Positioning determination method and system applied to mobile charging vehicle

Abstract

The invention provides a positioning determination method and system applied to a mobile charging vehicle. The method comprises the following steps: receiving first positioning information sent by a first positioning module arranged on the mobile charging vehicle; receiving second positioning information sent by a second positioning module associated with a driver of the mobile charging vehicle; mapping a three-dimensional model of the mobile charging vehicle to a positioning space according to the first positioning information to form a first model area; mapping the three-dimensional model of the mobile charging vehicle into the positioning space according to the second positioning information to form a second model area; and when the first model area and the second model area are overlapped, determining positioning data of the mobile charging vehicle according to the first model area. The first positioning information of the first positioning module fixedly arranged in the cab and the second positioning information of the second positioning module worn by the driver are comprehensively analyzed, accuracy of positioning data of the mobile charging vehicle is guaranteed, and accurate positioning of the mobile dispatching vehicle is provided for dispatching of a management platform.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning determination method and system applied to a mobile charging vehicle. Background Art

[0002] Electric vehicles are vehicles that are powered by electricity and driven by motors. They are a type of new energy vehicle. In order to make charging electric vehicles more convenient, mobile charging vehicles have emerged; mobile charging vehicles are vehicles equipped with energy storage devices and charging equipment to meet the needs of charging electric vehicles at any location and at any time. The premise of the management platform's dispatching of mobile charging vehicles is the accurate positioning of the mobile dispatching vehicle. How to achieve the positioning of the mobile charging vehicle before dispatching is a technical problem that needs to be solved urgently. Summary of the invention

[0003] One of the purposes of the present invention is to provide a positioning determination method and system for a mobile charging vehicle, which comprehensively analyzes the first positioning information of a first positioning module fixed in the cab and the second positioning information of a second positioning module worn by the driver to determine the accuracy of the first positioning information of the first positioning module, thereby ensuring the accuracy of the positioning data of the mobile charging vehicle and providing accurate positioning of the mobile dispatching vehicle for the mobilization of the management platform.

[0004] An embodiment of the present invention provides a method for determining the location of a mobile charging vehicle, comprising:

[0005] Receiving first positioning information sent by a first positioning module arranged in the mobile charging vehicle;

[0006] Receiving second positioning information sent by a second positioning module associated with a driver of the mobile charging vehicle;

[0007] Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a first model area according to the first positioning information;

[0008] Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a second model area according to the second positioning information;

[0009] When the first model area and the second model area overlap, the positioning data of the mobile charging vehicle is determined according to the first model area.

[0010] Preferably, the first positioning module includes: a vehicle-mounted positioning module, which is fixedly arranged in the cab of the mobile charging vehicle.

[0011] Preferably, the second positioning module includes: a wearable positioning module for the driver to wear;

[0012] The wearable positioning module includes: a positioning unit, a processing unit and a communication unit; the processing unit is electrically connected to the positioning unit and the communication unit.

[0013] Preferably, the mapping steps of the first model area are as follows:

[0014] Determine that the first positioning information corresponds to a first positioning point in the positioning space;

[0015] The three-dimensional model is mapped to the positioning space in a manner that a first associated point associated with the first positioning module in the three-dimensional model coincides with the first positioning point.

[0016] Preferably, the mapping steps of the second model area are as follows:

[0017] Determine that the second positioning information corresponds to a second positioning point in the positioning space;

[0018] The three-dimensional model is mapped to the positioning space in a manner that a second associated point associated with the second positioning module in the three-dimensional model coincides with the second positioning point.

[0019] Preferably, the steps for determining the second correlation point are as follows:

[0020] The image inside the cab collected by the image collection module disposed inside the cab is analyzed, and the position of the second associated point in the three-dimensional model is determined based on the image analysis result.

[0021] Preferably, the steps of image analysis are as follows:

[0022] Perform sliding detection in the image according to the standard image of the second positioning module, determine the position of the second positioning module corresponding to the human body contour, and map the three-dimensional model corresponding to the second positioning module into the driving space according to the human body model in the cab as a positioning reference;

[0023] A mapping point in the driving space of a third associated point associated with the second positioning information in the three-dimensional model corresponding to the second positioning module is used as a second associated point in the three-dimensional model.

