and the determination result is "belongs". When server 200 confirms it is a duplicate work site, it can retrieve historical data of the current work site (i.e., the current physical location) from memory model 210 (as a specific example of historical work site data), and calculate the initial pose data using a deep learning algorithm. The initial pose data is then sent to controller 100. Controller 100 can determine the final target pose data based on the initial pose data. The memory model 210 in this embodiment can shorten the system algorithm time and save system computing resources.

[0050] S222, Based on the determination result, obtain the target pose data.

[0051] In some embodiments of this application, S222 includes: verifying the initial pose data to determine the target pose data.

[0052] In some embodiments of this application, S222 may further include: if the initial pose data passes the verification, then the initial pose data is used as the target pose data; if the initial pose data fails the verification, then the current position data corresponding to the current position information is calculated to obtain the target pose data.

[0053] For example, in some embodiments of this application, after the controller 100 obtains the initial pose data, the controller 100 quickly adjusts the alignment device 110 to the corresponding pose state based on the initial pose data. At this time, the state of the alignment device 120 is verified. If the verification passes, the initial pose data is used as the target pose data. If the state of the alignment device 120 is not suitable, the current position data needs to be calculated to obtain the target pose data again.

[0054] In some other embodiments of this application, S221 may include: confirming that the determination result indicates that the current location information does not belong to the repeating work point. S222 may include: calculating the current location data corresponding to the current location information to obtain the target pose data.

[0055] For example, in some embodiments of this application, the server 200 determines, based on GNSS data, that the current physical location of the vehicle transport does not exist in the memory model 210, thus determining that it is not a duplicate work point. At this time, the controller 100 uses a digital PID control algorithm to adjust the pose of the current location data to obtain the target pose data. The digital PID calculation process only requires the deviation of three consecutive measurements, making it simple to calculate. Furthermore, the output is a control increment, so even if the controller malfunctions, the output will not deviate significantly from the normal value. This allows for the acquisition of highly accurate target pose data, thereby achieving accurate alignment of the vehicle transport.

[0056] S230, adjust the pose of the alignment device based on the target pose data to achieve the adjustment of the alignment device.

[0057] For example, in some embodiments of this application, the controller 100 can adjust the alignment device 110 to the target pose data, thereby realizing the adjustment of the alignment device 120.

[0058] In some embodiments of this application, the method for vehicle-mounted transportation alignment further includes: sending the operating status of the alignment device to the server in real time.

[0059] For example, in some embodiments of this application, the server 200 can remotely monitor the operating status of the alignment device 120 and can also collect relevant data such as the current location information of the alignment device 120. The embodiments of this application are not specifically limited herein.

[0060] In some embodiments of this application, the method for vehicle-mounted transportation alignment further includes: executing remote upgrade and / or remote service instructions sent by the server.

[0061] For example, in some embodiments of this application, the server 200 can also send a remote upgrade command to the controller 100 based on system upgrade information. The controller 100 executes the remote upgrade command to remotely upgrade its control system, improving upgrade efficiency. It can also provide remote services to the control system, including remote debugging and remote maintenance, with high efficiency.

[0062] In some embodiments of this application, the vehicle-mounted transportation alignment method further includes: sending the current location information and the target pose data to the server so that the server can store the current location information and the target pose data.

[0063] For example, in some embodiments of this application, the controller 100 can send relevant current location information and target pose data to the server. The server 200 can store all current data of the vehicle transportation (i.e., current location information and target pose data) in the memory model 210 so that it can be directly called up later when repeating work points, reducing the computational cost of the algorithm.

[0064] The following is in conjunction with the appendix Figure 3 The implementation principle of the digital PID control algorithm provided in some embodiments of this application is illustrated by way of example.

[0065] Please see the appendix Figure 3 , Figure 3 A flowchart illustrating the implementation of a digital PID control algorithm provided in some embodiments of this application.

[0066] The above process is illustrated below by example.

[0067] S310, input proportional coefficient Kp, integral time constant Ti, derivative time constant Td, sampling period T.

[0068] S320 uses Kp, Ti, Td, and T to calculate parameters A, B, and C.

[0069] Specifically, as a concrete example of this application, the formulas for obtaining A, B, and C are as follows:

[0070]

[0071] S330, set the initial values: e(k-1)=e(k-2)=0, u(k-1)=0, where u(k) is the k-th control quantity and u(k-1) is the (k-1)-th control quantity.

[0072] S340, obtain the target pose P(k) of the alignment device and the current actual pose P'(k) of the vehicle transportation.

[0073] Specifically, the current actual pose is the current position data.

[0074] S350, calculate the deviation value e(k)=P(k)-P'(k).

[0075] S360, calculate the control increment Δu(k), where Δu(k) is the increment between the k-th control quantity and the (k-1)-th control quantity, Δu(k) = Ae(k) - Be(k-1) + Ce(k-2).

