Logistics transportation positioning method and device, equipment and storage medium

Abstract

The invention relates to the technical field of logistics transportation information, and discloses a logistics transportation positioning method, device and equipment and a storage medium, and the method comprises the steps: obtaining multiple recognition information of a logistics vehicle in logistics sorting transportation; pre-processing the multiple identification information according to the logistics goods yard layout to obtain a logistics goods yard positioning grid; thinning the vehicle identification information and the parcel identification information to obtain position coordinates and identification time of a plurality of parcels; performing deviation processing on the position coordinates according to the logistics goods yard layout to obtain a positioning point deviation value; and determining transportation positioning data of the plurality of packages according to the positioning point deviation value, the position coordinates and the identification time. According to the invention, the logistics goods yard positioning grid is constructed through the logistics goods yard layout and the multiple identification information, and then the deviation processing is carried out on the obtained position coordinates, so that the accurate transportation positioning data of each package in the logistics sorting transportation can be obtained, and the positioning management of each package can be realized without additionally arranging a positioning device for each package.

Description

Technical Field

[0001] The present invention relates to the field of logistics and transportation information technology, and in particular to a logistics and transportation positioning method, device, equipment and storage medium. Background Art

[0002] With the development of e-commerce economy, the logistics and transportation industry has been booming, and the difficulty of logistics companies in managing logistics information generated in the logistics process has been increasing. Among them, as one of the key information in logistics information management, logistics positioning information is particularly important for the management of logistics transportation security and logistics transportation efficiency.

[0003] In the actual logistics transportation process of goods, the logistics transportation process includes the transportation of logistics vehicles in the cargo yard, the transportation of logistics vehicles on urban roads, and the transportation of logistics vehicles in the logistics transfer site. However, the current research on logistics positioning information mainly focuses on obtaining the positioning of logistics vehicles carrying goods during urban road transportation, and then obtaining the real-time location information of the goods on the logistics vehicles. In addition, logistics positioning technology is mainly implemented by GPS positioning and / or Beidou positioning, and rarely considers the transportation process of logistics vehicles in the cargo yard. For example, during the storage, sorting and transportation of goods in the cargo yard, packages may occasionally fall or sorting errors may occur. If they are not discovered in time, it will cause great inconvenience to the staff, and many customers will complain that they did not receive the packages in time. How to accurately locate the logistics in the cargo yard is an urgent problem to be solved for the logistics positioning management of the logistics transportation process.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a logistics transportation positioning method, device, equipment and storage medium, aiming to solve the technical problem of how to accurately locate logistics in a cargo yard.

[0006] To achieve the above object, the present invention provides a logistics transportation positioning method, which comprises the following steps: Obtain multiple identification information of logistics vehicles in logistics sorting and transportation, the identification information includes vehicle identification information and package identification information; Preprocessing the multiple identification information according to the logistics yard layout to obtain the logistics yard positioning grid in the logistics sorting and transportation; Based on the logistics yard positioning grid, the vehicle identification information and the package identification information are thinned out by the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; Perform deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value; The transportation positioning data of the multiple packages in the logistics sorting transportation are determined according to the positioning point deviation value, the position coordinates and the identification time.

[0007] Optionally, the preprocessing of the multiple identification information according to the layout of the logistics yard to obtain a logistics yard positioning grid in the logistics sorting and transportation includes: Divide the logistics yard layout into grids to obtain the initial positioning grid of the logistics yard; Performing point processing on the multiple identification information to obtain the relative distance between the logistics vehicle and the multiple packages; Sorting the relative distances according to the times corresponding to the multiple identification information to obtain a relative distance sequence; Taking the point corresponding to the first relative distance in the relative distance series as the center, the initial positioning grid is aggregated according to the relative distance series to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

[0008] Optionally, taking the point corresponding to the first relative distance in the relative distance series as the center, performing aggregation processing on the initial positioning grid according to the relative distance series to obtain the logistics freight yard positioning grid of the logistics freight yard in logistics sorting and transportation includes: Obtaining the first relative distance in the relative distance sequence, and determining the positioning point corresponding to the first relative distance; Obtaining the last relative distance in the relative distance sequence, and using the last relative distance as the first grid side length; Taking the positioning point as the center, establishing a square grid with a side length equal to the side length of the first grid according to the relative distance series; The square grid and the initial positioning grid are aggregated to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

[0009] Optionally, performing deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value includes: Acquire the positioning point information of the logistics vehicle in the logistics sorting and transportation, the positioning point information is obtained by the logistics vehicle reading the positioning mark in the logistics sorting and transportation, and the positioning mark is set on the ground of the logistics freight yard according to a preset array; The trajectory of the positioning point information is predicted by a hidden Markov model to determine the transportation trajectory of the logistics vehicle in the logistics sorting transportation; The position coordinates are subjected to deviation processing based on the transport trajectory and the logistics yard layout to obtain a positioning point deviation value.

[0010] Optionally, performing deviation processing on the position coordinates based on the transport trajectory and the logistics yard layout to obtain a positioning point deviation value includes: Building a positioning compensation relationship table based on the transport trajectory and the logistics yard layout, wherein the positioning compensation relationship table includes deviation routes corresponding to a plurality of logistics sorting and transport routes; Perform deviation retrieval on the positioning compensation relationship table according to the position coordinates to obtain the deviation route that needs to be compensated for the position coordinates; The positioning point deviation value corresponding to the position coordinate is determined according to the deviation route, and the positioning point deviation value includes a distance deviation value and an angle deviation value.