[0024] Preferably, the overlap judgment rule between the first model area and the second model area is as follows:

[0025] Calculating a ratio of a size of a common area of ​​the first model area and the second model area to a size of a standard area corresponding to the three-dimensional model;

[0026] When the ratio is greater than a preset ratio threshold, it is determined that the first model region and the second model region overlap.

[0027] The present invention also provides a positioning determination system applied to a mobile charging vehicle, comprising: a first receiving module, a second receiving module, a mapping module and a determination module; wherein the first receiving module receives first positioning information sent by a first positioning module arranged in the mobile charging vehicle; the second receiving module receives second positioning information sent by a second positioning module associated with a driver of the mobile charging vehicle; the mapping module maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a first model area according to the first positioning information, and maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a second model area according to the second positioning information; when the first model area and the second model area overlap, the determination module determines the positioning data of the mobile charging vehicle according to the first model area.

[0028] Preferably, the first positioning module includes: a vehicle-mounted positioning module, which is fixedly arranged in the cab of the mobile charging vehicle.

[0029] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0030] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0032] Figure 1 A schematic diagram of a positioning determination method applied to a mobile charging vehicle in an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of a positioning determination system applied to a mobile charging vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0035] The embodiment of the present invention provides a method for determining the location of a mobile charging vehicle, such as Figure 1 As shown, including:

[0036] Step 1: receiving first positioning information sent by a first positioning module arranged in a mobile charging vehicle;

[0037] The first positioning module needs to be fixed with the position of the mobile charging vehicle. For example, a vehicle-mounted positioning module is used and fixedly arranged in the cab of the mobile charging vehicle. The vehicle-mounted positioning module includes: a housing, a positioning unit arranged in the housing, a processing unit and a communication unit. The positioning unit, the communication unit and the processing unit are electrically connected. The processing unit sends the first positioning information of the positioning unit to the management platform through the communication unit.

[0038] Step 2: receiving second positioning information sent by a second positioning module associated with the driver of the mobile charging vehicle;

[0039] The second positioning module is associated with the driver, and is preferably worn on the body, for example, on the chest; the second positioning module includes: a wearable positioning module, which is worn by the driver; wherein the wearable positioning module includes: a positioning unit, a processing unit and a communication unit; the processing unit is electrically connected to the positioning unit and the communication unit. The wearable positioning module is worn on the driver's chest through a wearing mechanism (for example, a pin);

[0040] Step 3: Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a first model area according to the first positioning information;

[0041] The mapping steps of the first model area are as follows: determine the first positioning point in the positioning space corresponding to the first positioning information; map the three-dimensional model to the positioning space in such a way that the first associated point associated with the first positioning module in the three-dimensional model coincides with the first positioning point. The positioning space is a coordinate space constructed in advance and represented by positioning coordinates; the first associated point is a position point in the three-dimensional model corresponding to the installation position of the first positioning module in the cab;

[0042] Step 4: Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a second model area according to the second positioning information;

[0043] The mapping steps of the second model area are as follows: determining that the second positioning information corresponds to a second positioning point in the positioning space; mapping the three-dimensional model to the positioning space in a manner that a second associated point associated with the second positioning module in the three-dimensional model coincides with the second positioning point;

[0044] The steps for determining the second association point are as follows: analyzing the image in the cab collected by the image acquisition module arranged in the cab, and determining the position of the second association point in the three-dimensional model according to the image analysis result; the image acquisition device arranged in the cab is fixed, and the position of the second positioning module worn by the driver can be analyzed. In addition, the image acquisition device can also monitor the behavior of the driver of the mobile charging vehicle to control whether his behavior complies with the management regulations;

[0045] The steps of image analysis are as follows: perform sliding detection in the image according to the standard image of the second positioning module, determine the position of the human body contour corresponding to the second positioning module, and map the three-dimensional model corresponding to the second positioning module to the driving space according to the human body model in the cab as the positioning reference; use the mapping point of the third associated point associated with the second positioning information in the three-dimensional model corresponding to the second positioning module in the driving space as the second associated point in the three-dimensional model; in addition, based on the position and size of the human body contour area in the image, the corresponding human body model can be retrieved and mapped to the driving space of the three-dimensional model in advance. The specific retrieval steps are as follows: perform feature extraction on the human body contour area, construct an extraction parameter set according to the extracted feature parameters, and retrieve the corresponding human body model from a pre-configured human body model library according to the extraction parameter set; wherein the human body model in the human body model library is associated with the extraction parameter set in a one-to-one correspondence; the extraction parameter set includes: parameters representing the position of the human head area, parameters representing the size of the human head area, parameters representing the shoulder length, parameters representing the size of the human body contour area in the image, etc.;

[0046] Step 5: When the first model area and the second model area overlap, the positioning data of the mobile charging vehicle is determined based on the first model area.

