Rail shuttle vehicle positioning method and device, electronic equipment and storage medium

Abstract

The invention discloses a rail shuttle vehicle positioning method and device, electronic equipment and a storage medium. The method comprises the steps that in the moving process of a target rail shuttle vehicle on a rail, first motion information of the target rail shuttle vehicle is obtained in real time through an encoder arranged on the target rail shuttle vehicle, and target two-dimensional code information of the rail position where the target rail shuttle vehicle is located is obtained in real time through a code scanner arranged on the target rail shuttle vehicle; determining a first displacement distance of the target rail shuttle vehicle according to the first motion information, and determining a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information; a target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle vehicle is positioned according to the target displacement distance. According to the technical scheme provided by the embodiment of the invention, the target rail shuttle vehicle can be positioned in real time in a manner of fusing the encoder and the code scanner, so that the positioning precision of the target rail shuttle vehicle is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automation, and in particular to a rail shuttle positioning method, device, electronic equipment and storage medium. Background Art

[0002] In logistics and warehousing systems, accurate positioning of rail guided vehicles (RGVs) is crucial. Traditional RGV shuttle positioning distance calculation and data recording require manual positioning, which poses safety risks and is easily affected by the on-site environment and measurement errors, resulting in inaccurate positioning data recording. For example, in a complex logistics environment, RGV shuttles need to frequently make precise position adjustments and movements, which places higher requirements on the accuracy of positioning distance. Summary of the invention

[0003] The present invention provides a rail shuttle positioning method, device, electronic device and storage medium, which can realize real-time positioning of a target rail shuttle by integrating an encoder and a scanner, thereby significantly improving the positioning accuracy of the target rail shuttle.

[0004] According to one aspect of the present invention, a method for positioning a rail-mounted shuttle is provided, the method comprising:

[0005] When the target rail shuttle is moving on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle;

[0006] Determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information;

[0007] A target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle is positioned according to the target displacement distance.

[0008] According to another aspect of the present invention, a rail-mounted shuttle positioning device is provided, the device comprising:

[0009] An information acquisition module is used to acquire the first motion information of the target rail shuttle in real time through an encoder configured on the target rail shuttle during the movement of the target rail shuttle on the track, and to acquire the target two-dimensional code information of the track position of the target rail shuttle in real time through a code scanner configured on the target rail shuttle;

[0010] a distance determination module, configured to determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and to determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information;

[0011] A target positioning module is used to determine a target displacement distance according to the first displacement distance and the second displacement distance, and to position the target rail shuttle vehicle according to the target displacement distance.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the rail shuttle positioning method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the rail shuttle positioning method described in any embodiment of the present invention when executed.

[0017] The technical solution of the embodiment of the present invention is that during the movement of the target rail shuttle on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle; the first displacement distance of the target rail shuttle is determined according to the first motion information, and the second displacement distance of the target rail shuttle is determined according to the target two-dimensional code information; the target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle is positioned according to the target displacement distance. The technical solution of the embodiment of the present invention is that by calculating the target displacement distance according to the first displacement distance and the second displacement distance determined by the information obtained in real time, it is possible to realize real-time positioning of the target rail shuttle at any position during the movement process by integrating the encoder and the barcode scanner, thereby significantly improving the positioning accuracy of the target rail shuttle and meeting the requirements of the logistics warehousing system for high-precision positioning.

[0018] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a flow chart of a rail shuttle positioning method provided according to Embodiment 1 of the present invention;

[0021] Figure 2 is a schematic diagram of an encoder provided according to Embodiment 1 of the present invention;

[0022] Figure 3 is a schematic diagram of a barcode scanner and a QR code on a track provided according to Embodiment 1 of the present invention;

[0023] Figure 4 is a flow chart of a rail shuttle positioning method provided according to Embodiment 2 of the present invention;

[0024] Figure 5 is a flowchart of a program for automatic positioning mode selection provided according to Embodiment 2 of the present invention;

[0025] Figure 6 is a schematic diagram of a frequency converter provided according to a second embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of a photoelectric converter provided according to Embodiment 2 of the present invention;

[0027] Figure 8 is a flowchart of a program for determining a target position according to Embodiment 2 of the present invention;

[0028] Fig. 9 is a flowchart of a program for controlling the movement of a target rail shuttle vehicle provided according to the second embodiment of the present invention;

[0029] Fig.10 is a flowchart of a program for controlling a target rail shuttle vehicle to stop provided in accordance with a second embodiment of the present invention;

