Equipment positioning method and device

Abstract

The invention provides an equipment positioning method and device, and the method comprises the steps: obtaining a 5G positioning signal corresponding to at least one piece of equipment, and generating the equipment position information corresponding to each piece of equipment according to each 5G positioning signal; initial map data is generated according to map data to be generated, and the map data to be generated comprises at least one of field map data and digital map data; mapping the position information of each piece of equipment into the initial map data to obtain target map data; and carrying out visual display on the target map data. Accurate positioning equipment information is obtained through the 5G technology, then the accurate equipment positioning information is combined with initial map data to obtain target map information containing the positions of all the equipment, and finally the target map information is visually displayed, so that the positions of the equipment in a factory can be checked in real time; the operation position and the operation path of the equipment do not need to be checked manually, so that the labor cost is saved, and the production efficiency of a factory is improved.

Description

Technical Field

[0001] The present application relates to the field of indoor positioning technology, and in particular to a device positioning method. The present application also relates to a device positioning device, a computing device, and a computer-readable storage medium. Background Art

[0002] With the rapid development of industry, the number of devices in factories has gradually increased. With the increase in equipment, the management of multiple devices has become increasingly complicated. The existing management of multiple devices is achieved by planning the path of the equipment in advance and manually checking the location status of the equipment. However, this management method cannot guarantee real-time viewing of the location data of the equipment, which makes it impossible to view the operation trajectory of the equipment in real time and respond and alarm quickly. Therefore, a method for real-time viewing of the location of equipment in the factory is needed. Summary of the invention

[0003] In view of this, the embodiment of the present application provides a device positioning method. The present application also relates to a device positioning device, a computing device, and a computer-readable storage medium to solve the above problems existing in the prior art.

[0004] According to a first aspect of an embodiment of the present application, a device positioning method is provided, including:

[0005] Obtain a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device according to each 5G positioning signal;

[0006] generating initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data;

[0007] Mapping the location information of each device to the initial map data to obtain target map data;

[0008] The target map data is visually displayed.

[0009] According to a second aspect of an embodiment of the present application, a device positioning apparatus is provided, including:

[0010] An acquisition module is configured to acquire a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device according to each 5G positioning signal;

[0011] A generating module, configured to generate initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data;

[0012] A mapping module, configured to map the location information of each device to the initial map data to obtain target map data;

[0013] The visualization module is configured to visualize the target map data.

[0014] According to a third aspect of an embodiment of the present application, a computing device is provided, comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor implements the steps of the device positioning method when executing the computer instructions.

[0015] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores computer instructions, and when the computer instructions are executed by a processor, the steps of the device positioning method are implemented.

[0016] The device positioning method provided in the present application obtains a 5G positioning signal corresponding to at least one device, and generates device location information corresponding to each device according to each 5G positioning signal; generates initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data; maps the location information of each device to the initial map data to obtain target map data; and visually displays the target map data.

[0017] An embodiment of the present application realizes obtaining accurate positioning device information through 5G technology. Using 5G for positioning solves the problem of being unable to locate indoors due to no GPS signal or weak GPS signal or signal shielding, etc. At the same time, 5G technology also has the characteristics of high precision, so that the equipment can be accurately located both indoors and outdoors; and with the coverage of 5G network in the factory, 5G technology also has the characteristics of being built once and can be used multiple times, thereby reducing the automation cost required to implement the positioning method; and because the business requirements for using 5G are simple to implement, wireless communication is simple to implement, thereby reducing the labor cost required to implement the positioning method. Then, the accurate equipment positioning information is combined with the initial map data to obtain the target map information containing the location of each device, and finally the target map information is visualized, so that the location of the equipment in the factory can be viewed in real time, and there is no need to manually view the operating position and operation path of the equipment, thereby saving labor costs. In summary, using 5G technology to locate the equipment and combining the positioning information with the map information can save the automation cost and labor cost of the factory while improving the production efficiency of the factory. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of a device positioning method provided by an embodiment of the present application;

[0019] Figure 2 This is a flow chart of implementing positioning inside a signal receiver provided by an embodiment of the present application;

[0020] Figure 3 It is a structural schematic diagram of generating a target map provided by an embodiment of the present application;

[0021] Figure 4 This is a schematic diagram of map path data provided by an embodiment of the present application;

[0022] Figure 5 It is a structural schematic diagram of a coordinate conversion method provided by an embodiment of the present application;

[0023] Figure 6 is a schematic diagram of a target map visualization provided by an embodiment of the present application;

[0024] Figure 7 It is a processing flow chart of a device positioning method applied to a smart factory provided by an embodiment of the present application;

[0025] Figure 8 It is a structural schematic diagram of a device positioning apparatus provided by an embodiment of the present application;

[0026] Fig. 9 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0027] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0028] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0029] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0030] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0031] First, the terms involved in one or more embodiments of the present application are explained.