[0047] The overlap judgment rule of the first model area and the second model area is as follows: calculate the ratio of the size of the common area of ​​the first model area and the second model area to the size of the standard area corresponding to the three-dimensional model; when the ratio is greater than a preset ratio threshold (for example, any value between 0.8 and 1.0), the first model area and the second model area are judged to overlap. After the overlap is judged, the set of coordinate data contained in the first model area is used as the positioning data of the mobile charging vehicle. The above-mentioned overlap judgment is a fuzzy judgment mechanism to avoid the problem of inaccurate overlap judgment after the offset of the second model area caused by the error of the second associated point of the image analysis in step four.

[0048] The positioning determination method applied to the mobile charging vehicle of the present invention comprehensively analyzes the first positioning information of the first positioning module fixed in the cab and the second positioning information of the second positioning module worn by the driver to determine the accuracy of the first positioning information of the first positioning module, and on this basis ensures the accuracy of the positioning data of the mobile charging vehicle, and provides accurate positioning of the mobile dispatching vehicle for the mobilization of the management platform; because the positioning determination method of the present invention comprehensively analyzes the second positioning module worn by the driver in the positioning determination process, it can be determined that the driver is ready to receive the dispatch of the system at the time of dispatch, and the effective implementation of the dispatch can be guaranteed.

[0049] Since the amount of data generated by long-term and multi-frequency positioning determination will be large, this will bring additional load to the management platform. In one embodiment, the positioning determination method applied to the mobile charging vehicle also includes: analyzing the image captured by the image acquisition module, when there is no human body contour in the image, and / or when the ratio of the size of the common area of ​​the first model area and the second model area to the size of the standard area corresponding to the three-dimensional model is zero, starting the timing, and when the timing reaches a preset first time threshold, the positioning of the mobile charging vehicle is not confirmed.

[0050] In addition, vehicle data can be obtained through the on-board computer of the mobile charging vehicle, and the vehicle data and the platform's order data can be comprehensively analyzed to determine the status of the vehicle; when the vehicle is in a parked and engine-off state, only one positioning determination is performed; when the vehicle is in a driving state without an order, a positioning determination is performed every preset first time interval (any value from 1 minute to 10 minutes); when the vehicle is in a driving state with an order, a positioning determination is performed every preset second time interval (any value from 10 seconds to 1 minute); when the vehicle is in a working state (charging an electric vehicle), no positioning determination is performed.

[0051] In order to ensure the accuracy of the positioning data, in one embodiment, the steps for determining the first associated point are as follows: configure an RFID tag in the first positioning module, and determine at least two positioning points on the mobile charging vehicle; configure an RFID reader at the positioning point, and perform RFID positioning measurement based on the cooperation between the RFID reader and the RFID tag, and the positioning point is associated with the reference point on the mobile charging model vehicle (this is a known condition); then, based on the positioning measurement between the RFID reader and the RFID tag, the position of the first associated point in the three-dimensional model is calculated based on the reference point.