[0011] Optionally, after determining the transport positioning data of the plurality of packages in the logistics sorting transport according to the positioning point deviation value, the position coordinates and the identification time, the method further includes: Obtaining current identification information and previous identification information of the multiple packages; Determining whether there is a difference between the identification quantity in the current identification information and the identification quantity in the previous identification information; When there is a discrepancy between the identified quantities, a package missing alarm is issued.

[0012] Optionally, when there is a difference in the identified quantities, issuing a package missing alarm includes: When there is a difference in the identified quantities, it is determined that the logistics vehicle has missed a package during the logistics sorting and transportation; Extracting a current positioning point of the current identification information and a previous positioning point of the previous identification information; Through the hidden Markov model, the trajectory of the current positioning point and the previous positioning point is predicted according to the layout of the logistics yard, so as to determine the transportation trajectory of the missing package in the logistics sorting transportation; The missing package is tracked according to the transport trajectory.

[0013] In addition, to achieve the above-mentioned purpose, the present invention also proposes a logistics transportation positioning device, the device comprising: An information acquisition module is used to acquire multiple identification information of logistics vehicles in logistics sorting and transportation, wherein the identification information includes vehicle identification information and package identification information; A grid construction module is used to pre-process the multiple identification information according to the logistics yard layout to obtain the logistics yard positioning grid in the logistics sorting and transportation; A location acquisition module, used to perform thinning processing on the vehicle identification information and the package identification information based on the logistics yard positioning grid by using the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; A deviation processing module, used to perform deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value; The transport positioning module is used to determine the transport positioning data of the multiple packages in the logistics sorting transportation according to the positioning point deviation value, the position coordinates and the identification time.

[0014] In addition, to achieve the above-mentioned purpose, the present invention also proposes a logistics and transportation positioning device, which includes: a memory, a processor, and a logistics and transportation positioning program stored on the memory and executable on the processor, and the logistics and transportation positioning program is configured to implement the steps of the logistics and transportation positioning method described above.

[0015] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a logistics transportation positioning program is stored, and when the logistics transportation positioning program is executed by a processor, the steps of the logistics transportation positioning method described above are implemented.

[0016] The present invention obtains multiple identification information of logistics vehicles in logistics sorting and transportation, and the identification information includes vehicle identification information and package identification information; then the multiple identification information is pre-processed according to the logistics yard layout to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation; then based on the logistics yard positioning grid, the vehicle identification information and the package identification information are thinned out by the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; then the location coordinates are subjected to deviation processing according to the logistics yard layout to obtain the positioning point deviation value; finally, the transportation positioning data of the multiple packages in logistics sorting and transportation are determined according to the positioning point deviation value, the location coordinates and the identification time. Since the present invention constructs the logistics yard positioning grid through the logistics yard layout and multiple identification information, then the multiple identification information is thinned out to obtain the location coordinates of multiple packages, and then the location coordinates are subjected to deviation processing, the accurate transportation positioning data of each package in logistics sorting and transportation can be obtained, so that the positioning management of each package can be realized without installing a positioning device on each package. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of a logistics transportation positioning device in a hardware operating environment involved in an embodiment of the present invention; Figure 2 It is a schematic diagram of the flow chart of the first embodiment of the logistics transportation positioning method of the present invention; Figure 3 It is a flow chart of the second embodiment of the logistics transportation positioning method of the present invention; Figure 4 It is a schematic diagram of the flow chart of the third embodiment of the logistics transportation positioning method of the present invention; Figure 5 It is a structural block diagram of the first embodiment of the logistics transportation positioning device of the present invention.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0020] Reference Figure 1 , Figure 1 It is a structural diagram of a logistics transportation positioning device in the hardware operating environment involved in the embodiment of the present invention.

[0021] like Figure 1 As shown, the logistics transportation positioning device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RandomAccess Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0022] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the logistics transportation positioning equipment, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0023] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a logistics transportation positioning program.

[0024] exist Figure 1 In the logistics and transportation positioning device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the logistics and transportation positioning device of the present invention can be set in the logistics and transportation positioning device, and the logistics and transportation positioning device calls the logistics and transportation positioning program stored in the memory 1005 through the processor 1001, and executes the logistics and transportation positioning method provided by the embodiment of the present invention.

[0025] The embodiment of the present invention provides a logistics transportation positioning method, referring to Figure 2 , Figure 2 It is a schematic diagram of the flow chart of the first embodiment of the logistics transportation positioning method of the present invention.

[0026] In this embodiment, the logistics transportation positioning method includes the following steps: Step S10: Acquire multiple identification information of logistics vehicles in logistics sorting and transportation, wherein the identification information includes vehicle identification information and package identification information.

[0027] It should be noted that the execution subject of the method of this embodiment can be a computing service device with information recognition, construction of positioning grid and transportation positioning functions, such as a personal computer, server, etc., or other electronic devices that can achieve the same or similar functions, such as the above-mentioned logistics transportation positioning device, which is not limited in this embodiment. The logistics transportation positioning device can be used to locate and manage logistics vehicles and individual packages in the logistics freight yard. Here, the above-mentioned logistics transportation positioning device (referred to as the positioning device) is used to specifically describe this embodiment and the following embodiments.

[0028] It is understandable that logistics vehicles are various vehicles used for logistics transportation, including special vehicles, logistics carts, tractors, trailers, etc. Among them, logistics carts are commonly used in logistics yards, which are mainly used for sorting and transporting packages.

[0029] It should be understood that multiple identification information is information identified during logistics sorting and transportation, such as vehicle identification information and package identification information. Among them, vehicle identification information is information that is identified and collected during the transportation process of logistics vehicles in the logistics yard. For example, when passing through a specific gate, the gate can scan the license plate or number of the logistics vehicle to collect the vehicle's identification information. Package identification information is information collected by each package in the logistics yard at various nodes such as warehousing, sorting, warehousing, transportation, and outbound transportation. It can be collected through the QR code recognition on the surface of the package, and this embodiment does not limit this.

