A precise positioning control optimization method and system for rail transport equipment

Abstract

The present invention discloses a precise positioning control optimization method and system for rail transport equipment. In a preset cycle, the system collects the signal and positioning data of the transport equipment, identifies and records the abnormal signal period, and sets the signal threshold. In real-time operation, when the signal of the target transport equipment is lower than the threshold, the system plans a new route according to the equipment status, uses RFID and laser positioning, and the system simulates the ideal path data. The target transport equipment and the ideal path data are compared and analyzed for deviations in real time to achieve precise navigation and efficient transportation management. Through the present invention, a highly automated logistics transportation process can be effectively realized, the transportation efficiency of the transport equipment can be improved, and the transportation system can be kept running stably, orderly and continuously under abnormal communication conditions, the manual participation rate of the transport equipment can be reduced, the adaptability of the transportation system can be improved, and the transportation system can be effectively optimized.

Description

Technical Field

[0001] The present invention relates to the field of positioning data analysis of transport equipment, and more specifically, to a precise positioning control optimization method and system for rail transport equipment. Background Art

[0002] The automatic feeding shuttle is a key component of modern warehousing and logistics systems. It is an efficient rail-mounted handling device. Its positioning accuracy and the integrity of its positioning data directly affect the efficiency and accuracy of the entire logistics system. In the actual transportation process, due to the influence of environmental factors and communication equipment, the handling equipment often has poor signal status and inaccurate positioning data. Under traditional technology, it is often necessary to wait for manual inspection and equipment maintenance analysis, which greatly affects the actual transportation efficiency. Therefore, how to analyze positioning data and control corresponding positioning and improve transportation efficiency is an important issue that needs to be solved urgently. Summary of the invention

[0003] The present invention overcomes the defects of the prior art and proposes a precise positioning control optimization method and system for rail transport equipment.

[0004] A first aspect of the present invention provides a method for optimizing precise positioning control of a rail transport device, comprising:

[0005] In a preset transportation cycle, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transportation platform;

[0006] Take a target handling device as the analysis unit, find missing data and abnormal data segments through mobile positioning data, record the corresponding operating time, generate abnormal time period, analyze the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and set the signal threshold;

[0007] During the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment.

[0008] Based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment;

[0009] Set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation between the real-time RFID positioning and the real-time laser positioning and the first positioning data and the second positioning data respectively, and perform operation settings and early warning analysis on the handling movement based on the deviation threshold.

[0010] In this solution, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transport platform within a preset transport cycle, specifically:

[0011] In a preset transportation cycle, the signal data and positioning data of the handling equipment are transmitted in real time through the communication module, and the signal data and positioning data are sent to the rail transportation platform in real time;

[0012] Through the rail transport platform, based on a preset transport cycle, the signal data and positioning data of all handling equipment are summarized to obtain signal monitoring data and mobile positioning data.

[0013] In this solution, a target handling device is used as the analysis unit. By moving the positioning data, missing data and abnormal data segments are found, and the corresponding running time is recorded to generate an abnormal time period. The signal attenuation degree corresponding to the abnormal time period is analyzed in the signal monitoring data, and the signal threshold is set. Specifically:

[0014] Mark a target handling device;

[0015] Through mobile positioning data, the integrity of the positioning data of the target handling equipment is analyzed to find out the missing data and abnormal data segments;

[0016] Based on the correspondence between the missing data and the abnormal data segments, the corresponding running time is marked from the preset transportation cycle to obtain the abnormal time period;

[0017] Analyze the changes in the communication signal corresponding to the abnormal time period in the signal monitoring data, record the changes in signal attenuation, and obtain signal attenuation change information;

[0018] In the signal attenuation change information, the mean value of the signal strength change is taken as the signal threshold.

[0019] In this solution, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment, specifically:

[0020] During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained;

[0021] Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, obtain the real-time status data of the target handling equipment;

[0022] The real-time status data includes positioning data, track status, equipment power, and communication status information;

[0023] Through real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and material transportation tasks within the preset range of the starting point are searched to obtain multiple optimal task routes;

[0024] Through real-time status data, the feasibility of handling equipment is analyzed for multiple preferred task routes. The shortest route is selected from the feasible preferred task routes for transportation task analysis, and the task route plan is set.

[0025] In this solution, based on the task route solution, the ideal route is simulated by the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route solution, the first positioning data and the second positioning data are sent to the target handling equipment, specifically:

[0026] In the rail transport platform, the route information in the task route plan is input into the RFID positioning module to simulate the movement of the handling equipment, simulate the movement process based on the idealized state, and generate the first positioning data;

[0027] Inputting the route information in the task route plan into the laser positioning module to simulate the movement of the handling equipment, simulating the movement process based on the idealized state, and generating second positioning data;

[0028] The task route plan, the first positioning data and the second positioning data are sent to the target transport equipment.