[0076] S370, output u(k), u(k)=u(k-1)-Δu(k).

[0077] Specifically, u(k) represents the target pose data.

[0078] S380, let e(k-2)=e(k-1), e(k-1)=e(k).

[0079] S390: Determine if the sampling period has reached T. If yes, end; otherwise, return to S340.

[0080] The following is in conjunction with the appendix Figure 4 The present application provides an exemplary description of the specific process of vehicle-mounted transportation alignment provided by some embodiments.

[0081] Please see the appendix Figure 4 , Figure 4 A flowchart of a vehicle-mounted transportation alignment method provided for some embodiments of this application.

[0082] The above process is illustrated below by example.

[0083] S410, the controller 100 obtains the current location information of the vehicle transportation and sends it to the server 200.

[0084] S420, Server 200 determines whether the current location information belongs to a duplicate work point. If so, it executes S430; otherwise, it executes S440.

[0085] S430, Server 200 retrieves historical work site data corresponding to the duplicate work site.

[0086] S431, Server 200 calculates the initial pose data from historical work site data using a deep learning algorithm and sends it to Controller 100.

[0087] S432, Controller 100 confirms whether the initial pose data has passed the verification. If yes, it executes S450; otherwise, it executes S440.

[0088] S440, the controller 100 calculates the current position data corresponding to the current position information to obtain the target pose data.

[0089] S450, the controller 100 uses the initial pose data as the target pose data.

[0090] S460, the controller 100 sends the current position information and target pose data to the server 200.

[0091] It should be noted that the specific implementation process of S410 to S460 can be referred to the method embodiments provided above. To avoid repetition, detailed descriptions are omitted here.

[0092] The following example illustrates the specific process of vehicle-mounted transportation alignment using a laser rangefinder (as a specific example of alignment device 120) applied to a through-type workstation alignment on a rail locomotive.

[0093] Please see the appendix Figure 5 , Figure 5 This is a schematic diagram of vehicle transportation provided for some embodiments of this application.

[0094] Figure 5 The alignment device 110 is installed at the front of the locomotive and faces the locomotive's direction of travel. The XYZ axes of the alignment device 110 are defined as follows: the locomotive's direction of travel is the X axis, the direction perpendicular to the locomotive's direction of travel is the Y axis, and the plane perpendicular to the XY axis and pointing upwards is the Z axis. The laser rangefinder transmitter is installed on the alignment device 110. The reflector is installed at a certain distance from the side of the track in the X-axis direction. The Y direction of the transmitter is in the same direction as the center direction of the through-type workstation. The Z direction of the alignment device 110, which is used to install the laser rangefinder transmitter and receiver, will be adjusted to the same height during installation. The alignment device 110 can rotate around the Z axis.

[0095] The following is combined with Figure 5 The following example illustrates the process of vehicle-mounted transportation alignment. It should be noted that the following embodiments are based on the example where the locomotive's current physical location is not a repeating work point.

[0096] S11, obtain the current physical location A of the locomotive from the locomotive's GNSS data.

[0097] S12, set Dis to travel a certain distance in front of the through-workstation;

[0098] S13, the controller 100 uses digital PID control to rotate the alignment device 110 of the transmitter counterclockwise around the Z-axis by an angle α, while the controller 100 controls the alignment device of the reflector to rotate clockwise around the Z-axis by an angle (90-α).

[0099] S14, the controller 100 collects the value La of the laser rangefinder at this moment, and at the same time, the controller 100 records the locomotive GNSS position data A, the travel speed Va, the rotation angle data α of the alignment device 110, and the laser rangefinder data La (as a specific example of target pose data), and transmits them to the server 200 for storage.

[0100] S15, the controller 100 can obtain the distance between the current locomotive and the through-type workstation using the formula Dis=La*COSα;

[0101] S16, the locomotive travels to the through-type work point according to the current speed and distance, and the controller 100 controls the alignment device 110 to return to the 0 position.

[0102] The following example illustrates the specific process of vehicle-mounted transportation alignment using a photoelectric switch (as a specific example of alignment device 120) applied to curve positioning on a rail locomotive.

[0103] Please see the appendix Figure 6 , Figure 6 This is a schematic diagram of vehicle transportation provided for some embodiments of this application.

[0104] Figure 6 The alignment device 110 is installed at the front end of the locomotive and perpendicular to the locomotive's direction of travel. The XYZ axes of the alignment device are defined as follows: the X-axis is parallel to the locomotive's direction of travel, the Y-axis is perpendicular to the locomotive's direction of travel, and the Z-axis is perpendicular to the XY-axis plane pointing upwards. The photoelectric switch transmitter is installed on the alignment device 110, and several reflective ends are fixedly installed at a certain distance from the track side in the X-axis direction. Figure 6 (Example 3) The installation direction and height of the transmitting end are consistent and form a fixed angle γ. The Z direction of the alignment device 110 used to install the photoelectric switch transmitting end will be adjusted to the same height as the reflecting end during installation. The alignment device can rotate around the Z axis.