[0030] By collecting information at each node of package entry, sorting, warehousing, transportation, and delivery, as well as each node of the logistics vehicle transportation process, the flow status of each package in the logistics yard can be understood.

[0031] In the specific implementation, the positioning device can first obtain multiple identification information of logistics vehicles in logistics sorting and transportation, including package identification information collected at various nodes such as warehousing, sorting, warehousing, transportation, and outbound, as well as vehicle identification information collected at various nodes in the transportation process. Through the above multiple identification information, the circulation status of each package in the logistics yard can be grasped.

[0032] Step S20: pre-processing the multiple identification information according to the logistics yard layout to obtain the logistics yard positioning grid in the logistics sorting and transportation.

[0033] It should be noted that the logistics yard positioning grid is divided into several grids within the logistics yard according to certain rules and standards (for example, the logistics yard layout is divided into several grids with one square per meter, or the logistics yard layout is divided according to the common transportation routes of the logistics yard, which is not limited in this embodiment), so as to manage and locate the trajectory of package transportation.

[0034] Even if we know the status of each package in the logistics yard, if a package is missing or missed, it is difficult to quickly locate the wrong package. We can only check the flow data one by one, which is time-consuming and laborious. If each package is equipped with a GPS positioning device, it will increase the cost.

[0035] Therefore, key positioning points can be established based on the package identification information collected at each node of warehousing, sorting, storage, transportation, and outbound, as well as the vehicle identification information collected by logistics vehicles at each node of the transportation process; the logistics yard layout is gridded according to the established key positioning points, and the logistics yard positioning grid in the logistics sorting and transportation is constructed. Therefore, based on the package identification information of each package at each node and the vehicle identification information of the logistics vehicle at each node of the transportation process, the approximate transportation route of each package in each time period of circulation in the logistics yard can be determined. If a package is missing or missed, the approximate transportation route of the missing package can be quickly determined based on the logistics yard positioning grid.

[0036] Step S30: Based on the logistics yard positioning grid, the vehicle identification information and the package identification information are thinned out by the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages.

[0037] It should be noted that the Douglas algorithm is a classic algorithm for thinning linear elements, which can compress a large number of redundant graphic data points to extract necessary data points. In short, since the package identification information and vehicle identification information collected above are basic positioning points, the Douglas algorithm can be used to thin all positioning points, determine key points and establish key transportation routes for logistics vehicles. Then, the location coordinates of each package on the transportation route and the identification time can be determined based on its key points and key transportation routes.

[0038] It can be understood that the location coordinates are the locations of each package on the transportation route in the logistics yard positioning grid calculated by the Douglas algorithm. The identification time is the transportation time of each package on the transportation route.

[0039] In a specific implementation, since each package has been scanned at each node, the location and scanning time of each package at each node can be accurately known (because the package scanning machine is generally fixed in the logistics yard). When a package is missing or missed, it is difficult to determine the process of logistics vehicles in logistics transportation. Therefore, based on the logistics yard positioning grid, the Douglas algorithm can be used to perform rarefaction processing on the vehicle identification information and the package identification information, determine key points and establish key transportation routes for logistics vehicles, so as to further determine the location coordinates and identification time of each package in the transportation route according to the location and scanning time of each node.

[0040] Step S40: performing deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value.

[0041] It should be noted that the positioning point deviation value is the deviation value between the position coordinates and the recognition time and the actual position.

[0042] In the specific implementation, considering that the Douglas algorithm is used to thin out the vehicle identification information and the package identification information, the process of determining the location coordinates of each package on the transportation route and the identification time is a calculation process, which has certain errors. Therefore, error compensation can be set according to the actual situation to obtain the positioning point deviation value, so as to further improve the positioning accuracy of each package when it is transported in the logistics yard.

[0043] Step S50: determining the transport positioning data of the plurality of packages in the logistics sorting transport according to the positioning point deviation value, the position coordinates and the identification time.

[0044] The above processing of multiple identification information can accurately obtain the location and scanning time of each package at each node (because the package scanning machine is generally fixed in the logistics yard).

[0045] In this way, only the position of each package in the logistics transportation of the logistics vehicle is unknown. Based on the above-mentioned logistics yard positioning grid, the vehicle identification information and the package identification information can be thinned out by the Douglas algorithm to obtain the position coordinates and identification time of each package in the transportation route. However, considering that this process is a calculation process, there is a certain error. Therefore, error compensation can be set according to the actual situation to obtain the positioning point deviation value to further improve the positioning accuracy of each package in the logistics yard transportation.

[0046] Finally, the positioning device can obtain the precise location and scanning time of each package at each node, the location coordinates and identification time of each package on the transportation route calculated by the Douglas algorithm, and the positioning point deviation value obtained by the calculated error compensation. Based on the above data, the transportation positioning data of the multiple packages in the logistics sorting transportation can be determined.

[0047] Furthermore, in this embodiment, after step S50, it also includes: obtaining the current identification information and the previous identification information of the multiple packages; determining whether there is a difference between the identification numbers in the current identification information and the previous identification information; and issuing a package missing alarm when there is a difference in the identification numbers.

[0048] It should be noted that the current identification information is the vehicle identification information and package identification information currently being processed by the positioning device. The previous identification information is the vehicle identification information and package identification information processed by the positioning device last time. By comparing the current identification information with the previous identification information, the change in the identification quantity in the identification information can be identified.

[0049] In a specific implementation, the positioning device can obtain the current identification information and the previous identification information of the multiple packages; by comparing the current identification information with the previous identification information, the change in the identification quantity in the identification information can be identified. When there is a difference in the identification quantity, it means that there is a missing package in the time period between the current identification information and the previous identification information, and a missing package alarm can be issued. Thus, an early warning of missing packages can be quickly implemented.