[0029] In this solution, the moving instructions are set for the target handling equipment based on the task route plan, and the real-time RFID positioning and real-time laser positioning are obtained based on the RFID positioning module and the laser positioning module. The real-time RFID positioning and real-time laser positioning are respectively calculated with the first positioning data and the second positioning data for positioning deviation, and the operation setting and early warning analysis of the handling movement are performed based on the deviation threshold, specifically:

[0030] Change the drive control of the target handling equipment from the platform real-time control mode to the equipment control mode;

[0031] Based on the task route plan, a moving instruction is set in the target handling device and the movement of the target handling device is controlled based on the instruction. During the movement, the acceleration and deceleration of the movement of the target handling device is set based on the S-curve control algorithm, and the positioning process of the movement is adjusted based on the PID motion control algorithm;

[0032] In the target handling equipment, the RFID positioning module records the positioning data in real time and generates real-time RFID positioning;

[0033] The laser positioning module records the positioning data in real time and generates real-time laser positioning;

[0034] Calculate the positioning deviation distance between the real-time RFID positioning and the first positioning data to obtain a first deviation value;

[0035] Calculate the positioning deviation distance between the real-time laser positioning and the second positioning data to obtain a second deviation value;

[0036] Performing a weighted average of the first deviation value and the second deviation value based on a preset weight, and obtaining a real-time deviation;

[0037] Determine whether the target handling equipment is within the expected control range through real-time deviation and deviation threshold;

[0038] If it is within the expected control range, the target handling equipment will be driven continuously and the set task will be completed;

[0039] If it exceeds the expected control range, equipment warning information is generated based on the difference between the real-time deviation and the deviation threshold, the real-time RFID positioning and the real-time laser positioning information, and the motion control of the target handling equipment is stopped.

[0040] The second aspect of the present invention further provides a precise positioning control optimization system for rail transport equipment, the system comprising: a memory, a processor, the memory comprising a precise positioning control optimization program for rail transport equipment, the precise positioning control optimization program for rail transport equipment when executed by the processor implements the following steps:

[0041] In a preset transportation cycle, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transportation platform;

[0042] Take a target handling device as the analysis unit, find missing data and abnormal data segments through mobile positioning data, record the corresponding operating time, generate abnormal time period, analyze the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and set the signal threshold;

[0043] During the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment.

[0044] Based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment;

[0045] Set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation between the real-time RFID positioning and the real-time laser positioning and the first positioning data and the second positioning data respectively, and perform operation settings and early warning analysis on the handling movement based on the deviation threshold.

[0046] The third aspect of the present invention also provides a computer-readable storage medium, which includes a precise positioning control optimization program for rail transport equipment. When the precise positioning control optimization program for rail transport equipment is executed by a processor, the steps of the precise positioning control optimization method for rail transport equipment as described in any one of the above items are implemented.

[0047] The present invention discloses a precise positioning control optimization method and system for rail transport equipment. In a preset cycle, the system collects the signal and positioning data of the transport equipment, identifies and records the abnormal signal period, and sets the signal threshold. In real-time operation, when the signal of the target transport equipment is lower than the threshold, the system plans a new route according to the equipment status, uses RFID and laser positioning, and the system simulates the ideal path data. The target transport equipment and the ideal path data are compared and analyzed for deviations in real time to achieve precise navigation and efficient transportation management. Through the present invention, a highly automated logistics transportation process can be effectively realized, the transportation efficiency of the transport equipment can be improved, and the transportation system can be kept running stably, orderly and continuously under abnormal communication conditions, the manual participation rate of the transport equipment can be reduced, the adaptability of the transportation system can be improved, and the transportation system can be effectively optimized. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A flow chart showing a method for optimizing precise positioning control of rail transport equipment according to the present invention is shown;

[0049] Figure 2 A block diagram of a precise positioning control optimization system for rail transport equipment according to the present invention is shown. DETAILED DESCRIPTION

[0050] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0051] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0052] Figure 1 A flow chart of a precise positioning control optimization method for rail transport equipment according to the present invention is shown.

[0053] like Figure 1 As shown, the first aspect of the present invention provides a precise positioning control optimization method for rail transport equipment, comprising:

[0054] S102, obtaining signal monitoring data and mobile positioning data of the handling equipment through the rail transport platform within a preset transport cycle;

[0055] S104, taking a target transport device as an analysis unit, searching for missing data and abnormal data segments through mobile positioning data, and recording the corresponding operating time to generate an abnormal time period, analyzing the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and setting a signal threshold;

[0056] S106, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform, and when the real-time signal strength is lower than the signal threshold, a task route plan is set based on the real-time status data of the target transport equipment;

[0057] S108, based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and first positioning data and second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment;

[0058] S110, set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation of the real-time RFID positioning and the real-time laser positioning with the first positioning data and the second positioning data respectively, and perform operation settings and early warning analysis for the handling movement based on the deviation threshold.

[0059] It should be noted that the transport equipment includes a rail shuttle.

[0060] According to an embodiment of the present invention, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transport platform within a preset transport cycle, specifically:

[0061] In a preset transportation cycle, the signal data and positioning data of the handling equipment are transmitted in real time through the communication module, and the signal data and positioning data are sent to the rail transportation platform in real time;

[0062] Through the rail transport platform, based on a preset transport cycle, the signal data and positioning data of all handling equipment are summarized to obtain signal monitoring data and mobile positioning data.

[0063] It should be noted that the signal monitoring data and mobile positioning data include signal change and positioning change data for continuous time periods within a preset transportation cycle. Through the two data, the signal status and location information of the handling equipment at a specified time can be queried.