[0032] Multi-Round-Trip Time (Multi-RTT) positioning: It is a combined uplink and downlink positioning method newly added in 5G R16 version. It is based on the mutual transmission of reference signals between 5G terminals and multiple base stations / transmission-reception points, and estimates the position of 5G terminals based on various data obtained from measurements.

[0033] Observed Time Difference of Arrival (OTDOA) positioning: UE receives downlink positioning reference signals (PRS) from different base stations, correlates them with the known positioning reference signal sequence generated locally in the time domain or frequency domain, finds the first arrival path to estimate the arrival time, calculates the arrival time difference (RSTD) of different base stations and the reference base station, and uses an appropriate position solving algorithm to solve the position coordinates of the 5G terminal. Possible algorithms include Gauss-Newton algorithm, non-recursive hyperbolic equation system solution method (CHAN) algorithm, etc.

[0034] Uplink Angle Of Arriving (UL AOA) positioning: It is an angle-based positioning method and is combined with round-trip time (RTT) positioning measurement, so this method only requires one base station to complete user positioning.

[0035] In the present application, a device positioning method is provided. The present application also relates to a device positioning apparatus, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0036] Figure 1 A flow chart of a device positioning method provided according to an embodiment of the present application is shown, which specifically includes the following steps:

[0037] Step 102: Obtain a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device based on each 5G positioning signal.

[0038] In actual applications, 5G positioning signals are used to generate device location information corresponding to each device, and the device location information is used to generate target map information.

[0039] Specifically, the 5G positioning signal can be understood as a signal that is received by a signal receiver after the 5G signal sent by the device is received, and the signal characteristics of the 5G signal are obtained, and the signal characteristics are combined with the location information of the signal receiver and sent to the server, wherein the signal characteristics include the characteristic information of the device and at least one of the location characteristics, time characteristics and intensity characteristics contained in the 5G signal sent by the device. The device location information can be understood as the location information obtained based on one or more 5G positioning signals based on the same device sent by different signal receivers, which is the relative position of the corresponding device.

[0040] Positioning equipment through 5G technology solves the problem of being unable to position indoors due to lack of GPS signals or weak GPS signals or signal shielding. At the same time, 5G technology also has the characteristics of high precision, so that equipment can be accurately positioned both indoors and outdoors; and with the coverage of 5G networks in factories, 5G technology also has the characteristics of being built once and used multiple times, thereby reducing the automation cost required to implement the positioning method; and because the business needs of using 5G are simple to implement and wireless communication is simple to implement, the labor cost required to implement the positioning method is reduced.

[0041] Furthermore, device location information corresponding to each device is generated according to each 5G positioning signal, including:

[0042] Analyze each 5G positioning signal to obtain the signal receiver location information and device positioning reference information carried in each 5G positioning signal;

[0043] According to the location information of each signal receiver and the positioning reference information of each device, the device location information corresponding to each device is obtained. The device positioning reference information is the 5G signal sent by the device to the signal receiver.

[0044] In actual applications, the signal receiver location information is the relative position information of the signal receiver that sends the 5G positioning signal. The device positioning reference information is the characteristics carried by the 5G signal sent by the device to the signal receiver, and includes at least one of the strength positioning information, time positioning information, and position positioning information.

[0045] Specifically, the signal receiver position information can be understood as the relative position of the signal receiver. The signal receiver is combined with the device positioning reference information to obtain the relative position of the device. The device positioning reference information can be understood as at least one of the signal strength (strength positioning information), the angle between the signal and the signal receiver that sends the signal to the server (position positioning information), and the time taken for the signal to reach the signal receiver that sends the signal to the server from the sending end (time positioning information).

[0046] Furthermore, the method for obtaining the location information of the device according to the relative position of the positioning reference information and the signal receiver may be Multi-RTT, OTDOA, UL AOA, etc., and this specification does not limit this.

[0047] By positioning devices through 5G technology, due to the accuracy of 5G technology and the popularity of 5G facilities, costs can be effectively reduced while accurately positioning the devices.

[0048] It should be noted that the operation process inside the signal receiver is as follows Figure 2 As shown, Figure 2 This is a flowchart of implementing positioning inside a signal receiver provided by an embodiment of the present application, which specifically includes the following steps:

[0049] Step 202: Initiate positioning service.

[0050] In practical applications, the signal receiver initiates the positioning service for the purpose of starting the positioning method. Specifically, initiating the positioning service can be understood as starting the positioning start signal for the purpose of starting the positioning service.