[0052] In addition, positioning verification can be performed between the first positioning module and the second positioning module; the specific verification method is as follows: a groove that can accommodate the second positioning module is opened on at least two surfaces of the first positioning module; a contact switch is configured in the groove; when the second positioning module is placed in the groove and touches the contact switch, the processor of the first positioning module determines that the second positioning module is in place through the signal triggered by the contact switch, and then sends a positioning verification request to the management platform through the communication module. When the platform receives the positioning verification request, it performs positioning verification. In order to cope with positioning verification, the positioning determination method applied to the mobile charging vehicle also includes: when a verification request is received through the first positioning module, receiving the second positioning module, the communication module sends a positioning verification request to the management platform. A first positioning information is sent by a positioning module; a second positioning information is received by a second positioning module; the three-dimensional model of the mobile charging vehicle is mapped to the positioning space to form a first model area according to the first positioning information; the three-dimensional model of the mobile charging vehicle is mapped to the positioning space to form a second model area according to the second positioning information; when the first model area and the second model area completely overlap, the verification is passed; wherein, the judgment basis for complete overlap is to calculate the ratio of the size of the common area of ​​the first model area and the second model area to the size of the standard area corresponding to the three-dimensional model; when the ratio is greater than the verification threshold (any value between 0.95 and 1, generally 0.98 or 0.99), it is judged as complete overlap. In addition, when the verification fails, it is impossible to accept orders on the management platform.

[0053] Configuring multiple grooves on the first positioning module can realize multiple verifications at different positions to ensure the accuracy of the verification; therefore, the verification request needs to include the number of the groove where the second positioning module is placed; the position of the groove relative to the positioning unit in the first positioning module is determined based on the number, and then when the three-dimensional model of the mobile charging vehicle is mapped to the positioning space to form a second model area based on the second positioning information, the corresponding second association point is selected to ensure the effective implementation of the verification.

[0054] In addition, when dispatching orders on the management platform, the dispatching priority value is calculated based on the ratio of the size of the common area of ​​the first model area and the second model area in the steps of the positioning determination method to the size of the standard area corresponding to the three-dimensional model, whether the positioning verification has been performed, and the distance from the target location point of the order, and the dispatching is performed in the order of the dispatching priority value from large to small; the calculation steps of the dispatching priority value are as follows: query the pre-configured distance and first priority value comparison table based on the distance from the target location point to determine the first priority value; query the pre-configured ratio and second priority value comparison table based on the ratio to determine the second priority value; determine the third priority value based on whether the positioning verification has been performed; and use the sum of the first priority value, the second priority value and the third priority value as the dispatching priority value; wherein, if the positioning verification has not been performed, the third priority value is zero, and if the positioning verification has been performed, the third priority value is set to the preset initial value. The smaller the distance in the distance and first priority value comparison table, the larger the first priority value; the larger the ratio in the ratio and second priority value comparison table, the larger the second priority value.

[0055] The present invention also provides a positioning determination system for a mobile charging vehicle, such as Figure 2 As shown, it includes: a first receiving module 1, a second receiving module 2, a mapping module 3 and a determination module 4; wherein the first receiving module 1 receives the first positioning information sent by the first positioning module set in the mobile charging vehicle; the second receiving module 2 receives the second positioning information sent by the second positioning module associated with the driver of the mobile charging vehicle; the mapping module 3 maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a first model area according to the first positioning information, and maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a second model area according to the second positioning information; when the first model area and the second model area overlap, the determination module 4 determines the positioning data of the mobile charging vehicle according to the first model area.

[0056] Wherein, the first positioning module includes: a vehicle-mounted positioning module, which is fixedly arranged in the cab of the mobile charging vehicle.

[0057] The second positioning module includes: a wearable positioning module for the driver to wear;

[0058] The wearable positioning module includes: a positioning unit, a processing unit and a communication unit; the processing unit is electrically connected to the positioning unit and the communication unit.

[0059] The mapping steps of the first model area are as follows:

[0060] Determine that the first positioning information corresponds to a first positioning point in the positioning space;

[0061] The three-dimensional model is mapped to the positioning space in a manner that a first associated point associated with the first positioning module in the three-dimensional model coincides with the first positioning point.

[0062] The mapping steps of the second model area are as follows:

[0063] Determine that the second positioning information corresponds to a second positioning point in the positioning space;

[0064] The three-dimensional model is mapped to the positioning space in a manner that a second associated point associated with the second positioning module in the three-dimensional model coincides with the second positioning point.

[0065] The steps for determining the second association point are as follows:

[0066] The image inside the cab collected by the image collection module disposed inside the cab is analyzed, and the position of the second associated point in the three-dimensional model is determined based on the image analysis result.

