A positioning determination method and system applied to a mobile charging vehicle

Abstract

The application provides a positioning determination method and system applied to a mobile charging vehicle, and 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 into 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 determining positioning data of the mobile charging vehicle according to the first model area when the first model area and the second model area overlap. 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, so that the accuracy of the positioning data of the mobile charging vehicle is ensured, and accurate positioning of the mobile charging vehicle is provided for the mobilization of a management platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, in particular to a positioning determination method and system applied to a mobile charging vehicle. BACKGROUND

[0002] An electric vehicle is a vehicle driven by an electric motor and powered by electricity, and is a kind of new energy vehicle. In order to make the charging of the electric vehicle more convenient, a mobile charging vehicle appears; the mobile charging vehicle is a vehicle carrying an electric energy storage device and a charging device, and realizes the charging demand of the electric vehicle at any place and at any time. The premise of the scheduling of the management platform for the mobile charging vehicle is the accurate positioning of the mobile charging vehicle, and how to realize the positioning of the mobile charging vehicle before scheduling is a technical problem to be solved urgently. SUMMARY

[0003] One of the purposes of the present application is to provide a positioning determination method and system applied to a mobile charging vehicle, which comprehensively analyzes first positioning information of a first positioning module fixedly arranged in a cab and second positioning information of a second positioning module worn by a 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 charging vehicle for the mobilization of the management platform.

[0004] The positioning determination method and system applied to the mobile charging vehicle provided by the embodiment of the present application comprises the following steps:

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

[0008] 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;

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

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

[0011] Preferably, the second positioning module comprises a wearable positioning module for the driver to wear.

[0012] The wearable positioning module comprises a positioning unit, a processing unit and a communication unit.

[0013] Preferably, the mapping of the first model region is as follows:

[0014] The first positioning information is determined to correspond to a first positioning point in the positioning space;

[0015] The three-dimensional model is mapped to the positioning space in such 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 of the second model region is as follows:

[0017] The second positioning information is determined to correspond to a second positioning point in the positioning space;

[0018] The three-dimensional model is mapped to the positioning space in such 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 determination of the second associated point is as follows:

[0020] The image captured by the image capturing module arranged in the cab is analyzed, and the position of the second associated point in the three-dimensional model is determined according to the image analysis result.

[0021] Preferably, the image analysis is as follows:

[0022] The standard image of the second positioning module is detected in the image, the position of the human body contour corresponding to the second positioning module is determined, and the three-dimensional model corresponding to the second positioning module is mapped to the driving space according to the human body model in the cab as the positioning reference;

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

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

[0025] The ratio of the size of the common region of the first model region and the second model region to the size of the standard region corresponding to the three-dimensional model is calculated;

[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 application further provides a positioning determination system applied to the mobile charging vehicle, comprising a first receiving module, a second receiving module, a mapping module and a determination module; 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 a driver of the mobile charging vehicle; the mapping module maps a three-dimensional model of the mobile charging vehicle into a 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 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 determination module determines positioning data of the mobile charging vehicle according to the first model area.

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

[0029] Other features and advantages of the present application will be further described in the following description, and will become apparent from the description, or be learned through practice of the present application. The objects and other advantages of the present application will be realized and achieved by particularly pointed out in the written specification and appended drawings.

[0030] The technical solutions of the present application will be further described in detail below with the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0031] The accompanying drawings, which are included to provide a further understanding of the present application and constitute a part of this specification, illustrate embodiments of the present application and together with the written description serve to explain the present application. In the drawings:

[0032] Figure 1 FIG. 1 is a schematic diagram of a positioning determination method applied to a mobile charging vehicle according to an embodiment of the present application;

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

[0034] The preferred embodiments of the present application will be described below in detail with the drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and do not limit the present application.