[0051] Step 204: Invoke the positioning capability.

[0052] In actual applications, the signal receiver calls the positioning capability to complete the positioning service. Specifically, the positioning capability can be understood as a hardware instruction that enables the signal receiver to complete the positioning service and activates the part of the signal receiver related to the positioning service.

[0053] Step 206: Initiate positioning measurement.

[0054] In actual applications, the signal receiver initiates positioning measurement for the purpose of obtaining characteristic information of the subsequently received 5G signal, wherein the characteristic information includes at least one of strength positioning information, time positioning information, and position positioning information. Specifically, positioning measurement can be understood as obtaining at least one of the signal strength of the subsequently received 5G signal (strength positioning information), the angle between the signal and the signal receiver (position positioning information), and the time taken for the signal to reach the signal receiver from the transmitter (time positioning information).

[0055] Step 208: Receive and measure the 5G positioning signal sent by the terminal.

[0056] In actual applications, after receiving the 5G positioning signal sent by the device, the signal receiver measures the 5G positioning signal to obtain at least one of the signal strength of the 5G signal, the angle between the signal and the signal receiver, and the time taken for the signal to reach the signal receiver from the transmitter.

[0057] Step 210: Send its own location information and positioning measurement results to the server.

[0058] In practical applications, the self-position information is the relative position of the signal receiver itself, and the positioning measurement result is the measurement result obtained based on the 5G positioning signal sent by the device. Specifically, the relative position can be understood as the relative position of the device receiver itself in the factory, or it can be the relative position of the device receiver relative to the center of the earth. Sending the self-position information and the 5G positioning signal measurement result sent by the device to the server allows the server to calculate the relative position of the device. For example, according to the signal strength of the signal sent by the device to the signal receiver and the preset signal attenuation coefficient, the distance between the device and the signal receiver can be obtained to obtain a circular range. The device is on the edge of the above circular range, and the signal strength of the signals obtained by multiple different signal receivers is combined to obtain multiple circles. The intersection of the multiple circles is the location information of the device, that is, the relative position of the above device.

[0059] Step 104: Generate initial map data according to the map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data.

[0060] In practical applications, the map data to be generated is data information from all aspects of the building used to generate initial map data. The initial map data is map data that does not contain equipment in the building and is used to generate target map data in combination with equipment location information. The on-site map data and digital map data are data on the physical and digital levels of the building, and are used alone or in combination to generate target map data.

[0061] Specifically, the initial map data can be understood as map data containing the building attribute information of the building, the internal layout information of the building, the real geographical information of the building, and the path information that can be connected in the building. The map data to be generated can be understood as data information containing various aspects of the building, such as the floor plan taken on site, the design blueprint of the building, and the pictures of each floor of the building taken on site. The on-site map data can be understood as data obtained by on-site measurement of the building, such as the floor plan taken on site, the pictures of each floor of the building taken on site, the floor height and floor width obtained by on-site measurement of each floor in the building, and the distance between rooms obtained by measuring each room in the building. The digital map data can be understood as digital data containing building information, such as the design blueprint of the building, the map information of the building on the satellite map, etc.

[0062] Taking into account the accuracy of generating the initial map, the digital map data includes blueprint map data and satellite map data;

[0063] In the case where the map data to be generated include on-site map data and digital map data, generating initial map data according to the map data to be generated includes:

[0064] generating first map data according to the blueprint map data;

[0065] generating second map data according to the first map data and the on-site map data;

[0066] generating third map data according to the second map data and the satellite map data;

[0067] Initial map data are generated based on the third map data and the on-site map data.

[0068] like Figure 3 As shown, Figure 3 It is a structural diagram of generating a target map provided by an embodiment of the present application. First, first map data 3082 is generated according to blueprint map data 304, and then second map data 3084 is obtained by combining the first map data 3082 and the on-site map data 302. The second map data 3084 and satellite map data 306 are combined to obtain third map data 3086. Finally, initial map information 310 is obtained by combining the on-site map data 302 and the third map data 3086. The above-mentioned method of obtaining initial map information 310 according to the on-site map data 302, the blueprint map data 304, and the satellite map data 306 is a map engine 308.

[0069] Specifically, blueprint map data can be understood as containing detailed design information of the building, such as the floor plan, elevation, and section of the building. Site map data can be understood as containing attribute information of the building, such as the name and purpose of the building, attribute information of each room in the building, attribute information of fixed facilities in the building, etc. Satellite map data can be understood as containing real geographical information of the building, such as the longitude and latitude information of each corner of the building, and the longitude and latitude information of each vertex of the building's box.

