Removed meter positioning system and method for metering storehouse

Abstract

The invention relates to a positioning system and method for a detached meter of a metering storehouse, and belongs to the field of electric energy meter recycling. The positioning system comprises a modeling unit used for establishing a positioning coordinate system of a goods shelf in the storehouse; the handheld terminal is used for carrying out information interaction with the disassembled table; the first positioning system is used for being connected with the modeling unit and acquiring positioning coordinate system information; the processor is also used for being in signal connection with the handheld terminal to obtain the position of the handheld terminal; the processing unit is used for being connected with the modeling unit to obtain positioning coordinate system information; the server is also used for being connected with the handheld terminal to obtain information of the disassembled return table at the handheld terminal; the server is also used for being connected with a first positioning system to obtain position information of the handheld terminal; and the storage unit is used for being connected with the processing unit to receive and store the position information of the handheld terminal and the information of the detached table. By arranging the modeling unit, a shelf positioning coordinate system in the warehouse can be established, the spatial reference basis of the positioning system is ensured, and the position of the handheld terminal can be accurately positioned subsequently and the information of the detached table can be acquired conveniently.

Description

Technical Field

[0001] The present invention belongs to the field of electricity meter recycling, and specifically relates to a positioning system and method for removed meters in a metering warehouse. Background Art

[0002] At present, the network coverage rate of smart electricity meters has reached more than 90%. In the asset management processes such as production, installation, and distribution of the power system, the flow and quantity of meters are increasing. In this process, the number of smart electricity meters removed and replaced by the daily operation and maintenance units of the State Grid is continuously increasing. The main reasons for the State Grid to remove smart electricity meters at present are: damage, expiration rotation, sampling inspection, fault replacement, calibration application, functional replacement, etc.

[0003] The recycling and processing link of removed meters is the last link in the whole life cycle management of electricity meters. Grassroots units often have great difficulty in storing the removed old electricity meters. The removed meters pile up like mountains, occupying a large amount of space in the warehouse. At present, it mainly relies on manual recording to manage relevant data information. When the number of meters is large, it is easy to have problems such as omissions, incorrect records, or no records in the data statistics and verification processes.

[0004] With the further improvement of metering management, the existing business processing of removed electricity meters is all manually recorded by the electricity meter readings and manually input into the power system. The operation process is complex, the work efficiency is low, the input data is prone to errors. When facing the sampling inspection problem of removed meters, it is often time-consuming and laborious to find the corresponding electricity meters, and there are often problems such as the inability to find the electricity meters due to incorrect recording of the previous storage location. Summary of the Invention

[0005] In view of the problems in the prior art, the present invention provides a positioning system and method for removed meters in a metering warehouse, which solves the problem that it is difficult to find electricity meters in the subsequent process due to easy errors in manually placing electricity meters and inputting data in the prior art.

[0006] The technical solution adopted by the present invention is as follows: In a first aspect, the present application provides a positioning system for removed meters in a metering warehouse, including: A modeling unit for establishing a positioning coordinate system of the shelves in the warehouse; A handheld terminal for information interaction with the removed meters; A first positioning system for connecting with the modeling unit to obtain positioning coordinate system information; and also for signal connection with the handheld terminal to obtain the position of the handheld terminal; A processing unit for connecting with the modeling unit to obtain positioning coordinate system information; also for connecting with the handheld terminal to obtain the removed meter information at the handheld terminal; and also for connecting with the first positioning system to obtain the position information of the handheld terminal; A storage unit for connecting to a processing unit to receive and store the location information of the handheld terminal and the take-back table information.

[0007] Preferably, the first positioning system includes a plurality of signal transmitting units disposed on the shelves, and a signal receiving unit is disposed inside the handheld terminal. The signal receiving unit is used to receive the signals transmitted by the signal transmitting units and determine the distance from the signal transmitting units according to the signal strength.

[0008] Preferably, the signal transmitting unit is a Bluetooth beacon. At least four Bluetooth beacons are provided and the four Bluetooth beacons are not coplanar in space. The signal receiving unit includes a Bluetooth module.

[0009] Preferably, let the coordinates of the target position be (x, y, z), and the positions of the four Bluetooth beacons in the positioning coordinate system are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) in sequence; the distances between the target position and the four Bluetooth beacons are d1, d2, d3, d4 in sequence. The first positioning system performs the positioning of the handheld terminal through the following equations:

[0010] where the distance between the target position and the Bluetooth beacon is based on the signal attenuation model:

[0011] where d is the distance between the target position and the Bluetooth beacon; RSSI is the received signal strength; A is the signal strength at 1m; n is the signal propagation attenuation exponent.

[0012] Preferably, the take-back table positioning system further includes a second positioning system. The second positioning system is connected to the processing unit. The second positioning system includes a position sensing unit. The position sensing unit is fixedly connected to the handheld terminal or built into the handheld terminal. The position sensing unit is used to sense the actions of the handheld terminal to calculate the displacement direction and displacement distance of the handheld terminal.