[0105] The following is combined with Figure 6 The following example illustrates the process of vehicle-mounted transportation alignment. It should be noted that the following embodiments are based on the example where the locomotive's current physical location is not a repeating work point.

[0106] S21, the controller 100 acquires the locomotive's GNSS data in real time to obtain the current physical location B of the locomotive;

[0107] S22, the locomotive is traveling in front of the curve's reflecting end;

[0108] S23, the locomotive moves slowly, and at the same time the controller 100 controls the transmitter alignment device 110 to rotate clockwise around the Z-axis by an angle β1. Meanwhile, the controller 100 monitors the photoelectric switch signal in real time until it receives the photoelectric switch signal from the first reflector. It records the locomotive's GNSS position data B1, travel speed Vb1, and alignment device 110 rotation angle β1 data (as a specific example of target pose data) at this moment, and transmits them to the server 200 for storage.

[0109] S24, the locomotive continues to move slowly, while the controller 100 controls the transmitter alignment device 110 to rotate clockwise around the Z-axis by an angle β2. At the same time, the controller monitors the power-off switch signal in real time until it receives the photoelectric switch signal from the second reflector. It records the locomotive's GNSS position data B2, travel speed Vb2, and alignment device rotation angle β2 data (as a specific example of target pose data) at this moment, and transmits them to the server 200 for storage.

[0110] S25, the locomotive continues to move slowly. At the same time, the controller 100 controls the transmitter alignment device to rotate clockwise around the Z-axis by an angle β3. Simultaneously, the controller monitors the power-off switch signal in real time until it receives the photoelectric switch signal from the third reflector. It records the locomotive's GNSS position data B3, travel speed Vb3, and alignment device rotation angle β3 data (as a specific example of target pose data) at this moment and transmits them to the server 200 for storage.

[0111] S26, the locomotive continues to travel, and the controller 100 controls the alignment device 110 to return to position 0.

[0112] It should be noted that the aforementioned rotation angles β1 to β3 are not within... Figure 6 The specific markings are not detailed, but the selection method of its angle and direction is different. Figure 6 The angles of β in the equations are consistent, but the magnitudes of β1 to β3 are different, resulting in different angles with the horizontal line.

[0113] As can be seen from some embodiments provided in this application, the alignment device of this application has adjustable XYZ axes and is applicable to both the transmitting and reflecting ends; the server of the alignment control system corresponding to the controller has a key data memory model, and can quickly adjust the alignment device to the target pose for repetitive work points; the alignment device adopts a digital PID control algorithm, which only requires the deviation amount of three consecutive steps in the calculation process, making the calculation simple, and the output is a control increment, so even if the controller fails, the output will not deviate from the normal value by a large range; the controller of the alignment control system establishes a connection with the local server through a gateway, and can provide related services remotely.

[0114] Please refer to Figure 7 , Figure 7The diagram illustrates a block diagram of a vehicle-mounted transportation alignment device provided in some embodiments of this application. It should be understood that this vehicle-mounted transportation alignment device corresponds to the method embodiments described above and is capable of performing the various steps involved in the method embodiments. The specific functions of this vehicle-mounted transportation alignment device can be found in the description above; detailed descriptions are omitted here to avoid repetition.

[0115] Figure 7 The vehicle-mounted transportation alignment device includes at least one software function module that can be stored in a memory or embedded in the vehicle-mounted transportation alignment device in the form of software or firmware. The vehicle-mounted transportation alignment device includes: a sending module 710, used to send the current position information of the vehicle target to a server and receive feedback results sent by the server; a determining module 720, used to determine the target pose data of the vehicle-mounted transportation based on the feedback results; and an adjusting module 730, used to adjust the pose of the alignment device based on the target pose data to achieve adjustment of the alignment device.

[0116] In some embodiments of this application, the determining module 720 is used to confirm whether the current position information in the feedback result belongs to the determination result of the repetitive work point; and to obtain the target pose data according to the determination result.

[0117] In some embodiments of this application, the determining module 720 is used to confirm that when the determination result is that the current position information belongs to the repeating work point, obtain the initial pose data fed back by the server; verify the initial pose data, and determine the target pose data.

[0118] In some embodiments of this application, the determining module 720 is used to, if the initial pose data passes the verification, use the initial pose data as the target pose data; if the initial pose data fails the verification, calculate the current position data corresponding to the current position information to obtain the target pose data.