[0030] Fig.11 is a flowchart of a program for obtaining and recording information provided according to Embodiment 2 of the present invention;

[0031] Fig.12 is a structural schematic diagram of a rail-mounted shuttle positioning device provided according to Embodiment 3 of the present invention;

[0032] Fig.13 It is a schematic diagram of the structure of an electronic device for implementing the rail shuttle positioning method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Embodiment 1

[0036] Figure 1 A flowchart of a rail shuttle positioning method is provided for the first embodiment of the present invention. This embodiment is applicable to the situation of positioning a shuttle moving on a track. The method can be performed by a rail shuttle positioning device. The rail shuttle positioning device can be implemented in the form of hardware and / or software. The rail shuttle positioning device can be configured in an electronic device. Figure 1 As shown, the method includes:

[0037] S110. When the target rail shuttle is moving on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target QR code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle.

[0038] The target rail shuttle is the rail shuttle to be positioned, and it moves on a preset fixed track. In an embodiment of the present invention, an encoder and a code scanner are configured on the target rail shuttle, and a QR code is set on the track of the target rail shuttle.

[0039] The encoder is used to measure and record physical quantities (such as angle, speed, etc.) and convert them into electrical signals or digital signals. Figure 2 A schematic diagram of an encoder is shown. In an embodiment of the present invention, the encoder is used to measure and record first motion information of a target rail shuttle vehicle, including a wheel rotation angle and a wheel speed of the target rail shuttle vehicle.

[0040] The barcode scanner is used to identify the QR code to obtain relevant information contained in the QR code. Figure 3 A schematic diagram of a barcode scanner and a QR code on a track is shown. In an embodiment of the present invention, the barcode scanner is used to identify a target QR code at a track position where a target rail shuttle is located, and obtain the target QR code information contained therein. Optionally, the target QR code information may be the distance between the track position where the target rail shuttle is located and the track start position.

[0041] In an embodiment of the present invention, when the target rail shuttle is moving on the track, the first motion information of the target rail shuttle can be obtained in real time through an encoder, and the target two-dimensional code information of the track position of the target rail shuttle can be obtained in real time through a scanner. The first motion information and target two-dimensional code information obtained in real time are used in the positioning process of the target rail shuttle, so as to improve the real-time calculation of the target displacement distance of the target rail shuttle, so that the target rail shuttle can quickly respond to the position adjustment instruction and improve the efficiency of the logistics system.

[0042] S120: Determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information.

[0043] Among them, the first motion information includes the wheel rotation angle and the wheel speed, the first displacement distance is the real-time displacement distance of the target rail shuttle during the movement calculated based on the first motion information, and the second displacement distance is the real-time displacement distance of the target rail shuttle during the movement calculated based on the target QR code information.

[0044] In the embodiment of the present invention, the real-time displacement distance of the target rail shuttle during movement can be calculated by using the first motion information obtained in real time by the encoder and the target two-dimensional code information obtained in real time by the barcode scanner, respectively, to obtain the first displacement distance and the second displacement distance. Through the above process, the dependence on manual measurement is reduced, and at the same time, the problem of being unable to locate the target rail shuttle when any one of the encoder or the barcode scanner fails can be avoided, thereby improving the reliability and stability of the system.

[0045] S130: determining a target displacement distance according to the first displacement distance and the second displacement distance, and positioning the target rail shuttle vehicle according to the target displacement distance.

[0046] The target displacement distance is a real-time displacement distance of the target rail shuttle during the movement obtained by combining the first displacement distance and the second displacement distance.

[0047] In an embodiment of the present invention, the target displacement distance can be determined according to the first displacement distance and the second displacement distance. Optionally, the first displacement distance can be corrected by the second displacement distance, and the corrected first displacement distance is used as the target displacement distance, so as to locate the target rail shuttle by the target displacement distance. By calculating the target displacement distance according to the first displacement distance and the second displacement distance, it is possible to realize real-time positioning of the target rail shuttle at any position during the movement by integrating the encoder and the scanner, which can significantly improve the positioning accuracy of the target rail shuttle and meet the requirements of the logistics warehousing system for high-precision positioning.

[0048] Optionally, determining a target displacement distance according to the first displacement distance and the second displacement distance includes: determining a first weight of the first displacement distance and a second weight of the second displacement distance; and performing a weighted summation of the first displacement distance and the second displacement distance according to the first weight and the second weight to obtain the target displacement distance.