[0035] The embodiments of the present application provide a positioning determination method applied to a mobile charging vehicle, as shown in FIG. 1, comprising: Figure 1 as shown in FIG. 1, comprising:

[0036] Step one, receiving first positioning information sent by a first positioning module arranged on the 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 fixedly arranged in the cab of the mobile charging vehicle; the vehicle-mounted positioning module comprises a shell, a positioning unit, a processing unit and a communication unit arranged in the shell; the positioning unit and the communication unit are electrically connected with the processing unit; the processing unit sends the first positioning information of the positioning unit to the management platform through the communication unit;

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

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

[0040] Step three, 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 step of the first model area is as follows: determining the first positioning point corresponding to the first positioning information in the positioning space; mapping 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. Wherein, the positioning space is a coordinate space represented by positioning coordinates constructed in advance; 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 four, 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 step of the second model area is as follows: determining the second positioning point corresponding to the second positioning information in the positioning space; mapping the three-dimensional model to the positioning space in such a way that the second associated point associated with the second positioning module in the three-dimensional model coincides with the second positioning point;

[0044] The determination step of the second associated point is as follows: analyzing the image in the cab collected by the image collection module arranged in the cab, and determining the position of the second associated point in the three-dimensional model according to the image analysis result; the image collection device arranged in the cab is fixed, which can analyze the position of the driver wearing the second positioning module, in addition, the image collection device can also monitor the behavior of the driver of the mobile charging vehicle to control whether the behavior conforms to the management regulations;

[0045] The image analysis steps are as follows: the standard image of the second positioning module is detected in the image, the position of the second positioning module corresponding to the human body contour is determined, and the three-dimensional model corresponding to the second positioning module is mapped into the driving space according to the human body model in the cab as the positioning reference; 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 is taken as the second associated point in the three-dimensional model; in addition, the corresponding human body model can also be retrieved based on the position and size of the human body contour area in the image and other parameters, and the specific retrieval steps are as follows: feature extraction is performed on the human body contour area, the extraction parameter set is constructed according to the extracted feature parameters, and the corresponding human body model is retrieved from the pre-configured human body model library according to the extraction parameter set; wherein the human body models in the human body model library are one-to-one associated with the extraction parameter set; 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 length of the shoulder, parameters representing the size of the human body contour area in the image, and the like.

[0046] Step five, 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.

[0047] The overlap judgment rule of the first model area and the second model area is as follows: 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 calculated; when the ratio is greater than a preset ratio threshold (for example, any value in 0.8 to 1.0), it is judged that the first model area and the second model area overlap. When the overlap is judged, the set of coordinate data contained in the first model area is the positioning data of the mobile charging vehicle. The above overlap judgment is a fuzzy judgment mechanism to avoid the problem that the error of the second associated point of the image analysis in step four causes inaccurate overlap judgment of the second model area after the shift.

[0048] The positioning determination method for the mobile charging vehicle of the application comprehensively analyzes 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 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 charging vehicle for the mobilization of the management platform. Since the positioning determination method of the application 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 order of the system when scheduling, and the effective implementation of the order can be ensured.

[0049] Since the data generated in the long-time and multi-frequency positioning determination will be large, which will bring additional load to the management platform, in an embodiment, the positioning determination method applied to the mobile charging vehicle further comprises: analyzing the image collected by the image acquisition module, when there is no human body contour in the image, and / or when the size ratio 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, start timing, when the timing reaches the preset first time threshold, do not perform positioning determination of the mobile charging vehicle.

[0050] In addition, vehicle data can also be obtained through the vehicle-mounted computer of the mobile charging vehicle, and the vehicle data and the order data of the platform are comprehensively analyzed to determine the state of the vehicle; when the vehicle is in the parked and off state, only one positioning determination is performed; when the vehicle is in the no-order driving state, positioning determination is performed every preset first time interval (any value in 1 minute to 10 minutes); when the vehicle is in the order driving state, positioning determination is performed every preset second time interval (any value in 10 seconds to 1 minute); when the vehicle is in the working state (charging electric vehicles), no positioning determination is performed.

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

[0052] In addition, the first positioning module and the second positioning module can be positioned for verification; the specific verification method is as follows: recesses that can accommodate the second positioning module are formed on at least two surfaces of the first positioning module; contact switches are arranged in the recesses; when the second positioning module is placed into the recesses and touches the contact switches, the processor of the first positioning module determines that the second positioning module has been positioned by the signal triggered by the contact switches, and then sends a positioning verification request to the management platform through the communication module; when the platform receives the positioning verification request, the positioning verification is performed; in order to cope with the positioning verification, the positioning determination method applied to the mobile charging vehicle further includes: when the verification request is received through the first positioning module, the first positioning information sent by the first positioning module is received; the second positioning information sent by the second positioning module is received; the three-dimensional model of the mobile charging vehicle is mapped into 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 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 completely overlap, the verification is passed; wherein the judgment criterion for complete overlap is 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 in 0.95 to 1, generally 0.98 or 0.99), it is judged that the complete overlap is achieved. In addition, when the verification is not passed, the order on the management platform cannot be accepted.