[0050] The positioning device of this embodiment can first obtain multiple identification information of logistics vehicles in logistics sorting and transportation, including the package identification information collected by each package at each node such as warehousing, sorting, warehousing, transportation, and outbound, as well as the vehicle identification information collected by the logistics vehicle at each node in the transportation process. Through the above multiple identification information, the circulation status of each package in the logistics yard can be grasped. Then, key positioning points can be established according to the package identification information collected by each package at each node such as warehousing, sorting, warehousing, transportation, and outbound, and the vehicle identification information collected by the logistics vehicle at each node in the transportation process; the layout of the logistics yard is grid-divided according to the established key positioning points, and the logistics yard positioning grid of the logistics yard in logistics sorting and transportation is constructed. Therefore, based on the package identification information of each package at each node and the vehicle identification information of the logistics vehicle at each node in the transportation process, the approximate transportation route of each package in each time period of circulation in the logistics yard can be determined. If a package is missing or missed, the approximate transportation route of the missing package can be quickly determined according to the logistics yard positioning grid. Since each package has been scanned at each node, the location and scanning time of each package at each node can be accurately known (because the package scanning machine is generally fixed in the logistics yard). When a package is missing or missed, it is difficult to determine the process of logistics vehicles in logistics transportation. Therefore, based on the logistics yard positioning grid, the vehicle identification information and the package identification information can be thinned out by the Douglas algorithm to determine the key points and establish the key transportation route of the logistics vehicle, so as to further determine the position coordinates and identification time of each package in the transportation route according to the position and scanning time of each node. Then, considering that the vehicle identification information and the package identification information are thinned out by the Douglas algorithm, the process of determining the position coordinates and identification time of each package in the transportation route is a calculation process, and there are certain errors. Therefore, error compensation can be set according to the actual situation to obtain the positioning point deviation value, so as to further improve the positioning accuracy of each package during transportation in the logistics yard. Finally, the positioning device can obtain the precise position and scanning time of each package at each node, the position coordinates and identification time of each package in the transportation route obtained by the Douglas algorithm, and the positioning point deviation value obtained by the calculated error compensation. Based on the above data, the transport positioning data of the multiple packages in the logistics sorting transportation can be determined. Since the present embodiment constructs the logistics cargo yard positioning grid through the logistics cargo yard layout and multiple identification information, and then performs a thinning process on the multiple identification information to obtain the location coordinates of multiple packages, and then performs a deviation process on the location coordinates, the accurate transport positioning data of each package in the logistics sorting transportation can be obtained, so that the positioning management of each package can be realized without installing a positioning device on each package.

[0051] refer to Figure 2 and Figure 3 , Figure 3It is a flow chart of the second embodiment of the logistics transportation positioning method of the present invention.

[0052] Based on the above first embodiment, in this embodiment, step S20 includes: Step S21: Grid the logistics yard layout to obtain an initial positioning grid of the logistics yard.

[0053] It should be noted that the initial positioning grid is a positioning grid constructed by dividing the layout image corresponding to the logistics cargo yard into several small blocks, each of which is a cell or pixel. The initial positioning grid can be divided according to longitude and latitude, or divided into grids per meter according to the actual size of the logistics cargo yard, which is not limited in this embodiment.

[0054] Step S22: performing point processing on the multiple identification information to obtain the relative distance between the logistics vehicle and the multiple packages.

[0055] It should be noted that the relative distance is the distance between each package and the logistics vehicle and each package. By performing point processing on the vehicle identification information and the package identification information in the multiple identification information, the basic positioning points of each package and the logistics vehicle in the logistics yard can be obtained, and then the relative distance between them can be determined based on their respective positioning points.

[0056] Step S23: sorting the relative distances according to the times corresponding to the multiple identification information to obtain a relative distance series.

[0057] It should be noted that the basic positioning points of each package and logistics vehicle in the logistics yard are in disorder, so the vehicle identification information and package identification information obtained by the positioning device can be sorted according to the collection time to obtain a relative distance series sorted by time. It can also be sorted according to the size of the relative distance, which is not limited in this embodiment.

[0058] Step S24: taking the point corresponding to the first relative distance in the relative distance sequence as the center, performing aggregation processing on the initial positioning grid according to the relative distance sequence to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

[0059] It should be noted that since the initial positioning grid is divided according to basic longitude and latitude or squares per meter, it is not suitable for the actual transportation positioning of the logistics yard. In order to improve the positioning accuracy of the initial positioning grid, the initial positioning grid can also be aggregated based on the relative distance series to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

[0060] In a specific implementation, the positioning device can grid the layout of the logistics yard, divide the layout image corresponding to the logistics yard into several small blocks, each of which is a cell or pixel, so as to construct the initial positioning grid of the logistics yard. Then, the multiple identification information is processed at the point position, and the basic positioning points of each package and logistics vehicle in the logistics yard can be obtained, and the relative distance between them can be determined based on their respective positioning points. Then, the vehicle identification information and the package identification information can be sorted according to the collection time to obtain a relative distance series sorted by time. It can also be sorted according to the size of the relative distance, which is not limited in this embodiment. Finally, the point corresponding to the relative distance in the first position of the relative distance series is taken as the center, and the initial positioning grid is aggregated according to the relative distance series to obtain the logistics yard positioning grid in the logistics sorting and transportation of the logistics yard. It avoids the situation that the initial positioning grid is divided according to the basic longitude and latitude or per meter square, which is not suitable for the actual transportation positioning of the logistics yard, thereby improving the positioning accuracy of the initial positioning grid.