[0049] In the embodiment of the present invention, to determine the first weight of the first displacement distance and the second weight of the second displacement distance, the historical data of the first displacement distance, the second displacement distance and the target displacement distance can be obtained first, and the first weight of the first displacement distance and the second weight of the second displacement distance can be determined by analyzing and processing the historical data. It should be noted that the sum of the first weight and the second weight is one. After that, the first displacement distance and the second displacement distance can be weighted and summed according to the first weight and the second weight to obtain the target displacement distance, and the target rail shuttle can be positioned.

[0050] The technical solution of the embodiment of the present invention is that during the movement of the target rail shuttle on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle; the first displacement distance of the target rail shuttle is determined according to the first motion information, and the second displacement distance of the target rail shuttle is determined according to the target two-dimensional code information; the target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle is positioned according to the target displacement distance. The technical solution of the embodiment of the present invention is that by calculating the target displacement distance according to the first displacement distance and the second displacement distance determined by the information obtained in real time, it is possible to realize real-time positioning of the target rail shuttle at any position during the movement by integrating the encoder and the barcode scanner, thereby significantly improving the positioning accuracy of the target rail shuttle and meeting the requirements of the logistics warehousing system for high-precision positioning.

[0051] Embodiment 2

[0052] Figure 4 This is a flow chart of a rail shuttle positioning method provided in the second embodiment of the present invention. The embodiment of the present invention is optimized based on the above embodiment. For solutions not described in detail in the embodiment of the present invention, please refer to the above embodiment. Figure 4 As shown, the method includes:

[0053] S210, when the target rail shuttle is moving on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle.

[0054] Optionally, in an embodiment of the present invention, before controlling the target rail shuttle to move on the track, the current mode is first determined to be the automatic positioning mode through mode selection. In the automatic positioning mode, the first motion information and the target QR code information are acquired in real time by an encoder and a barcode scanner configured on the target rail shuttle to automatically position the target rail shuttle. Exemplarily, Figure 5 A program flow chart for automatic positioning mode selection is shown.

[0055] Optionally, controlling the movement of the target rail shuttle on the track includes: when a frequency converter configured on the target rail shuttle receives a start signal sent by a photoelectric sensor at the starting point of the track, controlling the target rail shuttle to move toward a predetermined target position on the track; when the frequency converter receives a stop signal sent by the photoelectric sensor at the target position, controlling the target rail shuttle to stop moving.

[0056] The frequency converter is a power electronic device used to control the speed of an AC motor. It adjusts the speed of the motor by changing the frequency of the input power supply, thereby achieving precise speed and torque control. Figure 6 A schematic diagram of a frequency converter is shown. A photoelectric sensor is an electronic device that converts an optical signal into an electrical signal using the principle of photoelectric conversion. For example, Figure 7 A schematic diagram of a photoelectric converter is shown.

[0057] The selection of the target location is an important part of the whole process. The target location determines the specific location where the target rail shuttle needs to go, so that the information acquisition and positioning of the target rail shuttle at a specific location can be realized. Figure 8 A flowchart of a procedure for determining a target position is shown.

[0058] In an embodiment of the present invention, the frequency converter configured on the target rail shuttle is used to receive a start signal sent by a photoelectric sensor at the starting point of the track and a stop signal sent by a photoelectric sensor at the target position, and control the target rail shuttle to move from the starting point of the track to a predetermined target position through the track according to the received start signal and stop signal, and control the target rail shuttle to stop moving after the target rail shuttle reaches the target position. Exemplarily, Fig. 9 A program flow chart for controlling the movement of a target rail shuttle is shown. Fig.10 A program flow chart for controlling the target rail shuttle to stop is shown. Optionally, after the target shuttle stops at the target position, information can be acquired at the target position and the acquired information can be transmitted to the data recording part, which stores and organizes the acquired information for subsequent analysis and use. For example, Fig.11 A flowchart of a procedure for information acquisition and recording is shown.

[0059] S220: Determine the number of wheel revolutions of the target rail shuttle vehicle according to the wheel rotation angle and the wheel speed.

[0060] In the embodiment of the present invention, after the first motion information of the target rail shuttle, that is, the wheel rotation angle and the wheel speed, is obtained through the encoder, the number of wheel revolutions of the target rail shuttle can be determined according to the wheel rotation angle and the wheel speed. Specifically, the total rotation angle of the wheel during the movement can be determined by the wheel rotation angle, the wheel speed and the time, and the total rotation angle is divided by 360 to obtain the number of wheel revolutions of the target rail shuttle during the movement.

