Low-power-consumption high-precision indirect positioning calculation system and method

Abstract

The invention relates to a low-power-consumption and high-precision indirect positioning calculation system and method, which are mainly used for providing low-power-consumption, high-precision and high-dynamic positioning service for a plate trailer which cannot supply power. The dragged plate trailer is not positioned or is positioned at an extremely low frequency, such as a frequency of once a few hours. In the moving process, the dragged plate trailer shares the position of the bound plate trailer head, and therefore indirect positioning is carried out. As the scooter head can supply power to the conventional positioning module, the positioning position of the scooter is relatively accurate. And when the plate trailer does not move, the position of the plate trailer inherits the stop position of the last movement. The positioning equipment has the characteristics of high precision and high dynamic performance during movement and low power consumption when the positioning equipment does not move, and can be used for several years under the condition that the positioning equipment is powered by a relatively small lithium battery. And through a fusion algorithm of various sensors such as Bluetooth and inertial sensors, the binding error rate is obviously reduced, the positioning precision is improved, automatic binding is realized, and the management efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pallet truck positioning, and in particular to a low-power and high-precision indirect positioning and calculation system and method. Background Art

[0002] In the equipment and vehicle management system, the management and positioning of non-powered vehicles (such as carts) is an important link. At present, in many industries, since the towed carts themselves do not have driving power and batteries, the equipment on the carts is required to operate for a long time with low power consumption and high precision.

[0003] In the existing technology, specifically, the positioning of outdoor flatbed trucks is currently mainly achieved through GNSS plus solar charging panels. A locator will have a built-in GNSS positioning module to provide outdoor positioning functions, and at the same time, a solar panel will be added to the outer shell to meet the requirements of long-term positioning.

[0004] The above-mentioned existing technical solutions have the following defects: On the one hand, the volume and installation requirements of solar panels are relatively high. In order to meet the power consumption of GNSS, the area of ​​solar panels is relatively large, and they need to be directly exposed to the sun, which has high requirements for location and area. It is greatly affected by weather and region. If there are many rainy days or in areas with insufficient solar light, it is easy to cause the battery to run out of power and the product to fail to work. The positioning accuracy is not high. The maximum positioning accuracy of GNSS can only reach 3-5 meters, which does not meet the needs of high-precision positioning. Solar charging requires the use of lithium batteries, which are prone to explosion or bulging in places with high temperatures, and the safety of the product is questionable.

[0005] On the other hand, too many components and larger batteries make the existing technical solutions too expensive. When the number of towed vehicles is large, the overall management cost is too high, which is not conducive to market acceptance. Summary of the invention

[0006] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a low-power and high-precision indirect positioning and inference system and method, which has the characteristics of high precision and low power consumption, and through the fusion of multiple sensors such as Bluetooth, inertial sensors, etc., the binding error rate is significantly reduced, the positioning accuracy is improved and automatic binding is realized, thereby improving the operating efficiency of the airport.

[0007] The above-mentioned object of the present invention is achieved through the following technical solutions:

[0008] A low-power and high-precision indirect positioning and calculation system, characterized in that it includes a vehicle head positioning module, a vehicle head binding module and a cart binding module. The vehicle head positioning module adopts GNSS and UWB to provide a high-precision global positioning function. The vehicle head binding module and the cart binding module adopt Bluetooth and inertial sensor technology, and realize automatic binding and indirect positioning by working in coordination with the vehicle head positioning module.

[0009] As a further technical solution of the present invention: the vehicle head positioning module includes a GNSS receiver and a UWB tag;

[0010] The GNSS receiver provides meter-level or even centimeter-level outdoor global positioning accuracy by receiving satellite signals;

[0011] The UWB tag is used to provide high-precision indoor global location information within a short distance.