[0064] The handling equipment consists of laser positioning module, RFID positioning module, communication module, control module, memory, drive device, etc., which are used to achieve efficient material handling in the process of warehousing and logistics transportation. The rail transport platform is the overall system platform for warehousing and handling, and establishes data connection with each handling equipment (shuttle car, etc.) through the communication module.

[0065] According to an embodiment of the present invention, a target transport device is used as an analysis unit, and missing data and abnormal data segments are found through mobile positioning data, and the corresponding running time is recorded to generate an abnormal time period. The signal attenuation degree corresponding to the abnormal time period is analyzed in the signal monitoring data, and the signal threshold is set, specifically:

[0066] Mark a target handling device;

[0067] Through mobile positioning data, the integrity of the positioning data of the target handling equipment is analyzed to find out the missing data and abnormal data segments;

[0068] Based on the correspondence between the missing data and the abnormal data segments, the corresponding running time is marked from the preset transportation cycle to obtain the abnormal time period;

[0069] Analyze the changes in the communication signal corresponding to the abnormal time period in the signal monitoring data, record the changes in signal attenuation, and obtain signal attenuation change information;

[0070] In the signal attenuation change information, the mean value of the signal strength change is taken as the signal threshold.

[0071] It should be noted that the preset transportation cycle is a preset historical time period, which is used to analyze the warning value when signal attenuation occurs, that is, the corresponding signal threshold. Based on the analysis accuracy requirements, the warning range of the corresponding signal strength can be set here.

[0072] It is worth mentioning that during the operation of the real-time shuttle vehicle, due to the influence of the complex warehouse environment, communication network fluctuations, environmental interference, etc., the shuttle vehicle may have problems such as inaccurate positioning data and missing positioning data. In this case, the current shuttle vehicle is restricted by conditions and task plans. When the signal is poor and the real-time positioning data is missing, equipment inspection and manual intervention are often required. The process is time-consuming and labor-intensive, and seriously reduces the efficiency of warehouse material transportation.

[0073] In the actual operation process, there are often fewer cases of serious communication anomalies. Generally, the communication is limited and abnormal in a short period of time. Therefore, the present invention makes a real-time judgment and evaluation of the signal anomaly. When the signal anomaly is within the warning range, the transmission of the corresponding positioning data will also be affected. Further, the platform system analyzes the status of the current handling equipment, analyzes the transportation route plan suitable for the current handling equipment in real time, and transmits the plan to the handling equipment, converts the real-time control transportation of the current handling equipment into independent equipment transportation, which is not controlled by the platform, and evaluates the deviation through the corresponding ideal route, improves the precision control, and realizes the stability evaluation and analysis of the independent equipment transportation process. When the communication status returns to normal, the data of the corresponding independent transportation process is transmitted to the platform system, and the corresponding task route is docked. Through the present invention, it is possible to effectively realize a highly automated logistics transportation process, improve the transportation efficiency of the handling equipment, and make the transportation system stable, orderly and continuous in the state of abnormal communication, reduce the manual participation rate of the handling equipment, improve the adaptability of the transportation system, and effectively optimize the transportation system.

[0074] According to an embodiment of the present invention, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, a task route plan is set based on the real-time status data of the target transport equipment, specifically:

[0075] During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained;

[0076] Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, obtain the real-time status data of the target handling equipment;

[0077] The real-time status data includes positioning data, track status, equipment power, and communication status information;

[0078] Through real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and material transportation tasks within the preset range of the starting point are searched to obtain multiple optimal task routes;

[0079] Through real-time status data, the feasibility of handling equipment is analyzed for multiple preferred task routes. The shortest route is selected from the feasible preferred task routes for transportation task analysis, and the task route plan is set.

[0080] It should be noted that, through the real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and the material transportation tasks within the preset range of the starting point are searched to obtain multiple preferred task routes. The present invention performs early warning analysis on the communication signal of the target handling equipment. When an early warning occurs, the location data before the early warning is recorded, and the shortest route task setting within the preset range is performed based on the location data. By selecting the starting point of transportation allocation, the existing transportation task route is selected within the corresponding preset range. The preset range is generally within a predetermined smaller distance range. In this way, tasks with simpler tasks and shorter routes can be selected, and the task route is in line with the current status of the target handling equipment in terms of location. The feasibility analysis of the handling equipment on multiple preferred task routes is specifically based on the real-time status data, and the feasibility analysis is performed based on the feasible distance, power status, and transportation capacity of the target handling equipment.

[0081] The mission route plan includes driving instructions, route data, motion status and other information.

[0082] According to an embodiment of the present invention, based on the task route plan, the ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment, specifically:

[0083] In the rail transport platform, the route information in the task route plan is input into the RFID positioning module to simulate the movement of the handling equipment, simulate the movement process based on the idealized state, and generate the first positioning data;

[0084] Inputting the route information in the task route plan into the laser positioning module to simulate the movement of the handling equipment, simulating the movement process based on the idealized state, and generating second positioning data;

[0085] The task route plan, the first positioning data and the second positioning data are sent to the target transport equipment.

[0086] It should be noted that the first positioning data is the relevant positioning data for transport process simulation based on RFID positioning. This data is the route status of the handling equipment in the entire task process under ideal conditions, including the positioning and movement of the equipment. This data is idealized positioning monitoring data and has a certain deviation from the actual operation. The second positioning data is analyzed in the same way as the first positioning data, but it is based on the analysis of the laser positioning module and is the ideal positioning monitoring data in the laser positioning state.