[0061] S230: Determine a first displacement distance according to the circumference of the wheels of the target rail shuttle vehicle and the number of wheel revolutions.

[0062] In the embodiment of the present invention, after determining the number of wheel revolutions of the target rail shuttle during movement, the first displacement distance can be determined by the circumference of the wheels of the target rail shuttle and the number of wheel revolutions. Specifically, the first displacement distance = wheel circumference * number of wheel revolutions.

[0063] Optionally, before determining the first displacement distance according to the circumference of the wheel of the target rail shuttle and the number of wheel revolutions, the method further includes: acquiring second motion information of the target rail shuttle in real time through a frequency converter configured on the target rail shuttle; and correcting the number of wheel revolutions according to the second motion information.

[0064] It is understandable that in practical applications, nonlinear factors such as wheel slip and sliding need to be considered, which will affect the actual displacement distance and number of wheels. In order to reduce the impact of these factors on the calculation of the first displacement distance, in an embodiment of the present invention, before determining the first displacement distance according to the circumference of the wheels of the target rail shuttle and the number of wheels, it is also necessary to obtain the second motion information of the target rail shuttle in real time through the inverter configured on the target rail shuttle, and correct the number of wheels according to the second motion information. The second motion information includes the acceleration and angular velocity of the target rail shuttle.

[0065] Optionally, the wheel revolution number is corrected according to the second motion information, including: determining the motion trend of the target rail shuttle during the movement according to the acceleration and the angular velocity; determining a key position point where a displacement distance corresponding to the wheel revolution number of the target rail shuttle deviates from a predicted displacement distance according to the motion trend, and correcting the wheel revolution number at the key position point according to the predicted displacement distance; wherein the predicted displacement distance is obtained by real-time prediction based on the motion trend.

[0066] The motion trend may include linear motion, curved motion, accelerated motion, and decelerated motion, etc., which can be determined by analyzing the acceleration and angular velocity of the target rail shuttle. By determining the motion trend of the target rail shuttle during movement, the displacement distance of the target rail shuttle within a certain period of time after any position point during movement can be predicted in real time to obtain the predicted displacement distance.

[0067] Among them, the key position point is the position point where the displacement distance corresponding to the number of wheel circles of the target rail shuttle deviates from the predicted displacement distance. The reason for the deviation is mostly due to the change in the sliding or rolling radius of the wheel, that is, the acceleration fluctuates (such as sudden braking) or the target rail shuttle moves in a curve. The key position point can be determined according to the movement trend.

[0068] In an embodiment of the present invention, the acceleration and angular velocity of the target rail shuttle during movement can be analyzed to determine the movement trend of the target rail shuttle during movement, and the key position point where the displacement distance corresponding to the number of wheel circles of the target rail shuttle deviates from the predicted displacement distance can be determined based on the movement trend, and the number of wheel circles at the key position point can be corrected based on the predicted displacement distance. Afterwards, the first displacement distance of the target rail shuttle can be calculated based on the corrected number of wheel circles and wheel circumference, thereby improving the calculation accuracy of the first displacement distance and thus improving the positioning accuracy of the target rail shuttle.

[0069] In addition, after the second motion information of the target rail shuttle is obtained in real time through the frequency converter, the first displacement distance can also be determined in other ways, such as calculating the first displacement distance of the target rail shuttle in real time based on the acceleration and angular velocity of the target rail shuttle combined with the position information of the encoder.

[0070] S240, determining the starting point QR code information at the starting point of the track before the target rail shuttle vehicle moves.

[0071] In an embodiment of the present invention, before the target rail shuttle moves, a starting point QR code located at the starting point of the track can be identified by a barcode scanner to determine the starting point QR code information at the starting point of the track before the target rail shuttle moves.

[0072] S250, determining the relative position relationship between the target two-dimensional code information and the starting point two-dimensional code information, and determining a second displacement distance of the target rail shuttle vehicle according to the relative position relationship.

[0073] In an embodiment of the present invention, the starting point QR code information and the target QR code information can be identified from the starting point QR code and the target QR code, and the relative position relationship between the target QR code information and the starting point QR code information can be determined according to the track position represented by the starting point QR code information and the target QR code information, thereby determining the second displacement distance of the target rail shuttle. Optionally, the QR code information can include the relative distance from the track position where the starting point QR code is located, such as the starting point QR code information is 0, and the target QR code information is the distance between the track position where the target QR code is located and the track position. At this time, the second displacement distance of the target rail shuttle can be directly determined according to the target QR code information.