[0070] Furthermore, the first map data can be understood as map data generated according to the blueprint that contains the layout information of the building but does not contain the building attribute information, such as the layout information of each room in the building, the layout information of the rooms contained in each floor, etc., and the building attribute information such as the attribute information of each room in the building, the attribute information of the fixed facilities in the building, etc. The second map data can be understood as map data that contains the building attribute information and the internal layout information in the building but does not carry the real geographical information of the building. The third map data can be understood as map data that contains the building attribute information, the internal layout information in the building, and the real geographical information of the building but does not contain the path information that can be connected in the building.

[0071] By using blueprint map data, satellite map data, and on-site map data to process the building and obtain initial map data, the building can be modeled accurately and meticulously to obtain accurate information about the building, laying the foundation for subsequent integration with equipment positioning information.

[0072] Considering the accuracy of generating the initial map, the on-site map data includes at least one room and room attribute information corresponding to each room;

[0073] Specifically, generating the second map data according to the first map data and the on-site map data includes:

[0074] Obtaining coded room attribute information of each room according to the attribute information of each room;

[0075] The second map data is generated according to the attribute information of each coded room and the first map data.

[0076] In actual applications, each room attribute information is used to generate coded room attribute information, and the coded room attribute information is used to be combined with the first map data to generate the second map data.

[0077] Specifically, the room attribute information may be understood as information including room name, purpose, owner, location, etc. Encoding the room attribute information may be understood as converting the room attribute information into a coded form so as to fill the room attribute information into the first map data to obtain the second map data.

[0078] In one embodiment provided in the present specification, the 5-digit number (BID) of the building where the room is located, the floor number corresponding to the room, and the feature number (FID) of the room are concatenated to generate coded room attribute information. One of the rooms is: the supermarket room in the office building on the B2 floor of the first center of the factory. Its BID of the first center of the factory is: 10002, and the corresponding floor number of the B2 floor is: 98, and the feature number of the supermarket is: 5. Therefore, the final coded room attribute information corresponding to the room is: 10002985. The coded room attribute information is then filled in the corresponding position of the room in the first map, and so on to fill in all the room information.

[0079] Furthermore, the satellite map data includes at least one building and the longitude and latitude information of the buildings corresponding to each building;

[0080] Generating third map data according to the second map data and the satellite map data includes:

[0081] The third map data is obtained according to the longitude and latitude information of each building and the second map data.

[0082] In practical applications, the longitude and latitude information of the building is used to calibrate the second map data and to generate the third map data in combination with the calibrated map data.

[0083] Specifically, the longitude and latitude information of the building can be understood as the real position of the building on the map, so as to facilitate the subsequent calibration of the map and to obtain the target map information by combining the device with the initial map information according to the positioning information of the device.

[0084] In one embodiment provided in the present specification, an image map corresponding to the factory is obtained, and then the smallest rectangle containing the factory building is selected to obtain the longitude and latitude coordinates of the rectangle, and the longitude and latitude coordinates of the rectangle are mapped to the calibrated second map data to obtain a third map data with the longitude and latitude information of the building.

[0085] Specifically, obtaining the third map data according to the longitude and latitude information of each building and the second map data includes:

[0086] Calibrate the second map data based on the longitude and latitude information of each building to obtain calibrated map data;

[0087] The third map data is generated according to the calibration map data and the longitude and latitude information of each building.

[0088] In practical applications, the calibration map data is used to generate the third map data in combination with the latitude and longitude information.

[0089] Specifically, the calibrated map data can be understood as accurate map data. The second map data obtained above is calibrated according to the real latitude and longitude information of the building in the satellite map. With the help of the real longitude and latitude of the building, the deviation between the digital map and the actual building situation caused by errors that may occur in actual construction is effectively solved.

[0090] In one embodiment provided in the present specification, the longitude and latitude information of each vertex of a building in a satellite map is obtained, and the building is subjected to similarity transformation according to the longitude and latitude information of each vertex of the building to obtain calibrated map data after calibration, and then the calibrated map data after calibration is combined with the longitude and latitude information of the smallest rectangle containing the building to obtain third map data with the longitude and latitude information of the building.

[0091] Specifically, generating initial map data according to the third map data and the on-site map data includes:

[0092] generating annotated map data and map path data according to the third map data and the on-site map data;

[0093] Initial map data are generated according to the annotated map data and the map path data.

[0094] In practical applications, the annotated map data is used to generate map path data, and is combined with the map path data to generate initial map data, and the map path data is used to generate initial map data.

[0095] Specifically, the annotated map data can be understood as map data containing attribute information of fixed facilities in a building, such as the location of an elevator in a building and the floors connected by the elevator, the location of an exit in a building, etc. The map path information can be understood as a connectable path generated based on the annotated map data, representing a passage in a building, such as Figure 4 As shown, Figure 4 This is a schematic diagram of map path data provided by an embodiment of the present application.