[0061] Furthermore, in this embodiment, step S24 includes: obtaining the relative distance ranked first in the relative distance series, and determining the positioning point corresponding to the relative distance ranked first; obtaining the relative distance ranked last in the relative distance series, and using the relative distance ranked last as the side length of the first grid; taking the positioning point as the center, establishing a square grid with a side length equal to the side length of the first grid according to the relative distance series; aggregating the square grid and the initial positioning grid to obtain the logistics freight yard positioning grid of the logistics freight yard in logistics sorting and transportation.

[0062] It should be noted that, considering the accuracy of the logistics yard positioning grid, after obtaining the relative distance series according to the relative distance, the relative distance ranked last in the relative distance series can be obtained, and the relative distance ranked last is used as the first grid side length. In this way, the minimum relative distance can be used as the minimum side length of the grid, thereby improving the accuracy and rationality of grid construction.

[0063] In a specific implementation, after obtaining the relative distance series according to the size of the relative distance, the positioning device can obtain the relative distance ranked first in the relative distance series, and determine the positioning point corresponding to the relative distance ranked first. Then obtain the relative distance ranked last in the relative distance series, and use the relative distance ranked last as the first grid side length; thus, the minimum relative distance can be used as the minimum side length of the grid, thereby improving the accuracy and rationality of grid construction. Then, with the positioning point as the center, a square grid with a side length equal to the side length of the first grid is established according to the relative distance series. Finally, the square grid and the initial positioning grid are aggregated to obtain the logistics freight yard positioning grid of the logistics freight yard in logistics sorting and transportation. Thus, the minimum relative distance is used as the minimum side length of the grid, thereby improving the accuracy and rationality of grid construction.

[0064] The positioning device of this embodiment can divide the layout of the logistics yard into grids, and divide the layout image corresponding to the logistics yard into several small blocks, each of which is a cell or pixel, so as to construct the initial positioning grid of the logistics yard. Then, the multiple identification information is processed at the point position, and the basic positioning points of each package and logistics vehicle in the logistics yard can be obtained, and the relative distance between them can be determined based on their respective positioning points. Then, the vehicle identification information and the package identification information can be sorted according to the acquisition time to obtain a relative distance series sorted by time. It can also be sorted according to the size of the relative distance, which is not limited in this embodiment. Finally, the point corresponding to the relative distance in the first position of the relative distance series is taken as the center, and the initial positioning grid is aggregated according to the relative distance series to obtain the logistics yard positioning grid in the logistics sorting and transportation of the logistics yard. It avoids the situation that the initial positioning grid is divided according to the basic longitude and latitude or per meter square, which is not suitable for the actual transportation positioning of the logistics yard, thereby improving the positioning accuracy of the initial positioning grid.

[0065] refer to Figure 2 and Figure 4 , Figure 4 It is a schematic flow chart of the third embodiment of the logistics transportation positioning method of the present invention.

[0066] Based on the above embodiments, in this embodiment, step S40 includes: Step S41: obtaining the positioning point information of the logistics vehicle in the logistics sorting transportation, wherein the positioning point information is obtained by reading the positioning mark of the logistics vehicle in the logistics sorting transportation, and the positioning mark is arranged on the ground of the logistics cargo yard according to a preset array.

[0067] It should be noted that the positioning mark is an identifier or symbol used to determine the location or mark a specific place. In a logistics yard, the positioning mark can be a barcode or a QR code, which is used to distinguish different locations or areas of the logistics yard. The positioning mark is set on the ground of the logistics yard in a preset array. The vehicle can capture the positioning mark on the ground through a camera, extract the features of the positioning mark, obtain the ground coordinate information of the positioning mark in the logistics yard, and realize positioning according to the ground coordinate information.

[0068] Step S42: performing trajectory prediction on the positioning point information through a hidden Markov model to determine the transportation trajectory of the logistics vehicle in logistics sorting and transportation.

[0069] It should be noted that the Hidden Markov Model (HMM) is a statistical model, and there is a potential correlation between observable data and status. The Hidden Markov Model can be used to predict and connect the status between the positioning point information, that is, based on the given positioning point information, its trajectory probability is estimated, and finally the transportation trajectory line of the logistics vehicle in the logistics sorting transportation is determined.

[0070] Step S43: performing deviation processing on the position coordinates based on the transport trajectory and the logistics yard layout to obtain a positioning point deviation value.

[0071] In a specific implementation, the positioning marks are set on the ground of the logistics yard in a preset array. The logistics vehicle can capture the positioning marks on the ground through a camera, extract features from the positioning marks, and obtain the ground coordinate information of the positioning marks in the logistics yard, and realize positioning according to the ground coordinate information. After obtaining the positioning point information of the logistics vehicle in the logistics sorting and transportation, the positioning device predicts and connects the states between the positioning point information through the hidden Markov model, that is, based on the given positioning point information, estimates its trajectory probability, and finally determines the transportation trajectory line of the logistics vehicle in the logistics sorting and transportation. Since trajectory prediction is a calculation process, there are certain errors. Therefore, error compensation can be set according to the actual situation, and the position coordinates can be processed for deviation based on the transportation trajectory line and the layout of the logistics yard to obtain the positioning point deviation value, so as to further improve the positioning accuracy of each package during transportation in the logistics yard.

[0072] Furthermore, in this embodiment, step S43 includes: constructing a positioning compensation relationship table based on the transportation trajectory and the logistics cargo yard layout, the positioning compensation relationship table including deviation routes corresponding to multiple logistics sorting and transportation routes; performing deviation retrieval on the positioning compensation relationship table according to the position coordinates to obtain the deviation route that needs to be compensated for the position coordinates; determining the positioning point deviation value corresponding to the position coordinates according to the deviation route, the positioning point deviation value including a distance deviation value and an angle deviation value.