[0053] The multiple recesses arranged on the first positioning module can realize multiple verifications of different positions, ensuring the accuracy of the verification; therefore, the number of the recess into which the second positioning module is placed needs to be included in the verification request; the position of the recess relative to the positioning unit in the first positioning module is determined according to the number, and then the corresponding second associated point is selected when the three-dimensional model of the mobile charging vehicle is mapped into the positioning space to form a second model area according to the second positioning information, so as to ensure the effective verification.

[0054] Furthermore, when dispatching orders on the management platform, the priority value for order dispatch is calculated based on the ratio of the size of the common area of ​​the first and second model areas in the location determination method to the size of the standard area corresponding to the 3D model, whether location verification has been performed, and the distance from the target location of the order. Orders are dispatched in descending order of priority value. The calculation steps for the order dispatch priority value are as follows: First, the first priority value is determined by consulting a pre-configured distance-first priority value comparison table based on the distance to the target location; second, the second priority value is determined by consulting a pre-configured ratio-second priority value comparison table based on the ratio; third, the third priority value is determined based on whether location verification has been performed; the sum of the first, second, and third priority values ​​is used as the order dispatch priority value. Where no location verification has been performed, the third priority value is zero; where location verification has been performed, the third priority value is set to a preset initial value. The smaller the distance in the distance-first priority value comparison table, the larger the first priority value; the larger the ratio in the ratio-second priority value comparison table, the larger the second priority value.

[0055] This invention also provides a positioning system for mobile charging vehicles, such as... Figure 2 As shown, it includes: a first receiving module 1, a second receiving module 2, a mapping module 3, and a determining module 4; wherein, the first receiving module 1 receives first positioning information sent by a first positioning module installed in the mobile charging vehicle; the second receiving module 2 receives second positioning information sent by a 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 into the positioning space to form a first model area based on the first positioning information, and maps the three-dimensional model of the mobile charging vehicle into the positioning space to form a second model area based on the second positioning information; when the first model area and the second model area overlap, the determining module 4 determines the positioning data of the mobile charging vehicle based on the first model area.

[0056] The first positioning module includes an on-board positioning module, which is fixedly installed in the driver's 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 for the first model region are as follows:

[0060] Determine the first positioning point in the positioning space corresponding to the first positioning information;

[0061] The three-dimensional model is mapped to the positioning space by aligning the first associated point with the first positioning module in the three-dimensional model with the first positioning point.

[0062] The mapping step of the second model region is as follows:

[0063] The second positioning information is determined to correspond 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 determination step of the second associated point is as follows:

[0066] An image analysis is performed on the image of the cab collected by the image collection module arranged in the cab, and the second associated point in the three-dimensional model is determined according to the image analysis result.

[0067] The image analysis step is as follows:

[0068] The standard image of the second positioning module is detected in the image, the position of the human body contour corresponding to the second positioning module is determined, and the three-dimensional model corresponding to the second positioning module is mapped to the driving space according to the human body model in the cab as the positioning reference;

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

[0070] The overlap judgment rule of the first model region and the second model region is as follows:

[0071] The ratio of the size of the common region of the first model region and the second model region to the size of the standard region corresponding to the three-dimensional model is calculated;