[0096] Further, generating the annotated map data and the map path data according to the third map data and the on-site map data includes:

[0097] Obtaining annotation data according to the on-site map data;

[0098] Annotating the annotated data to the third map data to obtain annotated map data;

[0099] Based on the path generation rule and the annotated map data, map path data is generated.

[0100] In practical applications, the annotated data is used to generate annotated map data in combination with the third map data.

[0101] Specifically, the annotation data can be understood as the attribute information of the fixed facilities in the building, such as the location of the elevator in the building and the floors connected to the elevator, the location of the exits in the building, etc. The annotation data are filled into the third map data to obtain the annotation map data with the attribute information of the fixed facilities in the building.

[0102] Furthermore, since the annotated map data contains the attribute information of the fixed facilities in the building and the basic information of each floor in the building, the connected paths in the building, that is, the map path data, can be confirmed based on the annotated map data. The map path book is combined with the annotated data to generate an initial map containing the path information in the building, so as to facilitate the subsequent path planning of the equipment in the building and the navigation of personnel.

[0103] Step 106: Map the location information of each device to the initial map data to obtain target map data.

[0104] In practical applications, the target map data is map data containing the real-time location of the device.

[0105] Specifically, the target map data can be understood as map data containing various information and real-time locations of equipment in the building. After visualization, the location of equipment in the building can be viewed in real time, and the equipment can be planned in a timely manner. Navigation in the building can also be achieved based on the target map data, allowing technicians to quickly reach specific locations.

[0106] Further, mapping the location information of each device to the initial map data to obtain target map data includes:

[0107] Obtaining initial device coordinate information corresponding to each device according to the location information of each device, wherein the initial device coordinate information is the coordinate information of the device in the map coordinate system;

[0108] Based on the coordinate mapping rule, each initial device coordinate information is converted into the target device coordinate information corresponding to each device, wherein the target device coordinate information is the coordinate information of the device in the geographic coordinate system;

[0109] The target map data is obtained according to the coordinate information of each target device and the initial map data.

[0110] In practical applications, the initial device coordinate information is used to map to the target device coordinate information, and the target device coordinate information is used to fill the real-time position of the device into the initial map data to obtain the target map data.

[0111] Specifically, the initial device coordinate information can be understood as the relative position of the device, which includes the geocentric coordinate position, the relative position in the building, etc. Since the signal receiver position information used to calculate the initial device coordinate information is the relative position of the signal receiver, the initial device coordinate information is also a relative position. The target device coordinate information can be understood as the real position of the device in the geographic coordinate system, that is, the latitude and longitude coordinates in the real world.

[0112] like Figure 5 As shown, Figure 5 It is a structural diagram of a coordinate conversion method provided by an embodiment of the present application, which obtains the geocentric coordinate information 502 and the positioning coordinate information 504 of the device, inputs the geocentric coordinate information 502 into the geocentric coordinate conversion unit 506 to obtain the real position based on the geocentric coordinate conversion, and then inputs the positioning coordinate information 504 of the relative position in the building into the positioning coordinate conversion unit 508 to obtain the real position based on the relative position conversion. When the real positions are different, the intermediate value is taken to calculate and determine the target device coordinate information 510, and when the two are the same, the target device coordinate information 510 is determined.

[0113] Step 108: Visually display the target map data.

[0114] In practical applications, visualization is used to visualize target map data to technicians.

[0115] Specifically, visualizing the target map data can be understood as enabling technicians to intuitively obtain the data in the target map, such as the running track of the equipment, the real-time location, the connection path in the building, etc. The specific target map data visualization display results are as follows: Figure 6 As shown, Figure 6 It is a schematic diagram of a target map visualization provided by an embodiment of the present application.

[0116] Considering the problem of human resource waste caused by technicians going to the site to operate equipment, after visually displaying the target map data, it also includes:

[0117] Receiving an operation instruction sent by a terminal, wherein the operation instruction includes device information and operation information;

[0118] Determine an operable device according to the device information;

[0119] A device operation instruction is sent to the operable device based on the operation information, so that the operable device executes the operation information.

[0120] In actual applications, operation instructions are used to send device operation instructions to the device, device information is used to confirm the device receiving the device operation instructions, operation information is used to confirm the device operation instructions, and device operation instructions are used to operate the device to make the device perform corresponding operations.

[0121] Specifically, the operation instruction can be understood as the instruction generated by the technician after the visualization of the target map data, such as clicking the corresponding device on the terminal to plan the path, stopping the selected device, etc. The device information can be understood as the characteristic information of the device selected by the technician, which is used to identify the corresponding device. The operation information can be understood as the characteristic information of the operation set by the technician, which is used to determine the operation of the device. The device operation instruction can be understood as the instruction sent to the device, and the device executes the operation corresponding to the instruction after receiving the instruction.