[0073] It should be noted that the positioning compensation relationship table is a relationship table used to record the relationship between different positions or coordinates for position compensation or error correction.

[0074] Since trajectory prediction is a process of extrapolation, there is a certain error. In order to improve the accuracy of positioning, position compensation or error correction can be performed through the positioning compensation relationship table.

[0075] The table includes deviation routes corresponding to various logistics sorting and transportation routes. According to the deviation routes, the identification of different positions or coordinate points and the error correction parameters or correction coefficients associated with each position can be further decomposed. By using these correction parameters, the position data can be corrected in the actual positioning process to reduce errors and improve positioning accuracy.

[0076] Correspondingly, the compensation relationship table includes distance deviation values ​​and angle deviation values ​​corresponding to the positioning point deviation values, and the distance deviation value may include an X displacement deviation value and a Y displacement deviation value.

[0077] It is understandable that the pre-set compensation relationship table can be obtained by statistically analyzing the relevant data of trajectory correction based on positioning marks within a certain period of time of logistics vehicles. Specifically, after high-precision marking in the logistics freight yard according to the planning layout requirements, positioning marks are pasted at the planned intersections. When logistics vehicles transport packages in the yard, various actual transportation trajectories of logistics vehicles can be obtained, and the actual recorded trajectories are compared with the predicted trajectories to obtain deviation trajectories. Finally, a compensation relationship table is generated based on various deviation trajectories. The compensation relationship table can be updated and improved according to each actual transportation trajectory of the logistics vehicle.

[0078] In a specific implementation, the positioning device can construct a positioning compensation relationship table based on the transport trajectory and the logistics yard layout. Then, the positioning compensation relationship table is searched for deviation according to the position coordinates to obtain the deviation route that the position coordinates need to be compensated for. Then, the positioning point deviation value corresponding to the position coordinates is determined according to the deviation route, and the positioning point deviation value includes a distance deviation value and an angle deviation value. Therefore, position compensation or error correction can be performed through the positioning compensation relationship table to improve the accuracy of positioning.

[0079] Furthermore, in the present embodiment, when there is a difference in the identified quantity, issuing a missing package alarm includes: when there is a difference in the identified quantity, determining that the logistics vehicle has missed a package in the logistics sorting and transportation; extracting the current positioning point of the current identification information and the previous positioning point of the previous identification information; using a hidden Markov model, predicting the trajectories of the current positioning point and the previous positioning point according to the layout of the logistics freight yard, and determining the transportation trajectory of the missed package in the logistics sorting and transportation; and issuing an alarm to track the missed package according to the transportation trajectory.

[0080] In actual implementation, when there is a difference in the number of identifications, it means that the logistics vehicle has missed a package in the logistics sorting and transportation. At this time, the trajectory prediction can be performed based on the current positioning point and the previous positioning point through the hidden Markov model to determine the transportation trajectory of the missed package in the logistics sorting and transportation. The location coordinates and missing time of the package are determined through the transportation trajectory, and the missing location and time of the missing package are used to track the missing package. In this way, the location of the missing package can be quickly determined, improving the package management of the logistics yard.

[0081] In this embodiment, the positioning mark can be set on the ground of the logistics yard in a preset array. The logistics vehicle can capture the positioning mark on the ground through a camera, extract the features of the positioning mark to obtain the ground coordinate information of the positioning mark in the logistics yard, and realize positioning according to the ground coordinate information. After obtaining the positioning point information of the logistics vehicle in the logistics sorting and transportation, the positioning device predicts and connects the state between the positioning point information through the hidden Markov model, that is, according to the given positioning point information, estimates its trajectory probability, and finally determines the transportation trajectory line of the logistics vehicle in the logistics sorting and transportation. Since trajectory prediction is a calculation process, there is a certain error. Therefore, error compensation can be set according to the actual situation, and the position coordinates are processed for deviation based on the transportation trajectory line and the layout of the logistics yard to obtain the positioning point deviation value, so as to further improve the positioning accuracy of each package when transported in the logistics yard. Further, the positioning device can also construct a positioning compensation relationship table based on the transportation trajectory line and the layout of the logistics yard. Then, the positioning compensation relationship table is searched for deviation according to the position coordinates to obtain the deviation route that the position coordinates need to be compensated. Then, the positioning point deviation value corresponding to the position coordinate is determined according to the deviation route, and the positioning point deviation value includes a distance deviation value and an angle deviation value. Thus, position compensation or error correction can be performed through the positioning compensation relationship table to improve the accuracy of positioning.

[0082] In addition, an embodiment of the present invention further proposes a storage medium, on which a logistics transportation positioning program is stored. When the logistics transportation positioning program is executed by a processor, the steps of the logistics transportation positioning method described above are implemented.

[0083] Reference Figure 5 , Figure 5 It is a structural block diagram of the first embodiment of the logistics transportation positioning device of the present invention.

[0084] like Figure 5 As shown, the logistics transportation positioning device proposed in the embodiment of the present invention includes: The information acquisition module 501 is used to acquire multiple identification information of logistics vehicles in logistics sorting and transportation, wherein the identification information includes vehicle identification information and package identification information; A grid construction module 502 is used to pre-process the multiple identification information according to the layout of the logistics yard to obtain a logistics yard positioning grid in the logistics sorting and transportation; A location acquisition module 503 is used to perform a thinning process on the vehicle identification information and the package identification information based on the logistics yard positioning grid by using a Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; The deviation processing module 504 is used to perform deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value; The transport positioning module 505 is used to determine the transport positioning data of the multiple packages in the logistics sorting transportation according to the positioning point deviation value, the position coordinates and the identification time.