[0087] The first positioning data and the second positioning data are both ideal positioning data, and the present invention uses the data to perform transportation deviation early warning analysis on the target handling equipment. In addition, RFID positioning and laser positioning have corresponding advantages in macroscopic positioning analysis and microscopic small-scale positioning analysis, respectively. Therefore, the present invention uses the two types of positioning data to perform deviation calculation analysis.

[0088] According to an embodiment of the present invention, the moving instructions are set for the target handling equipment based on the task route plan, the real-time RFID positioning and real-time laser positioning are obtained based on the RFID positioning module and the laser positioning module, the real-time RFID positioning and the real-time laser positioning are respectively calculated with the first positioning data and the second positioning data for positioning deviation, and the operation setting and early warning analysis of the handling movement are performed based on the deviation threshold, specifically:

[0089] Change the drive control of the target handling equipment from the platform real-time control mode to the equipment control mode;

[0090] Based on the task route plan, a moving instruction is set in the target handling device and the movement of the target handling device is controlled based on the instruction. During the movement, the acceleration and deceleration of the movement of the target handling device is set based on the S-curve control algorithm, and the positioning process of the movement is adjusted based on the PID motion control algorithm;

[0091] In the target handling equipment, the RFID positioning module records the positioning data in real time and generates real-time RFID positioning;

[0092] The laser positioning module records the positioning data in real time and generates real-time laser positioning;

[0093] Calculate the positioning deviation distance between the real-time RFID positioning and the first positioning data to obtain a first deviation value;

[0094] Calculate the positioning deviation distance between the real-time laser positioning and the second positioning data to obtain a second deviation value;

[0095] Performing a weighted average of the first deviation value and the second deviation value based on a preset weight, and obtaining a real-time deviation;

[0096] Determine whether the target handling equipment is within the expected control range through real-time deviation and deviation threshold;

[0097] If it is within the expected control range, the target handling equipment will be driven continuously and the set task will be completed;

[0098] If it exceeds the expected control range, equipment warning information is generated based on the difference between the real-time deviation and the deviation threshold, the real-time RFID positioning and the real-time laser positioning information, and the motion control of the target handling equipment is stopped.

[0099] It should be noted that in general storage and handling equipment control, real-time control is performed by sending instructions through the platform. In the above process, the platform control is changed to the equipment's own instruction control. The deviation values ​​are all obtained by real-time analysis and calculation. In the calculation of positioning deviation distance, the deviation calculation can be performed by the coordinate positioning deviation or the route formed by a real-time cycle. The greater the deviation between the actual and ideal data, the greater the deviation value. The introduction of the S-curve control algorithm and the PID motion control algorithm can ensure that the handling equipment (or shuttle car) reduces overshoot and oscillation during movement, ensures that the positioning deviation is within a certain range, and ensures the stability and accuracy of the movement. In the present invention, if the target handling equipment is within the expected range, the motion control is continued until the communication signal returns to normal, and the recorded data is transmitted back to the rail transport platform. Based on actual needs, the target handling equipment is set back to the platform real-time control mode, and the platform is controlled and driven. If the target handling equipment is not within the expected range, a corresponding warning is generated and the handling task of the target handling equipment is stopped. The deviation threshold is set by the user.

[0100] The real-time deviation calculation formula is as follows:

[0101] ;

[0102] in, is the real-time deviation, , is the preset weight, U1 and U2 are the first deviation value and the second deviation value.

[0103] According to an embodiment of the present invention, it also includes:

[0104] During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained;

[0105] Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, it is marked as a signal warning state;

[0106] Construct a warehousing model based on a three-dimensional coordinate system based on the spatial information of transportation and warehousing;

[0107] Acquire the real-time status data of the target transport equipment and set the location point of the target transport equipment as the center point based on the positioning data in the real-time status data, search for multiple transport equipments existing within the preset spatial range of the center point, and mark them as adjacent transport equipments;

[0108] Obtain the priority level of the current transportation task of the target handling equipment and obtain the target transportation level;

[0109] Get the task list information of the adjacent handling equipment;

[0110] In the task list, filter out the shortest route tasks with a priority lower than the target transportation level;

[0111] Based on the shortest route task, the route of the target handling equipment is simulated. During the simulation, the obstacle equipment, route length and transportation difficulty of the route are analyzed, and an obstacle coefficient is generated;

[0112] The feasibility of the adjacent handling equipment is generated based on the obstacle coefficient in the simulation process, and the feasibility is inversely proportional to the obstacle coefficient;

[0113] Analyze all adjacent transport equipment and generate corresponding feasibility, sort the feasibility and select the adjacent transport equipment with the highest feasibility as the first transport equipment;

[0114] The shortest route task of the first transport equipment is exchanged with the current transport task of the target transport equipment, and the task list of the transport equipment is updated.