[0012] As a further technical solution of the present invention: the vehicle head binding module includes a Bluetooth receiver and a first inertial sensor, the vehicle binding module includes a Bluetooth transmitter and a second inertial sensor, and the Bluetooth receiver is communicatively connected with the Bluetooth transmitter;

[0013] The Bluetooth receiver is used to receive the Bluetooth signal transmitted by the Bluetooth transmitter on the cart, and judge the distance from the cart by Bluetooth signal strength or channel detection;

[0014] The first inertial sensor and the second inertial sensor are used to simultaneously detect the motion states of the vehicle head and the cart, including acceleration and angular velocity.

[0015] A low-power and high-precision indirect positioning method as described above, including a method for determining the binding and unbinding of a vehicle head with a plurality of carts;

[0016] The method for determining binding is: within 30 seconds, if the Bluetooth signal strength of the cart is maintained at -80dbm, and through the inertial sensor data, the cart and the front of the vehicle move together or stand still together, the system automatically determines that the cart and the front of the vehicle are bound;

[0017] When the binding is completed, the positioning information of the vehicle head will be automatically associated with the bound vehicle, realizing the indirect positioning inference of the vehicle;

[0018] The method for determining unbinding is: within a certain period of time, if the Bluetooth signal of the cart cannot be scanned or the motion state of the inertial sensor data is inconsistent with the front of the vehicle, the system determines that the cart and the front of the vehicle are unbound.

[0019] As a further technical solution of the present invention: the specific method of binding the vehicle head with multiple vehicle panels comprises the following steps:

[0020] The vehicle head positioning system scans the surrounding carts, detects the Bluetooth transmission signals of all the surrounding carts, and then determines whether the inertial sensor is moving. If not, no binding is performed. If it is moving, the system continues to scan and then determines whether the time threshold is exceeded. If not, no binding is performed. If it is exceeded, binding is performed.

[0021] As a further technical solution of the present invention: the specific method of untying the vehicle head from multiple flatbed vehicles comprises the following steps:

[0022] The vehicle head positioning system scans the surrounding vehicles to determine whether the bound tags can be scanned. If they can be scanned, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding vehicles;

[0023] If it cannot be scanned, it is determined whether the time threshold is exceeded. If not, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding carts. If it exceeds, the binding is released.

[0024] In summary, the present invention includes at least one of the following beneficial technical effects:

[0025] The present invention discloses a low-power and high-precision indirect positioning and calculation system and method. The vehicle head in the system can be powered for a long time, so the highest-precision positioning equipment can be used. The flatbed locator uses low-power Bluetooth and inertial sensors, so it can work for several years when powered by lithium-argon batteries without charging. Therefore, it has the characteristics of high precision and low power consumption. Moreover, through the integration of multiple sensors such as Bluetooth, inertial sensors, etc., the binding error rate is significantly reduced, the positioning accuracy is improved, and automatic binding is realized, thereby improving the operating efficiency of the airport. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of the connection between the vehicle head and the vehicle carriage of the present invention.

[0027] Figure 2 It is a flow chart of binding the locomotive and the cart in the present invention.

[0028] Figure 3 The present invention is a flowchart of untying the locomotive and the cart.

[0029] Figure 4 This is the positioning calculation algorithm for the position of the pallet truck in the present invention. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0031] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] Embodiment 1:

[0034] The present invention discloses a low-power and high-precision indirect positioning and calculation system, which comprises a vehicle head positioning module, a vehicle head binding module and a cart binding module. The vehicle head positioning module adopts GNSS and UWB to provide a high-precision global positioning function, and the vehicle head binding module and the cart binding module adopt Bluetooth and inertial sensor technology to realize automatic binding and indirect positioning by working in coordination with the vehicle head positioning module.

[0035] The vehicle head positioning module includes a GNSS receiver and a UWB tag; the GNSS receiver provides meter-level or even centimeter-level outdoor global positioning accuracy by receiving satellite signals; the UWB tag is used to provide high-precision indoor global positioning information within a short distance.