[0119] In some embodiments of this application, the determining module 720 is used to confirm that the determination result is that the current position information does not belong to the repeated work site; and to calculate the current position data corresponding to the current position information to obtain the target pose data.

[0120] In some embodiments of this application, the vehicle-mounted transportation alignment device further includes a storage module (not shown in the figure) for sending the current location information and the target pose data to the server so that the server can store the current location information and the target pose data.

[0121] In some embodiments of this application, the vehicle-mounted transportation alignment device further includes an upgrade module (not shown in the figure) for executing remote upgrade commands sent by the server; or, the vehicle-mounted transportation alignment device further includes a monitoring module (not shown in the figure) for sending the operating status of the alignment device to the server in real time.

[0122] Some embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can perform the operation of any of the methods corresponding to the methods provided in the above embodiments.

[0123] Some embodiments of this application also provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operation of any of the methods corresponding to the above embodiments provided in the above embodiments.

[0124] like Figure 8 As shown, some embodiments of this application provide an electronic device 800, which includes a memory 810, a processor 820, and a computer program stored in the memory 810 and executable on the processor 820. When the processor 820 reads the program from the memory 810 via a bus 830 and executes the program, it can implement the methods of any of the above embodiments.

[0125] Processor 820 can process digital signals and can include various computing architectures. Examples include complex instruction set computer architectures, reduced instruction set computer architectures, or architectures that implement multiple instruction set combinations. In some examples, processor 820 can be a microprocessor.

[0126] The memory 810 can be used to store instructions executed by the processor 820 or data related to the execution of instructions. These instructions and / or data may include code for implementing some or all of the functions of one or more modules described in the embodiments of this application. The processor 820 of this disclosure embodiment can be used to execute the instructions in the memory 810 to implement the methods shown above. The memory 810 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0127] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of 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 scope of protection 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.

[0128] 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 scope of the technology 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.

[0129] 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, 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 limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for vehicle-mounted transportation alignment, characterized in that, include: Send the locomotive's current location information to the server and receive feedback results from the server; Based on the feedback results, the target pose data of the alignment device is determined; The alignment device's pose is adjusted based on the target pose data to achieve adjustment of the alignment equipment; wherein, the alignment device is installed at the front of the locomotive and faces the locomotive's direction of travel; the alignment equipment is installed on the alignment device; the alignment equipment includes a positioning or ranging sensor. The step of adjusting the pose of the alignment device based on the target pose data to achieve the adjustment of the alignment equipment includes: adjusting the pose of the alignment device along the X, Y, and Z axes based on the target pose data to achieve the adjustment of the alignment equipment.

2. The method as described in claim 1, characterized in that, The step of determining the target pose data of the alignment device based on the feedback result includes: Confirm whether the current location information in the feedback result belongs to the determination result of the repetitive work site; Based on the determination result, the target pose data of the alignment device is obtained.

3. The method as described in claim 2, characterized in that, The determination of whether the current location information in the feedback result belongs to a duplicate work site includes: When it is confirmed that the current location information belongs to the repeating work site, the initial pose data fed back by the server is obtained; The step of obtaining the target pose data of the alignment device based on the determination result includes: The initial pose data is verified to determine the target pose data.

4. The method as described in claim 3, characterized in that, The step of verifying the initial pose data to determine the target pose data includes: If the initial pose data passes the verification, then the initial pose data is used as the target pose data; If the initial pose data fails the verification, the current position data corresponding to the current position information is calculated to obtain the target pose data.

5. The method according to any one of claims 2-4, characterized in that, The determination of whether the current location information in the feedback result belongs to a duplicate work site includes: The determination result confirms that the current location information does not belong to the duplicate work site. The step of obtaining the target pose data based on the determination result includes: The target pose data is obtained by calculating the current position data corresponding to the current position information.

6. The method according to any one of claims 1-4, characterized in that, After adjusting the pose of the alignment device based on the target pose data, the method further includes: The current location information and the target pose data are sent to the server so that the server can store the current location information and the target pose data.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: executing the remote upgrade command sent by the server; or sending the operating status of the positioning device to the server in real time.

8. A device for vehicle-mounted transportation alignment, characterized in that, include: The sending module is used to send the locomotive's current location information to the server and receive the feedback results sent by the server. The determination module is used to determine the target pose data of the alignment device based on the feedback results; An adjustment module is used to adjust the pose of the alignment device based on the target pose data, so as to achieve adjustment of the alignment device; wherein, the alignment device is installed at the front end of the locomotive and faces the locomotive's direction of travel; the alignment device is installed on the alignment device; the alignment device includes a positioning or ranging sensor; The adjustment module is specifically used to: adjust the pose of the alignment device along the X, Y, and Z axes based on the target pose data, so as to achieve the adjustment of the alignment device.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, performs the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the computer program is executed by the processor to perform the method as claimed in any one of claims 1-7.

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