[0115] It should be noted that the storage model is a spatial model based on a three-dimensional coordinate system, which can be used to calculate the distance between two points or the range between points. In the storage model, the real-time position of the handling equipment, the spatial track, the material position and other information are marked. The obstacle equipment, route length and transportation difficulty of the route are analyzed, and an obstacle coefficient is generated. The obstacle equipment information includes the number of handling equipment and logistics equipment passing through the route. The route length is the distance of the entire route. The transportation difficulty is obtained based on a comprehensive analysis of the straight-line distance of the route, the turning angle and number of times, and the equipment lifting distance. The obstacle coefficient is proportional to the three values ​​of the number of obstacle equipment, route length and transportation difficulty.

[0116] The feasibility is equal to the inverse of the obstacle coefficient.

[0117] In one embodiment of the present invention, by analyzing whether the target handling equipment reaches the communication warning condition, if so, based on the positioning of the current handling equipment, the transportation task status of the nearby handling equipment is searched, and the route of the qualified transportation task is simulated based on the target handling equipment and the feasibility is analyzed. The higher the feasibility, the lower the transportation pressure of the task on the target handling equipment, the lower the error rate, and the more suitable it is for the handling equipment. Through the interaction of task routes, simple tasks can be assigned to the warning target handling equipment, and complex tasks can be exchanged to the normally operating adjacent handling equipment, effectively reducing the overall transportation congestion, improving the overall adaptability and stability of material transportation, and when the target handling equipment has a serious abnormality and stops the task, the overall transportation loss, efficiency and impact can be minimized.

[0118] Figure 2 A block diagram of a precise positioning control optimization system for rail transport equipment according to the present invention is shown.

[0119] The second aspect of the present invention further provides a precise positioning control optimization system 2 for rail transport equipment, the system comprising: a memory 21, a processor 22, the memory comprising a precise positioning control optimization program for rail transport equipment, the precise positioning control optimization program for rail transport equipment being executed by the processor to implement the following steps:

[0120] In a preset transportation cycle, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transportation platform;

[0121] Take a target handling device as the analysis unit, find missing data and abnormal data segments through mobile positioning data, record the corresponding operating time, generate abnormal time period, analyze the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and set the signal threshold;

[0122] During the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment.

[0123] Based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment;

[0124] Set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation between the real-time RFID positioning and the real-time laser positioning and the first positioning data and the second positioning data respectively, and perform operation settings and early warning analysis on the handling movement based on the deviation threshold.

[0125] It should be noted that the transport equipment includes a rail shuttle.

[0126] According to an embodiment of the present invention, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transport platform within a preset transport cycle, specifically:

[0127] In a preset transportation cycle, the signal data and positioning data of the handling equipment are transmitted in real time through the communication module, and the signal data and positioning data are sent to the rail transportation platform in real time;

[0128] Through the rail transport platform, based on a preset transport cycle, the signal data and positioning data of all handling equipment are summarized to obtain signal monitoring data and mobile positioning data.

[0129] It should be noted that the signal monitoring data and mobile positioning data include signal change and positioning change data for continuous time periods within a preset transportation cycle. Through the two data, the signal status and location information of the handling equipment at a specified time can be queried.

[0130] The handling equipment consists of laser positioning module, RFID positioning module, communication module, control module, memory, drive device, etc., which are used to achieve efficient material handling in the process of warehousing and logistics transportation. The rail transport platform is the overall system platform for warehousing and handling, and establishes data connection with each handling equipment (shuttle car, etc.) through the communication module.

[0131] According to an embodiment of the present invention, a target transport device is used as an analysis unit, and missing data and abnormal data segments are found through mobile positioning data, and the corresponding running time is recorded to generate an abnormal time period. The signal attenuation degree corresponding to the abnormal time period is analyzed in the signal monitoring data, and the signal threshold is set, specifically:

[0132] Mark a target handling device;

[0133] Through mobile positioning data, the integrity of the positioning data of the target handling equipment is analyzed to find out the missing data and abnormal data segments;

[0134] Based on the correspondence between the missing data and the abnormal data segments, the corresponding running time is marked from the preset transportation cycle to obtain the abnormal time period;

[0135] Analyze the changes in the communication signal corresponding to the abnormal time period in the signal monitoring data, record the changes in signal attenuation, and obtain signal attenuation change information;

[0136] In the signal attenuation change information, the mean value of the signal strength change is taken as the signal threshold.

[0137] It should be noted that the preset transportation cycle is a preset historical time period, which is used to analyze the warning value when signal attenuation occurs, that is, the corresponding signal threshold. Based on the analysis accuracy requirements, the warning range of the corresponding signal strength can be set here.

[0138] It is worth mentioning that during the operation of the real-time shuttle vehicle, due to the influence of the complex warehouse environment, communication network fluctuations, environmental interference, etc., the shuttle vehicle may have problems such as inaccurate positioning data and missing positioning data. In this case, the current shuttle vehicle is restricted by conditions and task plans. When the signal is poor and the real-time positioning data is missing, equipment inspection and manual intervention are often required. The process is time-consuming and labor-intensive, and seriously reduces the efficiency of warehouse material transportation.