[0085] The positioning device of this embodiment can first obtain multiple identification information of logistics vehicles in logistics sorting and transportation, including the package identification information collected by each package at each node such as warehousing, sorting, warehousing, transportation, and outbound, as well as the vehicle identification information collected by the logistics vehicle at each node in the transportation process. Through the above multiple identification information, the circulation status of each package in the logistics yard can be grasped. Then, key positioning points can be established according to the package identification information collected by each package at each node such as warehousing, sorting, warehousing, transportation, and outbound, and the vehicle identification information collected by the logistics vehicle at each node in the transportation process; the layout of the logistics yard is grid-divided according to the established key positioning points, and the logistics yard positioning grid of the logistics yard in logistics sorting and transportation is constructed. Therefore, based on the package identification information of each package at each node and the vehicle identification information of the logistics vehicle at each node in the transportation process, the approximate transportation route of each package in each time period of circulation in the logistics yard can be determined. If a package is missing or missed, the approximate transportation route of the missing package can be quickly determined according to the logistics yard positioning grid. Since each package has been scanned at each node, the location and scanning time of each package at each node can be accurately known (because the package scanning machine is generally fixed in the logistics yard). When a package is missing or missed, it is difficult to determine the process of logistics vehicles in logistics transportation. Therefore, based on the logistics yard positioning grid, the vehicle identification information and the package identification information can be thinned out by the Douglas algorithm to determine the key points and establish the key transportation route of the logistics vehicle, so as to further determine the position coordinates and identification time of each package in the transportation route according to the position and scanning time of each node. Then, considering that the vehicle identification information and the package identification information are thinned out by the Douglas algorithm, the process of determining the position coordinates and identification time of each package in the transportation route is a calculation process, and there are certain errors. Therefore, error compensation can be set according to the actual situation to obtain the positioning point deviation value, so as to further improve the positioning accuracy of each package during transportation in the logistics yard. Finally, the positioning device can obtain the precise position and scanning time of each package at each node, the position coordinates and identification time of each package in the transportation route obtained by the Douglas algorithm, and the positioning point deviation value obtained by the calculated error compensation. Based on the above data, the transport positioning data of the multiple packages in the logistics sorting transportation can be determined. Since the present embodiment constructs the logistics cargo yard positioning grid through the logistics cargo yard layout and multiple identification information, and then performs a thinning process on the multiple identification information to obtain the location coordinates of multiple packages, and then performs a deviation process on the location coordinates, the accurate transport positioning data of each package in the logistics sorting transportation can be obtained, so that the positioning management of each package can be realized without installing a positioning device on each package.

[0086] Based on the above-mentioned first embodiment of the logistics transportation positioning device of the present invention, a second embodiment of the logistics transportation positioning device of the present invention is proposed.

[0087] In this embodiment, the grid construction module 502 is also used to grid the layout of the logistics yard to obtain the initial positioning grid of the logistics yard; perform point processing on the multiple identification information to obtain the relative distance between the logistics vehicle and multiple packages; sort the relative distances according to the time corresponding to the multiple identification information to obtain a relative distance series; take the point corresponding to the relative distance at the first position in the relative distance series as the center, aggregate the initial positioning grid according to the relative distance series to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

[0088] Furthermore, the grid construction module 502 is also used to obtain the relative distance ranked first in the relative distance series, and determine the positioning point corresponding to the relative distance ranked first; obtain the relative distance ranked last in the relative distance series, and use the relative distance ranked last as the side length of the first grid; with the positioning point as the center, establish a square grid with a side length equal to the side length of the first grid according to the relative distance series; aggregate the square grid and the initial positioning grid to obtain the logistics freight yard positioning grid of the logistics freight yard in logistics sorting and transportation.

[0089] Furthermore, the deviation processing module 504 is also used to obtain the positioning point information of the logistics vehicle in the logistics sorting transportation, the positioning point information is obtained by reading the positioning mark of the logistics vehicle in the logistics sorting transportation, and the positioning mark is set on the ground of the logistics freight yard according to a preset array; the trajectory of the positioning point information is predicted by the hidden Markov model to determine the transportation trajectory line of the logistics vehicle in the logistics sorting transportation; the position coordinates are deviation processed based on the transportation trajectory line and the layout of the logistics freight yard to obtain the positioning point deviation value.

[0090] Furthermore, the deviation processing module 504 is also used to construct a positioning compensation relationship table based on the transportation trajectory and the logistics cargo yard layout, the positioning compensation relationship table includes deviation routes corresponding to multiple logistics sorting and transportation routes; perform deviation retrieval on the positioning compensation relationship table according to the position coordinates to obtain the deviation route that needs to be compensated for the position coordinates; determine the positioning point deviation value corresponding to the position coordinates according to the deviation route, and the positioning point deviation value includes a distance deviation value and an angle deviation value.

[0091] Furthermore, the logistics transportation positioning device also includes a parcel warning module, which is used to obtain the current identification information and previous identification information of the multiple parcels; determine whether there is a difference in the identification quantity between the current identification information and the previous identification information; when there is a difference in the identification quantity, issue a parcel missing alarm.

[0092] Furthermore, the package warning module is also used to determine whether the logistics vehicle has missed packages in the logistics sorting and transportation when there is a difference in the identification quantity; extract the current positioning point of the current identification information and the previous positioning point of the previous identification information; use the hidden Markov model to predict the trajectory of the current positioning point and the previous positioning point according to the logistics freight yard layout, and determine the transportation trajectory of the missed package in the logistics sorting and transportation; and perform alarm tracking on the missed package according to the transportation trajectory.