[0122] The solution of the above embodiment is applied, and the location information of each device is obtained by processing the 5G positioning signal including the 5G signal receiver. Since the 5G positioning signal has the advantages of high accuracy and low cost, the location of the device is more accurately located on the basis of reducing the cost. Then, the initial map data is generated using a variety of map data to be generated to ensure the accuracy of the map. Considering the increase in labor costs caused by technicians going to the site to check or go to the site to operate the equipment, the obtained device location information is mapped to the target map data obtained on the initial map data, and then the obtained target map data is visualized and interactively operated through the terminal time, thereby enabling the technician to view the running trajectory of the device at the terminal and perform path planning and other operations on the device at the terminal, thereby saving labor production costs. In addition, real-time acquisition of the location information of the device on the map can also achieve rapid response and alarm to the abnormal operation status of the device, thereby improving the production efficiency of the factory by saving labor costs and timely response to the equipment. In summary, by using 5G technology to locate the device and combining the positioning information with the map information, the automation cost and labor cost of the factory can be saved while improving the production efficiency of the factory.

[0123] The following combination Figure 7 , taking the application of the device positioning method provided by this application in a smart factory as an example, the device positioning method is further explained. Among them, Figure 7 A processing flow chart of a device positioning method applied to a smart factory provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0124] Step 702: Each device in the factory sends 5G positioning reference information to the three nearest signal receivers.

[0125] Step 704: After receiving the 5G positioning reference information, each signal receiver records the strength of the information and the angle between the information transmitting device and the receiver as the device positioning reference information.

[0126] Step 706: Each signal receiver sends the device positioning reference information and the location information of the signal receiver to the server.

[0127] Step 708: The server obtains the device location information of the relative position of the device in the factory based on the strength positioning information and position positioning information carried in the 5G positioning signals related to the same device sent by the three signal receivers, and combines the two with the location information of the three receivers.

[0128] Step 710: Obtain the factory floor plan photographed on site and the factory CAD blueprint file, and convert the factory CAD file into the SHP format.

[0129] Step 712: Generate map data to be filled based on the factory floor plan and the blueprint file in SHP format.

[0130] Step 714: Based on the factory floor plan, the property information of each room in the factory is obtained, each room is encoded according to the obtained property information, and the code is filled into the position corresponding to each room in the above-mentioned map data to be filled to obtain the map data to be calibrated.

[0131] Step 716: Obtain a satellite map of the factory, parse the satellite map to obtain the longitude and latitude corresponding to the factory, and use the obtained longitude and latitude to calibrate the map data to be calibrated to obtain initial map information to be processed corresponding to the actual location of the factory.

[0132] Step 718: Obtain fixed facility attribute information corresponding to the fixed facilities on each floor of the factory according to the previous factory floor plan, and fill in the above-mentioned initial map information to be processed according to the obtained fixed facility attribute information to obtain the target map information to be processed.

[0133] Step 720: Generate path information in the factory according to the target map information to be processed obtained above, and fill the path information obtained above into the initial map data after the target map information to be processed is filled.

[0134] Step 722: Convert the previously obtained device location information based on the longitude and latitude of the factory to obtain the real geographic location of the device, and fill the device into the initial map data in combination with the real geographic location of the device to obtain the target map data.

[0135] Step 724: Send the target map data to the terminal for visual display.

[0136] The solution of the above embodiment is applied, and the location information of each device in the factory is obtained by processing the 5G positioning signal containing the 5G signal receiver. Since the 5G positioning signal has the advantages of high accuracy and low cost, the location of the equipment in the factory is more accurately located on the basis of reducing costs. Subsequently, the initial map data is generated using a variety of map data to be generated to ensure the accuracy of the factory map. Considering the increase in labor costs caused by technicians going to the site to check or go to the site to operate the equipment, the obtained location information of the equipment in the factory is mapped to the target map data obtained on the initial map data, and then the obtained target map data is visualized and interactively operated through the terminal time, thereby enabling the technician to view the running trajectory of the equipment at the terminal and perform path planning and other operations on the equipment at the terminal, thereby saving labor production costs. In addition, real-time acquisition of the location information of the equipment on the map can also achieve rapid response and alarm to the abnormal operation status of the equipment, thereby improving the production efficiency of the factory by saving labor costs and timely response to the equipment. In summary, by using 5G technology to locate the equipment and combining the positioning information with the map information, the automation cost and labor cost of the factory can be saved while improving the production efficiency of the factory.