[0139] In the actual operation process, there are often fewer cases of serious communication anomalies. Generally, the communication is limited and abnormal in a short period of time. Therefore, the present invention makes a real-time judgment and evaluation of the signal anomaly. When the signal anomaly is within the warning range, the transmission of the corresponding positioning data will also be affected. Further, the platform system analyzes the status of the current handling equipment, analyzes the transportation route plan suitable for the current handling equipment in real time, and transmits the plan to the handling equipment, converts the real-time control transportation of the current handling equipment into independent equipment transportation, which is not controlled by the platform, and evaluates the deviation through the corresponding ideal route, improves the precision control, and realizes the stability evaluation and analysis of the independent equipment transportation process. When the communication status returns to normal, the data of the corresponding independent transportation process is transmitted to the platform system, and the corresponding task route is docked. Through the present invention, it is possible to effectively realize a highly automated logistics transportation process, improve the transportation efficiency of the handling equipment, and make the transportation system stable, orderly and continuous in the state of abnormal communication, reduce the manual participation rate of the handling equipment, improve the adaptability of the transportation system, and effectively optimize the transportation system.

[0140] According to an embodiment of the present invention, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, a task route plan is set based on the real-time status data of the target transport equipment, specifically:

[0141] During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained;

[0142] Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, obtain the real-time status data of the target handling equipment;

[0143] The real-time status data includes positioning data, track status, equipment power, and communication status information;

[0144] Through real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and material transportation tasks within the preset range of the starting point are searched to obtain multiple optimal task routes;

[0145] Through real-time status data, the feasibility of handling equipment is analyzed for multiple preferred task routes. The shortest route is selected from the feasible preferred task routes for transportation task analysis, and the task route plan is set.

[0146] It should be noted that, through the real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and the material transportation tasks within the preset range of the starting point are searched to obtain multiple preferred task routes. The present invention performs early warning analysis on the communication signal of the target handling equipment. When an early warning occurs, the location data before the early warning is recorded, and the shortest route task setting within the preset range is performed based on the location data. By selecting the starting point of transportation allocation, the existing transportation task route is selected within the corresponding preset range. The preset range is generally within a predetermined smaller distance range. In this way, tasks with simpler tasks and shorter routes can be selected, and the task route is in line with the current status of the target handling equipment in terms of location. The feasibility analysis of the handling equipment on multiple preferred task routes is specifically based on the real-time status data, and the feasibility analysis is performed based on the feasible distance, power status, and transportation capacity of the target handling equipment.

[0147] The mission route plan includes driving instructions, route data, motion status and other information.

[0148] According to an embodiment of the present invention, based on the task route plan, the ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment, specifically:

[0149] In the rail transport platform, the route information in the task route plan is input into the RFID positioning module to simulate the movement of the handling equipment, simulate the movement process based on the idealized state, and generate the first positioning data;

[0150] Inputting the route information in the task route plan into the laser positioning module to simulate the movement of the handling equipment, simulating the movement process based on the idealized state, and generating second positioning data;

[0151] The task route plan, the first positioning data and the second positioning data are sent to the target transport equipment.

[0152] It should be noted that the first positioning data is the relevant positioning data for transport process simulation based on RFID positioning. This data is the route status of the handling equipment in the entire task process under ideal conditions, including the positioning and movement of the equipment. This data is idealized positioning monitoring data and has a certain deviation from the actual operation. The second positioning data is analyzed in the same way as the first positioning data, but it is based on the analysis of the laser positioning module and is the ideal positioning monitoring data in the laser positioning state.

[0153] The first positioning data and the second positioning data are both ideal positioning data, and the present invention uses the data to perform transportation deviation early warning analysis on the target handling equipment. In addition, RFID positioning and laser positioning have corresponding advantages in macroscopic positioning analysis and microscopic small-scale positioning analysis, respectively. Therefore, the present invention uses the two types of positioning data to perform deviation calculation analysis.

[0154] According to an embodiment of the present invention, the moving instructions are set for the target handling equipment based on the task route plan, the real-time RFID positioning and real-time laser positioning are obtained based on the RFID positioning module and the laser positioning module, the real-time RFID positioning and the real-time laser positioning are respectively calculated with the first positioning data and the second positioning data for positioning deviation, and the operation setting and early warning analysis of the handling movement are performed based on the deviation threshold, specifically:

[0155] Change the drive control of the target handling equipment from the platform real-time control mode to the equipment control mode;

[0156] Based on the task route plan, a moving instruction is set in the target handling device and the movement of the target handling device is controlled based on the instruction. During the movement, the acceleration and deceleration of the movement of the target handling device is set based on the S-curve control algorithm, and the positioning process of the movement is adjusted based on the PID motion control algorithm;

[0157] In the target handling equipment, the RFID positioning module records the positioning data in real time and generates real-time RFID positioning;

[0158] The laser positioning module records the positioning data in real time and generates real-time laser positioning;

[0159] Calculate the positioning deviation distance between the real-time RFID positioning and the first positioning data to obtain a first deviation value;

[0160] Calculate the positioning deviation distance between the real-time laser positioning and the second positioning data to obtain a second deviation value;

[0161] Performing a weighted average of the first deviation value and the second deviation value based on a preset weight, and obtaining a real-time deviation;

[0162] Determine whether the target handling equipment is within the expected control range through real-time deviation and deviation threshold;

[0163] If it is within the expected control range, the target handling equipment will be driven continuously and the set task will be completed;

[0164] If it exceeds the expected control range, equipment warning information is generated based on the difference between the real-time deviation and the deviation threshold, the real-time RFID positioning and the real-time laser positioning information, and the motion control of the target handling equipment is stopped.