[0036] The vehicle head binding module includes a Bluetooth receiver and a first inertial sensor, the cart binding module includes a Bluetooth transmitter and a second inertial sensor, and the Bluetooth receiver is communicatively connected with the Bluetooth transmitter; the Bluetooth receiver is used to receive the Bluetooth signal transmitted by the Bluetooth transmitter on the cart, and judge the distance to the cart through the Bluetooth signal strength or channel detection; the first inertial sensor and the second inertial sensor are used to simultaneously detect the motion state of the vehicle head and the cart, including acceleration and angular velocity.

[0037] In this embodiment, refer to Figure 1 The vehicle head positioning module is installed in the vehicle head, the vehicle head binding module is installed in the cart, and the cart binding module is installed on the cart. A vehicle head listens to the signals broadcasted by three carts by receiving Bluetooth broadcasts via Bluetooth.

[0038] Embodiment 2:

[0039] The present invention also discloses a low-power and high-precision indirect positioning method, including a method for determining the binding and unbinding of a vehicle head and a plurality of vehicle panels;

[0040] The method for determining binding is: within 30 seconds, if the Bluetooth signal strength of the cart is maintained at -80dbm, and through the inertial sensor data, the cart and the front of the vehicle move together or stand still together, the system automatically determines that the cart and the front of the vehicle are bound;

[0041] When the binding is completed, the positioning information of the vehicle head will be automatically associated with the bound vehicle, realizing the indirect positioning inference of the vehicle;

[0042] The method for determining unbinding is: within a certain period of time, if the Bluetooth signal of the cart cannot be scanned or the motion state of the inertial sensor data is inconsistent with the front of the vehicle, the system determines that the cart and the front of the vehicle are unbound.

[0043] Reference Figure 2 The specific method of binding the vehicle head with multiple vehicle panels includes the following steps:

[0044] The vehicle head positioning system scans the surrounding carts, detects the Bluetooth transmission signals of all the surrounding carts, and then determines whether the inertial sensor is moving. If not, no binding is performed. If it is moving, the system continues to scan and then determines whether the time threshold is exceeded. If not, no binding is performed. If it is exceeded, binding is performed.

[0045] Reference Figure 3 The specific method of untying the vehicle head from multiple carts includes the following steps:

[0046] The vehicle head positioning system scans the surrounding vehicles to determine whether the bound tags can be scanned. If they can be scanned, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding vehicles;

[0047] If it cannot be scanned, it is determined whether the time threshold is exceeded. If not, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding carts. If it exceeds, the binding is released.

[0048] Reference Figure 4 , the specific position calculation method of the cart includes the following steps:

[0049] First, preset the cart in the default position. If the cart is bound to the head of the vehicle, start calculating the cart's position. There are two situations for calculating the cart's position. The first is when there is a distance sensor telling the distance from the cart to the head of the vehicle. The position of the cart can be calculated by adding the distance from the head of the vehicle to the opposite direction of the movement. When there is no distance sensor, a constant distance can be used for calculation. When the cart is unbound from the head of the vehicle, the algorithm determines that the position at the time of unbinding is the parking position of the cart until the next binding.

[0050] This calculation method is mainly used to provide low-power, high-precision, and high-dynamic positioning services for carts that cannot be powered. The towed cart does not locate itself or locates at a very low frequency, such as once every few hours. During the movement, the towed cart shares the position of the bound head, thereby performing indirect positioning.

[0051] Since the front of the vehicle can power the conventional positioning module, the positioning position of the cart is relatively accurate. When not moving, the position of the cart inherits the end position of the last movement. The equipment includes a front power supply positioning module, a front power supply binding module and a battery binding module of the towed cart. The front power supply positioning module uses GNSS or UWB and other technologies to provide high-precision positioning functions. The front binding module and the cart binding module use Bluetooth and inertial sensor technology, and work together with the front positioning module to achieve automatic binding and precise positioning.