[0137] Corresponding to the above method embodiment, the present application also provides a device positioning device embodiment, Figure 8 FIG. 1 is a schematic diagram showing the structure of a device positioning apparatus provided by an embodiment of the present application. Figure 8 As shown, the device comprises:

[0138] The acquisition module 802 is configured to acquire a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device according to each 5G positioning signal;

[0139] A generating module 804 is configured to generate initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data;

[0140] A mapping module 806 is configured to map the location information of each device to the initial map data to obtain target map data;

[0141] The visualization module 808 is configured to visualize the target map data.

[0142] The acquisition module 802 is further configured to:

[0143] Analyze each 5G positioning signal to obtain the signal receiver location information and device positioning reference information carried in each 5G positioning signal;

[0144] According to the position information of each signal receiver and the positioning reference information of each device, the device position information corresponding to each device is obtained.

[0145] Optionally, the device positioning reference information includes at least one of intensity positioning information, time positioning information, and position positioning information.

[0146] Optionally, the digital map data includes blueprint map data and satellite map data;

[0147] The generating module 804 is further configured to:

[0148] generating first map data according to the blueprint map data;

[0149] generating second map data according to the first map data and the on-site map data;

[0150] generating third map data according to the second map data and the satellite map data;

[0151] Initial map data are generated based on the third map data and the on-site map data.

[0152] Optionally, the site map data includes at least one room and room attribute information corresponding to each room;

[0153] The generating module 804 is further configured to:

[0154] Obtaining coded room attribute information of each room according to the attribute information of each room;

[0155] The second map data is generated according to the attribute information of each coded room and the first map data.

[0156] Optionally, the satellite map data includes at least one building and building longitude and latitude information corresponding to each building;

[0157] The generating module 804 is further configured to:

[0158] The third map data is obtained according to the longitude and latitude information of each building and the second map data.

[0159] The generating module 804 is further configured to:

[0160] Calibrate the second map data based on the longitude and latitude information of each building to obtain calibrated map data;

[0161] The third map data is generated according to the calibration map data and the longitude and latitude information of each building.

[0162] The generating module 804 is further configured to:

[0163] generating annotated map data and map path data according to the third map data and the on-site map data;

[0164] Initial map data are generated according to the annotated map data and the map path data.

[0165] The generating module 804 is further configured to:

[0166] Obtaining annotation data according to the on-site map data;

[0167] Annotating the annotated data to the third map data to obtain annotated map data;

[0168] Based on the path generation rule and the annotated map data, map path data is generated.

[0169] The mapping module 806 is further configured to:

[0170] Obtaining initial device coordinate information corresponding to each device according to the location information of each device, wherein the initial device coordinate information is the coordinate information of the device in the map coordinate system;

[0171] Based on the coordinate mapping rule, each initial device coordinate information is converted into the target device coordinate information corresponding to each device, wherein the target device coordinate information is the coordinate information of the device in the geographic coordinate system;

[0172] The target map data is obtained according to the coordinate information of each target device and the initial map data.

[0173] Optionally, the device positioning apparatus further includes:

[0174] An instruction receiving module receives an operation instruction sent by a terminal, wherein the operation instruction includes device information and operation information;

[0175] A device determination module, for determining an operable device according to the device information;

[0176] The instruction sending module sends a device operation instruction to the operable device based on the operation information, so that the operable device executes the operation information.

[0177] The solution of the above embodiment is applied, and the location information of each device is obtained by processing the 5G positioning signal including the 5G signal receiver. Since the 5G positioning signal has the advantages of high accuracy and low cost, the location of the device is more accurately located on the basis of reducing the cost. Then, the initial map data is generated using a variety of map data to be generated to ensure the accuracy of the map. Considering the increase in labor costs caused by technicians going to the site to check or go to the site to operate the equipment, the obtained device location information is mapped to the target map data obtained on the initial map data, and then the obtained target map data is visualized and interactively operated through the terminal time, thereby enabling the technician to view the running trajectory of the device at the terminal and perform path planning and other operations on the device at the terminal, thereby saving labor production costs. In addition, real-time acquisition of the location information of the device on the map can also achieve rapid response and alarm to the abnormal operation status of the device, thereby improving the production efficiency of the factory by saving labor costs and timely response to the equipment. In summary, by using 5G technology to locate the device and combining the positioning information with the map information, the automation cost and labor cost of the factory can be saved while improving the production efficiency of the factory.

[0178] The above is a schematic scheme of a device positioning apparatus of this embodiment. It should be noted that the technical scheme of the device positioning apparatus and the technical scheme of the device positioning method described above are of the same concept, and the details not described in detail in the technical scheme of the device positioning apparatus can be referred to the description of the technical scheme of the device positioning method described above.