[0165] It should be noted that in general storage and handling equipment control, real-time control is performed by sending instructions through the platform. In the above process, the platform control is changed to the equipment's own instruction control. The deviation values ​​are all obtained by real-time analysis and calculation. In the calculation of positioning deviation distance, the deviation calculation can be performed by the coordinate positioning deviation or the route formed by a real-time cycle. The greater the deviation between the actual and ideal data, the greater the deviation value. The introduction of the S-curve control algorithm and the PID motion control algorithm can ensure that the handling equipment (or shuttle car) reduces overshoot and oscillation during movement, ensures that the positioning deviation is within a certain range, and ensures the stability and accuracy of the movement. In the present invention, if the target handling equipment is within the expected range, the motion control is continued until the communication signal returns to normal, and the recorded data is transmitted back to the rail transport platform. Based on actual needs, the target handling equipment is set back to the platform real-time control mode, and the platform is controlled and driven. If the target handling equipment is not within the expected range, a corresponding warning is generated and the handling task of the target handling equipment is stopped. The deviation threshold is set by the user.

[0166] The real-time deviation calculation formula is as follows:

[0167] ;

[0168] in, is the real-time deviation, , is the preset weight, U1 and U2 are the first deviation value and the second deviation value.

[0169] The third aspect of the present invention also provides a computer-readable storage medium, which includes a precise positioning control optimization program for rail transport equipment. When the precise positioning control optimization program for rail transport equipment is executed by a processor, the steps of the precise positioning control optimization method for rail transport equipment as described in any one of the above items are implemented.

[0170] The present invention discloses a precise positioning control optimization method and system for rail transport equipment. In a preset cycle, the system collects the signal and positioning data of the transport equipment, identifies and records the abnormal signal period, and sets the signal threshold. In real-time operation, when the signal of the target transport equipment is lower than the threshold, the system plans a new route according to the equipment status, uses RFID and laser positioning, and the system simulates the ideal path data. The target transport equipment and the ideal path data are compared and analyzed for deviations in real time to achieve precise navigation and efficient transportation management. Through the present invention, a highly automated logistics transportation process can be effectively realized, the transportation efficiency of the transport equipment can be improved, and the transportation system can be kept running stably, orderly and continuously under abnormal communication conditions, the manual participation rate of the transport equipment can be reduced, the adaptability of the transportation system can be improved, and the transportation system can be effectively optimized.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0172] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0173] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0174] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0175] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0176] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A precise positioning control optimization method for rail transport equipment, characterized in that: include: In a preset transportation cycle, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transportation platform; Take a target handling device as the analysis unit, find missing data and abnormal data segments through mobile positioning data, record the corresponding operating time, generate abnormal time period, analyze the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and set the signal threshold; During the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment. Based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment; Set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation between the real-time RFID positioning and the real-time laser positioning and the first positioning data and the second positioning data respectively, and perform operation setting and early warning analysis of the handling movement based on the deviation threshold; Among them, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment, specifically: During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained; Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, obtain the real-time status data of the target handling equipment; The real-time status data includes positioning data, track status, equipment power, and communication status information; Through real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and material transportation tasks within the preset range of the starting point are searched to obtain multiple optimal task routes; Through real-time status data, the feasibility of handling equipment is analyzed for multiple preferred task routes. The shortest route is selected from the feasible preferred task routes for transportation task analysis, and the task route plan is set.

2. The precise positioning control optimization method of rail transport equipment according to claim 1 is characterized in that: The signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transport platform within a preset transport cycle, specifically: In a preset transportation cycle, the signal data and positioning data of the handling equipment are transmitted in real time through the communication module, and the signal data and positioning data are sent to the rail transportation platform in real time; Through the rail transport platform, based on a preset transport cycle, the signal data and positioning data of all handling equipment are summarized to obtain signal monitoring data and mobile positioning data.

3. The precise positioning control optimization method of rail transport equipment according to claim 2 is characterized in that: The method uses a target transport device as the analysis unit, finds missing data and abnormal data segments through mobile positioning data, records the corresponding operating time, generates an abnormal time period, analyzes the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and sets the signal threshold, specifically: Mark a target handling device; Through mobile positioning data, the integrity of the positioning data of the target handling equipment is analyzed to find out the missing data and abnormal data segments; Based on the correspondence between the missing data and the abnormal data segments, the corresponding running time is marked from the preset transportation cycle to obtain the abnormal time period; Analyze the changes in the communication signal corresponding to the abnormal time period in the signal monitoring data, record the changes in signal attenuation, and obtain signal attenuation change information; In the signal attenuation change information, the mean value of the signal strength change is taken as the signal threshold.

4. The precise positioning control optimization method for rail transport equipment according to claim 1 is characterized in that: Based on the task route plan, the ideal route is simulated by the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment, specifically: In the rail transport platform, the route information in the task route plan is input into the RFID positioning module to simulate the movement of the handling equipment, simulate the movement process based on the idealized state, and generate the first positioning data; Inputting the route information in the task route plan into the laser positioning module to simulate the movement of the handling equipment, simulating the movement process based on the idealized state, and generating second positioning data; The task route plan, the first positioning data and the second positioning data are sent to the target transport equipment.