[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 modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A positioning determination method applied to a mobile charging vehicle, characterized in that, The method comprises the following steps: receiving first positioning information sent by a first positioning module arranged on a 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 into 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; when the first model area and the second model area overlap, determining the positioning data of the mobile charging vehicle according to the first model area; when a verification request is received through the first positioning module, mapping the three-dimensional model of the mobile charging vehicle into the positioning space according to the first positioning information sent by the first positioning module 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 sent by the second positioning module to form a second model area; when the first model area and the second model area completely overlap, the verification is passed; when the verification is not passed, the order receiving on the management platform cannot be performed; wherein recesses capable of accommodating the second positioning module are arranged on at least two surfaces of the first positioning module; a contact switch is arranged in the recess; when the second positioning module is placed into the recess and touches the contact switch, the processor of the first positioning module is triggered by the signal of the contact switch being touched to determine that the second positioning module is in place, and then sends a positioning verification request to the management platform through a communication module; when the positioning verification request is received by the platform, the positioning verification is performed; obtaining vehicle data through a vehicle-mounted computer of the mobile charging vehicle; when the vehicle is in a parked and turned-off state, the positioning determination is performed only once; when the vehicle is in a no-order driving state, the positioning determination is performed every first preset time interval; when the vehicle is in an order driving state, the positioning determination is performed every second preset time interval; when the vehicle is in a working state, the positioning determination is not performed.

2. The method for position determination applied to the mobile charging vehicle according to claim 1, wherein, The first positioning module comprises a vehicle-mounted positioning module fixedly arranged in a cab of the mobile charging vehicle. 3.The method for determining the position of the mobile charging vehicle according to claim 1, wherein, The second positioning module comprises a wearable positioning module for the driver to wear. The wearable positioning module comprises a positioning unit, a processing unit and a communication unit; the processing unit is electrically connected with the positioning unit and the communication unit. 4.The method for determining the position of a mobile charging vehicle according to claim 1, wherein, The mapping steps of the first model area are as follows: determining a first positioning point corresponding to the first positioning information in the positioning space; mapping the three-dimensional model 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 position of a mobile charging vehicle according to claim 1, wherein, The mapping steps of the second model area are as follows: determining a second positioning point corresponding to the second positioning information 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. 6.The method for determining the position of the mobile charging vehicle according to claim 5, wherein, The determination steps of the second associated point are as follows: analyzing an image of the cab collected by an image collection module arranged in the cab, and determining the position of the second associated point in the three-dimensional model according to the image analysis result.

7. The method for position determination applied to the mobile charging vehicle according to claim 6, wherein, The image analysis steps are as follows: According to the standard image of the second positioning module, sliding detection is performed in the image to determine the position of the human body contour corresponding to the second positioning module, and the three-dimensional model corresponding to the second positioning module is mapped into the driving space according to the human body model in the cab as the positioning reference; 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 is taken as the second associated point in the three-dimensional model. 8.The method for positioning determination applied to the mobile charging vehicle of claim 1, wherein, The overlap judgment rule of the first model area and the second model area is as follows: 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 calculated; When the ratio is greater than a preset ratio threshold, it is judged that the first model area and the second model area overlap.

9. A positioning determination system applied to a mobile charging vehicle, characterized in that, It includes: The first receiving module receives the first positioning information sent by the first positioning module arranged on the mobile charging vehicle; the second receiving module receives the second positioning information sent by the 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 into 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 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 determining module determines the positioning data of the mobile charging vehicle according to the first model area; The recess capable of accommodating the second positioning module is arranged on at least two surfaces of the first positioning module; the contact switch is arranged in the recess; when the second positioning module is placed into the recess and touches the contact switch, the processor of the first positioning module is triggered by the signal of the contact switch to determine that the second positioning module is in place, and then sends a positioning verification request to the management platform through the communication module; when the platform receives the positioning verification request, the positioning verification is performed; The verification steps are as follows: When the verification request is received by the first positioning module, the first positioning information sent by the first positioning module is received; the second positioning information sent by the second positioning module is received; the three-dimensional model of the mobile charging vehicle is mapped into 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 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 completely overlap, the verification is passed; when the verification is not passed, the order on the management platform cannot be performed; The vehicle data is obtained through the vehicle-mounted computer of the mobile charging vehicle; when the vehicle is in the parked and off state, the positioning determination is performed only once; when the vehicle is in the orderless driving state, the positioning determination is performed every first preset time interval; when the vehicle is in the order driving state, the positioning determination is performed every second preset time interval; when the vehicle is in the working state, the positioning determination is not performed.

10. The positioning determination system for a mobile charging vehicle of claim 9, wherein, The first positioning module includes: a vehicle-mounted positioning module fixedly arranged in the cab of the mobile charging vehicle.

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