[0067] The steps of image analysis are as follows:

[0068] Perform sliding detection in the image according to the standard image of the second positioning module, determine the position of the second positioning module corresponding to the human body contour, and map the three-dimensional model corresponding to the second positioning module into the driving space according to the human body model in the cab as a positioning reference;

[0069] A mapping point in the driving space of a third associated point associated with the second positioning information in the three-dimensional model corresponding to the second positioning module is used as a second associated point in the three-dimensional model.

[0070] The overlap judgment rules between the first model area and the second model area are as follows:

[0071] Calculating a ratio of a size of a common area of ​​the first model area and the second model area to a size of a standard area corresponding to the three-dimensional model;

[0072] When the ratio is greater than a preset ratio threshold, it is determined that the first model region and the second model region overlap.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A positioning method for a mobile charging vehicle, characterized in that: include: Receiving first positioning information sent by a first positioning module arranged in the mobile charging vehicle; Receiving second positioning information sent by a second positioning module associated with a driver of the mobile charging vehicle; Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a first model area according to the first positioning information; Mapping the three-dimensional model of the mobile charging vehicle into the positioning space to form a second model area according to the second positioning information; When the first model area and the second model area overlap, the positioning data of the mobile charging vehicle is determined according to the first model area.

2. The positioning determination method for a mobile charging vehicle according to claim 1, characterized in that: The first positioning module includes: a vehicle-mounted positioning module, which is fixedly arranged in the cab of the mobile charging vehicle.

3. The method for determining the location of a mobile charging vehicle according to claim 1, characterized in that: The second positioning module includes: a wearable positioning module for the driver to wear; The wearable positioning module includes: a positioning unit, a processing unit and a communication unit; the processing unit is electrically connected to the positioning unit and the communication unit.

4. The method for determining the location of a mobile charging vehicle according to claim 1, characterized in that: The mapping steps for the first model area are as follows: Determine that the first positioning information corresponds to a first positioning point in the positioning space; The three-dimensional model is mapped to the positioning space in a manner that a first associated point associated with the first positioning module in the three-dimensional model coincides with the first positioning point.

5. The method for determining the location of a mobile charging vehicle according to claim 1, characterized in that: The steps for mapping the second model area are as follows: Determine that the second positioning information corresponds to a second positioning point in the positioning space; The three-dimensional model is mapped to the positioning space in a manner that a second associated point associated with the second positioning module in the three-dimensional model coincides with the second positioning point.

6. The method for determining the location of a mobile charging vehicle according to claim 5, characterized in that: The steps for determining the second correlation point are as follows: The image inside the cab collected by the image collection module disposed inside the cab is analyzed, and the position of the second associated point in the three-dimensional model is determined based on the image analysis result.

7. The method for determining the location of a mobile charging vehicle according to claim 6, characterized in that: The steps of image analysis are as follows: Perform sliding detection in the image according to the standard image of the second positioning module, determine the position of the second positioning module corresponding to the human body contour, and map the three-dimensional model corresponding to the second positioning module into the driving space according to the human body model in the cab as a positioning reference; A mapping point in the driving space of a third associated point associated with the second positioning information in the three-dimensional model corresponding to the second positioning module is used as a second associated point in the three-dimensional model.

8. The method for determining the location of a mobile charging vehicle according to claim 1, characterized in that: The overlap judgment rules between the first model area and the second model area are as follows: Calculating a ratio of a size of a common area of ​​the first model area and the second model area to a size of a standard area corresponding to the three-dimensional model; When the ratio is greater than a preset ratio threshold, it is determined that the first model region and the second model region overlap.

9. A positioning determination system applied to a mobile charging vehicle, characterized in that: include: A first receiving module, a second receiving module, a mapping module and a determining module; wherein the first receiving module receives first positioning information sent by a first positioning module arranged on the mobile charging vehicle; the second receiving module receives second positioning information sent by a second positioning module associated with the driver of the mobile charging vehicle; the mapping module maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a first model area according to the first positioning information, and maps the three-dimensional model of the mobile charging vehicle to the positioning space to form a second model area according to the second positioning information; when the first model area and the second model area overlap, the determining module determines the positioning data of the mobile charging vehicle according to the first model area.

10. The positioning determination system for a mobile charging vehicle according to claim 9, characterized in that: The first positioning module includes: a vehicle-mounted positioning module, which is fixedly arranged in the cab of the mobile charging vehicle.

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