5. The precise positioning control optimization method for rail transport equipment according to claim 4 is characterized in that: The moving instructions are set for the target handling equipment based on the task route plan, and the real-time RFID positioning and real-time laser positioning are obtained based on the RFID positioning module and the laser positioning module. The real-time RFID positioning and the real-time laser positioning are respectively calculated with the first positioning data and the second positioning data for positioning deviation, and the operation setting and early warning analysis of the handling movement are performed based on the deviation threshold, specifically: Change the drive control of the target handling equipment from the platform real-time control mode to the equipment control mode; Based on the task route plan, a moving instruction is set in the target handling equipment and the movement of the target handling equipment is controlled based on the instruction. During the movement, the acceleration and deceleration of the movement of the target handling equipment is set based on the S-curve control algorithm, and the positioning process of the movement is adjusted based on the PID motion control algorithm; In the target handling equipment, the RFID positioning module records the positioning data in real time and generates real-time RFID positioning; The laser positioning module records the positioning data in real time and generates real-time laser positioning; Calculate the positioning deviation distance between the real-time RFID positioning and the first positioning data to obtain a first deviation value; Calculate the positioning deviation distance between the real-time laser positioning and the second positioning data to obtain a second deviation value; Performing a weighted average of the first deviation value and the second deviation value based on a preset weight, and obtaining a real-time deviation; Determine whether the target handling equipment is within the expected control range through real-time deviation and deviation threshold; If it is within the expected control range, the target handling equipment will be driven continuously and the set task will be completed; If it exceeds the expected control range, equipment warning information is generated based on the difference between the real-time deviation and the deviation threshold, the real-time RFID positioning and the real-time laser positioning information, and the motion control of the target handling equipment is stopped.

6. A precise positioning control optimization system for rail transport equipment, characterized in that: The system includes: a memory and a processor, wherein the memory includes a precise positioning control optimization program for a rail transport device, and when the precise positioning control optimization program for the rail transport device is executed by the processor, the following steps are implemented: In a preset transportation cycle, the signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transportation platform; Take a target handling device as the analysis unit, find missing data and abnormal data segments through mobile positioning data, record the corresponding operating time, generate abnormal time period, analyze the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and set the signal threshold; During the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment. Based on the task route plan, an ideal route simulation is performed through the RFID positioning module and the laser positioning module, and the first positioning data and the second positioning data are generated respectively, and the task route plan, the first positioning data and the second positioning data are sent to the target handling equipment; Set movement instructions for the target handling equipment based on the task route plan, obtain real-time RFID positioning and real-time laser positioning based on the RFID positioning module and the laser positioning module, calculate the positioning deviation between the real-time RFID positioning and the real-time laser positioning and the first positioning data and the second positioning data respectively, and perform operation setting and early warning analysis of the handling movement based on the deviation threshold; Among them, during the real-time transportation cycle, the target transport equipment is monitored for signals through the rail transport platform. When the real-time signal strength is lower than the signal threshold, the task route plan is set based on the real-time status data of the target transport equipment, specifically: During the real-time transportation cycle, the target handling equipment is monitored by the rail transportation platform and real-time signal data is obtained; Perform signal strength analysis based on real-time signal data to determine whether the real-time information strength is lower than the signal threshold. If it is lower than the signal threshold and reaches a preset duration, obtain the real-time status data of the target handling equipment; The real-time status data includes positioning data, track status, equipment power, and communication status information; Through real-time status data, the location of the target handling equipment is used as the starting point of transportation allocation, and material transportation tasks within the preset range of the starting point are searched to obtain multiple optimal task routes; Through real-time status data, the feasibility of handling equipment is analyzed for multiple preferred task routes. The shortest route is selected from the feasible preferred task routes for transportation task analysis, and the task route plan is set.

7. The precise positioning control optimization system for rail transport equipment according to claim 6 is characterized in that: The signal monitoring data and mobile positioning data of the handling equipment are obtained through the rail transport platform within a preset transport cycle, specifically: In a preset transportation cycle, the signal data and positioning data of the handling equipment are transmitted in real time through the communication module, and the signal data and positioning data are sent to the rail transportation platform in real time; Through the rail transport platform, based on a preset transport cycle, the signal data and positioning data of all handling equipment are summarized to obtain signal monitoring data and mobile positioning data.

8. The precise positioning control optimization system for rail transport equipment according to claim 6 is characterized in that: The method uses a target transport device as the analysis unit, finds missing data and abnormal data segments through mobile positioning data, records the corresponding operating time, generates an abnormal time period, analyzes the signal attenuation degree corresponding to the abnormal time period in the signal monitoring data, and sets the signal threshold, specifically: Mark a target handling device; Through mobile positioning data, the integrity of the positioning data of the target handling equipment is analyzed to find out the missing data and abnormal data segments; Based on the correspondence between the missing data and the abnormal data segments, the corresponding running time is marked from the preset transportation cycle to obtain the abnormal time period; Analyze the changes in the communication signal corresponding to the abnormal time period in the signal monitoring data, record the changes in signal attenuation, and obtain signal attenuation change information; In the signal attenuation change information, the mean value of the signal strength change is taken as the signal threshold.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a precise positioning control optimization program for rail transport equipment. When the precise positioning control optimization program for rail transport equipment is executed by a processor, the steps of the precise positioning control optimization method for rail transport equipment as described in any one of claims 1 to 5 are implemented.

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