[0052] It has the characteristics of high precision and high dynamics when moving, and low power consumption when not moving. The positioning device can be used for several years when powered by a small lithium battery. And through the integration of multiple sensors such as Bluetooth and inertial sensors, the binding error rate is significantly reduced, the positioning accuracy is improved, and automatic binding is achieved, thereby improving management efficiency.

[0053] The implementation principle of the present invention is as follows: the present invention discloses a low-power and high-precision indirect positioning and calculation system and method. Because the vehicle head in the system can be powered for a long time, the highest precision positioning equipment can be used. Because the flatbed locator adopts low-power Bluetooth and inertial navigation equipment, it can work for several years when powered by lithium-argon batteries without charging. Therefore, it has the characteristics of high precision and low power consumption. Through the integration of multiple sensors such as Bluetooth, inertial sensors, etc., the binding error rate is significantly reduced, the positioning accuracy is improved and automatic binding is realized, thereby improving the operating efficiency of the airport.

[0054] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, all equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A low-power and high-precision indirect positioning system, characterized in that: It includes a vehicle front positioning module, a vehicle front binding module and a cart binding module. The vehicle front positioning module adopts GNSS and UWB to provide high-precision global positioning function. The vehicle front binding module and the cart binding module adopt Bluetooth and inertial sensor technology, and realize automatic binding and indirect positioning by working in coordination with the vehicle front positioning module.

2. The low-power and high-precision indirect positioning system according to claim 1, characterized in that: The vehicle head positioning module includes a GNSS receiver and a UWB tag; The GNSS receiver provides meter-level or even centimeter-level outdoor global positioning accuracy by receiving satellite signals; The UWB tag is used to provide high-precision indoor global location information within a short distance.

3. The low-power and high-precision indirect positioning system according to claim 1, characterized in that: The vehicle head binding module includes a Bluetooth receiver and a first inertial sensor, the vehicle binding module includes a Bluetooth transmitter and a second inertial sensor, and the Bluetooth receiver is communicatively connected with the Bluetooth transmitter; The Bluetooth receiver is used to receive the Bluetooth signal transmitted by the Bluetooth transmitter on the cart, and judge the distance from the cart by Bluetooth signal strength or channel detection; The first inertial sensor and the second inertial sensor are used to simultaneously detect the motion states of the vehicle head and the cart, including acceleration and angular velocity.

4. A low-power and high-precision indirect positioning method, characterized in that: Including a method for determining the binding and unbinding of a vehicle head and a plurality of vehicle panels; The method for determining binding is: within 30 seconds, if the Bluetooth signal strength of the cart is maintained at -80dbm, and through the inertial sensor data, the cart and the front of the vehicle move together or stand still together, the system automatically determines that the cart and the front of the vehicle are bound; When the binding is completed, the positioning information of the vehicle head will be automatically associated with the bound vehicle, realizing the indirect positioning inference of the vehicle; The method for determining unbinding is: within a certain period of time, if the Bluetooth signal of the cart cannot be scanned or the motion state of the inertial sensor data is inconsistent with the front of the vehicle, the system determines that the cart and the front of the vehicle are unbound.

5. The low-power and high-precision indirect positioning method according to claim 4, characterized in that: The specific method of binding the vehicle head with multiple vehicle panels includes the following steps: The vehicle head positioning system scans the surrounding carts, detects the Bluetooth transmission signals of all the surrounding carts, and then determines whether the inertial sensor is moving. If not, no binding is performed. If it is moving, the system continues to scan and then determines whether the time threshold is exceeded. If not, no binding is performed. If it is exceeded, binding is performed.

6. A low-power and high-precision indirect positioning method according to claim 4, characterized in that: The specific method of untying the vehicle head from multiple flatbed vehicles includes the following steps: The vehicle head positioning system scans the surrounding vehicles to determine whether the bound tags can be scanned. If they can be scanned, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding vehicles; If it cannot be scanned, it is determined whether the time threshold is exceeded. If not, the binding is maintained, and then the vehicle head positioning system re-scans the surrounding carts. If it exceeds, the binding is released.

Images