[0074] S260: Determine a target displacement distance according to the first displacement distance and the second displacement distance, and locate the target rail shuttle vehicle according to the target displacement distance.

[0075] The technical solution of the embodiment of the present invention is as follows: during the movement of the target rail shuttle on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle; the number of wheel revolutions of the target rail shuttle is determined according to the wheel rotation angle and the wheel speed; the first displacement distance is determined according to the circumference of the wheel of the target rail shuttle and the number of wheel revolutions; the starting two-dimensional code information at the starting point of the track before the target rail shuttle moves is determined; the relative position relationship between the target two-dimensional code information and the starting two-dimensional code information is determined, and the second displacement distance of the target rail shuttle is determined according to the relative position relationship; the target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle is positioned according to the target displacement distance. The technical solution of the embodiment of the present invention, by calculating the target displacement distance according to the first displacement distance and the second displacement distance determined by the information obtained in real time, can realize real-time positioning of the target rail shuttle at any position during the movement by integrating the encoder and the scanner, thereby significantly improving the positioning accuracy of the target rail shuttle and meeting the requirements of the logistics warehousing system for high-precision positioning.

[0076] Embodiment 3

[0077] Fig.12 This is a schematic diagram of the structure of a rail shuttle positioning device provided in Embodiment 3 of the present invention. Fig.12 As shown, the device comprises:

[0078] The information acquisition module 310 is used to acquire the first motion information of the target rail shuttle in real time through an encoder configured on the target rail shuttle during the movement of the target rail shuttle on the track, and to acquire the target QR code information of the track position of the target rail shuttle in real time through a barcode scanner configured on the target rail shuttle;

[0079] A distance determination module 320 is used to determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and to determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information;

[0080] The target positioning module 330 is used to determine a target displacement distance according to the first displacement distance and the second displacement distance, and to position the target rail shuttle vehicle according to the target displacement distance.

[0081] Optionally, the first motion information includes a wheel rotation angle and a wheel speed; the distance determination module 320 includes:

[0082] A wheel revolution number determination unit, configured to determine the wheel revolution number of the target rail shuttle vehicle according to the wheel rotation angle and the wheel speed;

[0083] The first displacement distance determining unit is used to determine the first displacement distance according to the circumference of the wheel of the target rail shuttle and the number of wheel revolutions.

[0084] Optionally, the distance determination module 320 further includes:

[0085] A second motion information determining unit, configured to obtain the second motion information of the target rail shuttle in real time through a frequency converter configured on the target rail shuttle;

[0086] The wheel revolution number correction unit is used to correct the wheel revolution number according to the second motion information.

[0087] Optionally, the second motion information includes acceleration and angular velocity; and the wheel revolution correction unit includes:

[0088] a motion trend determination subunit, configured to determine the motion trend of the target rail-mounted shuttle during the movement according to the acceleration and the angular velocity;

[0089] The wheel revolution number correction subunit is used to determine the key position point where the displacement distance corresponding to the wheel revolution number of the target rail shuttle vehicle deviates from the predicted displacement distance according to the movement trend, and to correct the wheel revolution number at the key position point according to the predicted displacement distance; wherein the predicted displacement distance is obtained by real-time prediction based on the movement trend.

[0090] Optionally, the distance determination module 320 includes:

[0091] A starting point two-dimensional code information determining unit, used to determine the starting point two-dimensional code information at the starting point of the track before the target rail shuttle moves;

[0092] The second displacement distance determining unit is used to determine the relative position relationship between the target two-dimensional code information and the starting point two-dimensional code information, and determine the second displacement distance of the target rail shuttle according to the relative position relationship.

[0093] Optionally, the target positioning module 330 includes:

[0094] a weight determination unit, configured to determine a first weight of the first displacement distance and a second weight of the second displacement distance;

[0095] A target displacement distance determination unit is used to perform weighted summation of the first displacement distance and the second displacement distance according to the first weight and the second weight to obtain the target displacement distance.