[0179] Fig. 9 The block diagram of a computing device 900 provided according to an embodiment of the present application is shown. The components of the computing device 900 include but are not limited to a memory 910 and a processor 920. The processor 920 is connected to the memory 910 via a bus 930, and the database 950 is used to store data.

[0180] The computing device 900 also includes an access device 940 that enables the computing device 900 to communicate via one or more networks 960. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 940 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0181] In one embodiment of the present application, the above components of the computing device 900 and Fig. 9 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig. 9 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0182] The computing device 900 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 900 may also be a mobile or stationary server.

[0183] When the processor 920 executes the computer instructions, the steps of the device positioning method are implemented.

[0184] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned device positioning method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above-mentioned device positioning method.

[0185] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which implement the steps of the device positioning method as described above when executed by a processor.

[0186] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned device positioning method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned device positioning method.

[0187] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0188] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0189] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0190] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0191] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A device positioning method, characterized in that: include: Obtain a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device according to each 5G positioning signal; generating initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data; Mapping the location information of each device to the initial map data to obtain target map data; The target map data is visually displayed.

2. The method according to claim 1, characterized in that The device location information corresponding to each device is generated according to each 5G positioning signal, including: Analyze each 5G positioning signal to obtain the signal receiver location information and device positioning reference information carried in each 5G positioning signal; According to the position information of each signal receiver and the positioning reference information of each device, the device position information corresponding to each device is obtained.

3. The method according to claim 2, characterized in that The device positioning reference information includes at least one of intensity positioning information, time positioning information, and position positioning information.

4. The method according to claim 1, characterized in that The digital map data includes blueprint map data and satellite map data; In the case where the map data to be generated include on-site map data and digital map data, generating initial map data according to the map data to be generated includes: generating first map data according to the blueprint map data; generating second map data according to the first map data and the on-site map data; generating third map data according to the second map data and the satellite map data; Initial map data are generated based on the third map data and the on-site map data.

5. The method according to claim 4, characterized in that The site map data includes at least one room and room attribute information corresponding to each room; Generating second map data according to the first map data and the on-site map data includes: Obtaining coded room attribute information of each room according to the attribute information of each room; The second map data is generated according to the attribute information of each coded room and the first map data.

6. The method according to claim 4, characterized in that The satellite map data includes at least one building and the longitude and latitude information of each building; Generating third map data according to the second map data and the satellite map data includes: The third map data is obtained according to the longitude and latitude information of each building and the second map data.

7. The method according to claim 6, characterized in that Obtaining third map data according to the latitude and longitude information of each building and the second map data includes: Calibrate the second map data based on the longitude and latitude information of each building to obtain calibrated map data; The third map data is generated according to the calibration map data and the longitude and latitude information of each building.

8. The method according to claim 4, characterized in that Generating initial map data according to the third map data and the on-site map data includes: generating annotated map data and map path data according to the third map data and the on-site map data; Initial map data are generated according to the annotated map data and the map path data.

9. The method according to claim 8, characterized in that Generating annotated map data and map path data according to the third map data and the on-site map data includes: Obtaining annotation data according to the on-site map data; Annotating the annotated data to the third map data to obtain annotated map data; Based on the path generation rule and the annotated map data, map path data is generated.

10. The method according to claim 1, characterized in that Mapping the location information of each device to the initial map data to obtain target map data includes: Obtaining initial device coordinate information corresponding to each device according to the location information of each device, wherein the initial device coordinate information is the coordinate information of the device in the map coordinate system; Based on the coordinate mapping rule, each initial device coordinate information is converted into the target device coordinate information corresponding to each device, wherein the target device coordinate information is the coordinate information of the device in the geographic coordinate system; The target map data is obtained according to the coordinate information of each target device and the initial map data.

11. The method according to claim 1, characterized in that After visually displaying the target map data, the method further includes: Receiving an operation instruction sent by a terminal, wherein the operation instruction includes device information and operation information; Determine an operable device according to the device information; A device operation instruction is sent to the operable device based on the operation information, so that the operable device executes the operation information.

12. A device positioning device, characterized in that: include: An acquisition module is configured to acquire a 5G positioning signal corresponding to at least one device, and generate device location information corresponding to each device according to each 5G positioning signal; A generating module, configured to generate initial map data according to map data to be generated, wherein the map data to be generated includes at least one of on-site map data and digital map data; A mapping module, configured to map the location information of each device to the initial map data to obtain target map data; The visualization module is configured to visualize the target map data.

13. A computing device comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the computer instructions, the steps of the method according to any one of claims 1 to 11 are implemented.

14. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instructions are executed by a processor, the steps of the method described in any one of claims 1 to 11 are implemented.

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