[0093] Other embodiments or specific implementations of the logistics transportation positioning device of the present invention can refer to the above-mentioned method embodiments and will not be described in detail here.

[0094] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0095] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0096] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0097] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A logistics transportation positioning method, characterized in that: The logistics transportation positioning method comprises: Obtain multiple identification information of logistics vehicles in logistics sorting and transportation, the identification information includes vehicle identification information and package identification information; Preprocessing the multiple identification information according to the logistics yard layout to obtain the logistics yard positioning grid in the logistics sorting and transportation; Based on the logistics yard positioning grid, the vehicle identification information and the package identification information are thinned out by the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; Perform deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value; The transportation positioning data of the multiple packages in the logistics sorting transportation are determined according to the positioning point deviation value, the position coordinates and the identification time.

2. The logistics transportation positioning method according to claim 1, characterized in that: The preprocessing of the multiple identification information according to the logistics yard layout to obtain the logistics yard positioning grid of the logistics yard in the logistics sorting and transportation includes: Divide the logistics yard layout into grids to obtain the initial positioning grid of the logistics yard; Performing point processing on the multiple identification information to obtain the relative distance between the logistics vehicle and the multiple packages; Sorting the relative distances according to the times corresponding to the multiple identification information to obtain a relative distance sequence; Taking the point corresponding to the first relative distance in the relative distance series as the center, the initial positioning grid is aggregated according to the relative distance series to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

3. The logistics transportation positioning method according to claim 2, characterized in that: The method of taking the point corresponding to the first relative distance in the relative distance sequence as the center and performing aggregation processing on the initial positioning grid according to the relative distance sequence to obtain the logistics yard positioning grid of the logistics yard in the logistics sorting and transportation includes: Obtaining the first relative distance in the relative distance sequence, and determining the positioning point corresponding to the first relative distance; Obtaining the last relative distance in the relative distance sequence, and using the last relative distance as the first grid side length; Taking the positioning point as the center, establishing a square grid with a side length equal to the side length of the first grid according to the relative distance series; The square grid and the initial positioning grid are aggregated to obtain the logistics yard positioning grid of the logistics yard in logistics sorting and transportation.

4. The logistics transportation positioning method according to claim 1, characterized in that: The performing deviation processing on the position coordinates according to the logistics yard layout to obtain the positioning point deviation value includes: Acquire the positioning point information of the logistics vehicle in the logistics sorting and transportation, the positioning point information is obtained by the logistics vehicle reading the positioning mark in the logistics sorting and transportation, and the positioning mark is set on the ground of the logistics freight yard according to a preset array; The trajectory of the positioning point information is predicted by a hidden Markov model to determine the transportation trajectory of the logistics vehicle in the logistics sorting transportation; The position coordinates are subjected to deviation processing based on the transport trajectory and the logistics yard layout to obtain a positioning point deviation value.

5. The logistics transportation positioning method according to claim 4, characterized in that: The performing deviation processing on the position coordinates based on the transport trajectory and the logistics yard layout to obtain a positioning point deviation value includes: Building a positioning compensation relationship table based on the transport trajectory and the logistics yard layout, wherein the positioning compensation relationship table includes deviation routes corresponding to a plurality of logistics sorting and transport routes; Perform deviation retrieval on the positioning compensation relationship table according to the position coordinates to obtain the deviation route that needs to be compensated for the position coordinates; The positioning point deviation value corresponding to the position coordinate is determined according to the deviation route, and the positioning point deviation value includes a distance deviation value and an angle deviation value.

6. The logistics transportation positioning method according to claim 1, characterized in that: After determining the transport positioning data of the plurality of packages in the logistics sorting transport according to the positioning point deviation value, the position coordinates and the identification time, the method further includes: Obtaining current identification information and previous identification information of the multiple packages; Determining whether there is a difference between the identification quantity in the current identification information and the identification quantity in the previous identification information; When there is a discrepancy between the identified quantities, a package missing alarm is issued.

7. The logistics transportation positioning method according to claim 6, characterized in that: When there is a difference in the identified quantities, issuing a package missing alarm includes: When there is a difference in the identified quantities, it is determined that the logistics vehicle has missed a package during the logistics sorting and transportation; Extracting a current positioning point of the current identification information and a previous positioning point of the previous identification information; Through the hidden Markov model, the trajectory of the current positioning point and the previous positioning point is predicted according to the layout of the logistics yard, so as to determine the transportation trajectory of the missing package in the logistics sorting transportation; The missing package is tracked according to the transport trajectory.

8. A logistics transportation positioning device, characterized in that: The device comprises: An information acquisition module is used to acquire multiple identification information of logistics vehicles in logistics sorting and transportation, wherein the identification information includes vehicle identification information and package identification information; A grid construction module is used to pre-process the multiple identification information according to the layout of the logistics yard to obtain a logistics yard positioning grid in the logistics sorting and transportation; A location acquisition module, used to perform thinning processing on the vehicle identification information and the package identification information based on the logistics yard positioning grid by using the Douglas algorithm to obtain the location coordinates and identification time of the logistics vehicle and multiple packages; A deviation processing module, used to perform deviation processing on the position coordinates according to the logistics yard layout to obtain a positioning point deviation value; The transport positioning module is used to determine the transport positioning data of the multiple packages in the logistics sorting transportation according to the positioning point deviation value, the position coordinates and the identification time.

9. A logistics transportation positioning device, characterized in that: The device comprises: a memory, a processor and a logistics transportation positioning program stored in the memory and executable on the processor, wherein the logistics transportation positioning program is configured to implement the steps of the logistics transportation positioning method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a logistics transportation positioning program, and when the logistics transportation positioning program is executed by the processor, the steps of the logistics transportation positioning method according to any one of claims 1 to 7 are implemented.

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