[0096] Optionally, controlling the movement of the target rail shuttle on the track includes: when a frequency converter configured on the target rail shuttle receives a start signal sent by a photoelectric sensor at the starting point of the track, controlling the target rail shuttle to move toward a predetermined target position on the track; when the frequency converter receives a stop signal sent by the photoelectric sensor at the target position, controlling the target rail shuttle to stop moving.

[0097] The rail shuttle positioning device provided in the embodiment of the present invention can execute the rail shuttle positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0098] Embodiment 4

[0099] Fig.13 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0100] like Fig.13 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0101] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0102] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a rail shuttle positioning method.

[0103] In some embodiments, the rail shuttle positioning method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the rail shuttle positioning method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the rail shuttle positioning method in any other appropriate manner (for example, by means of firmware).

[0104] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0105] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0106] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0107] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0109] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0110] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0111] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rail shuttle positioning method, characterized in that: The method comprises: When the target rail shuttle is moving on the track, the first motion information of the target rail shuttle is obtained in real time by an encoder configured on the target rail shuttle, and the target two-dimensional code information of the track position of the target rail shuttle is obtained in real time by a barcode scanner configured on the target rail shuttle; Determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information; A target displacement distance is determined according to the first displacement distance and the second displacement distance, and the target rail shuttle is positioned according to the target displacement distance.

2. The method according to claim 1, characterized in that The first motion information includes a wheel rotation angle and a wheel speed; Determining a first displacement distance of the target rail-mounted shuttle according to the first motion information includes: Determine the number of wheel revolutions of the target rail shuttle vehicle according to the wheel rotation angle and the wheel speed; The first displacement distance is determined according to the circumference of the wheel of the target rail shuttle and the number of wheel revolutions.

3. The method according to claim 2, characterized in that Before determining the first displacement distance according to the circumference of the wheel of the target rail shuttle and the number of wheel revolutions, the method further includes: Acquiring the second motion information of the target rail shuttle in real time through a frequency converter configured on the target rail shuttle; The wheel revolution number is corrected according to the second motion information.

4. The method according to claim 3, characterized in that: The second motion information includes acceleration and angular velocity; Correcting the wheel revolution number according to the second motion information includes: Determining a motion trend of the target rail-mounted shuttle during the moving process according to the acceleration and the angular velocity; According to the movement trend, a key position point where the displacement distance corresponding to the number of wheel revolutions of the target rail shuttle deviates from the predicted displacement distance is determined, and the number of wheel revolutions at the key position point is corrected according to the predicted displacement distance; wherein the predicted displacement distance is obtained by real-time prediction based on the movement trend.

5. The method according to claim 1, characterized in that Before determining the second displacement distance of the target rail shuttle according to the target two-dimensional code information, the method further includes: Determine the starting point QR code information of the track starting point before the target rail shuttle moves; Determining a second displacement distance of the target rail shuttle according to the target two-dimensional code information includes: The relative position relationship between the target two-dimensional code information and the starting point two-dimensional code information is determined, and the second displacement distance of the target rail shuttle is determined according to the relative position relationship.

6. The method according to claim 1, characterized in that Determining a target displacement distance according to the first displacement distance and the second displacement distance includes: determining a first weight for the first displacement distance and a second weight for the second displacement distance; The first displacement distance and the second displacement distance are weightedly summed according to the first weight and the second weight to obtain the target displacement distance.

7. The method according to claim 1, characterized in that The process of controlling the movement of the target rail-mounted shuttle vehicle on the track includes: When the frequency converter configured on the target rail shuttle receives a start signal from the photoelectric sensor at the starting point of the track, the target rail shuttle is controlled to move to a predetermined target position on the track; When the frequency converter receives a stop signal sent by the photoelectric sensor at the target position, the target rail shuttle is controlled to stop moving.

8. A rail shuttle positioning device, characterized in that: The device comprises: An information acquisition module is used to acquire the first motion information of the target rail shuttle in real time through an encoder configured on the target rail shuttle during the movement of the target rail shuttle on the track, and to acquire the target two-dimensional code information of the track position of the target rail shuttle in real time through a code scanner configured on the target rail shuttle; a distance determination module, configured to determine a first displacement distance of the target rail shuttle vehicle according to the first motion information, and to determine a second displacement distance of the target rail shuttle vehicle according to the target two-dimensional code information; A target positioning module is used to determine a target displacement distance according to the first displacement distance and the second displacement distance, and to position the target rail shuttle vehicle according to the target displacement distance.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the rail shuttle positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the rail shuttle positioning method according to any one of claims 1 to 7 when executed.

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