[0013] Preferably, the position sensing unit includes an acceleration sensing module and an angular velocity sensing module.

[0014] Preferably, the second positioning system further includes at least one calibration unit. The calibration unit is fixedly disposed in the warehouse. The calibration unit is connected to the position sensing unit and is used to calibrate the position sensing unit.

[0015] Preferably, a barcode scanning unit and a photographing unit are provided in the handheld terminal.

[0016] In a second aspect, the present application provides a take-back table positioning method, including the following steps: Step S1: Use the modeling unit to establish a positioning coordinate system for the shelves in the warehouse according to the size and positional relationship of the warehouse and the shelves; Step S2: Import the position of the calibration unit into the positioning coordinate system, and use the calibration unit to perform initial calibration of the position sensing unit; Step S3: When placing the retrieved meter, the handheld terminal collects the retrieved meter data and sends it to the storage unit through the processing unit; Step S4: Receive the retrieved meter data that needs to be viewed, and search for the location information in the storage unit; Step S5: The handheld terminal navigates according to the location information. The second positioning system uploads the location information of the handheld terminal to the processing unit in real time. The processing unit judges the distance between the position of the handheld terminal and the positioning position. When the distance between the position of the handheld terminal and the positioning position is less than the threshold, the handheld terminal emits a prompt signal, completing the positioning and navigation of the retrieved meter.

[0017] Preferably, Step S3 includes the following steps: Step S3-1: The handheld terminal collects the non-location data of the retrieved meter. When the non-location data collection is completed, a time window is established. The change information of the position of the handheld terminal collected by the first positioning system is monitored within the time window. When the position change information is less than the preset threshold, the position information P1 of the handheld terminal output by the first positioning system at the end of the collection time window is collected, and Step S3-2 is executed; otherwise, a new time window is established for monitoring; Step S3-2: Collect the position information P2 of the handheld terminal output by the second positioning system, calculate the distance between P1 and P2 in the positioning coordinate system. When the distance is less than the threshold, calculate the midpoint of the line connecting P1 and P2 as the position information P of the corresponding retrieved meter, and send the collected data to the processing unit; otherwise, an alarm for abnormal position is given; Step S3-3: The processing unit sends the collected data to the storage unit for storage.

[0018] From the above technical solutions, it can be seen that the present invention has the following advantages: By setting up the modeling unit, a positioning coordinate system for the shelves in the warehouse can be established, ensuring the spatial reference basis of the positioning system, facilitating subsequent accurate positioning of the position of the handheld terminal and information collection of the retrieved meter; by setting up the first positioning system, the positioning coordinate system information can be obtained and signal connection with the handheld terminal can be established, ensuring that the position information of the handheld terminal can be obtained in real time, providing accurate spatial data support for the positioning of the retrieved meter; by introducing the second positioning system, the movement of the handheld terminal can be sensed in real time and the displacement direction and distance can be calculated, providing additional data support for dynamically tracking and accurately positioning the handheld terminal. Description of the Drawings

[0019] To more clearly illustrate the technical solution of the present invention, the accompanying drawings required in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 It is a schematic flowchart of the positioning method in the embodiment of the specific implementation manner of the present invention. Specific implementation manner

[0021] In the following detailed description, various embodiments of the present disclosure will be more comprehensively described. The present disclosure can have various embodiments, and adjustments and changes can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents, and / or alternative solutions that fall within the spirit and scope of the various embodiments of the present disclosure.

[0022] The following are some glossary explanations in this solution to facilitate a better understanding of this solution: 1. Introduction to Wi-Fi positioning Wi-Fi positioning technology is a method that uses the existing Wi-Fi network infrastructure to achieve indoor or outdoor positioning. It mainly locates by measuring the signal strength (RSSI) or other characteristics (such as time difference of arrival, transmission delay, etc.) between the device and multiple Wi-Fi access points (APs), and combines the coordinates of the known access points for positioning calculation. The advantage of Wi-Fi positioning is that it can make full use of the existing Wi-Fi network without the need to deploy additional devices, and the deployment cost is relatively low. It is applicable to most urban environments, commercial buildings, campuses and other areas. However, Wi-Fi signals are easily affected by obstacles such as walls and metal objects. Therefore, the positioning accuracy may be limited in some environments, and usually the positioning accuracy is between several meters and more than ten meters.

[0023] 2. Introduction to BLE positioning Bluetooth Low Energy (BLE) positioning is an indoor positioning technology based on BLE beacons. BLE beacons regularly broadcast wireless signals, and terminal devices estimate the distance from the beacons by the received signal strength (RSSI). BLE has the advantages of low power consumption, high precision and relatively low cost, especially suitable for large-scale deployment. It is widely used in retail, logistics, smart home, museums and other places, and precise positioning is achieved by arranging multiple BLE beacons. Compared with Wi-Fi positioning, BLE positioning has higher precision, usually reaching a positioning accuracy within 1 meter, but its effective distance is relatively short, usually within a range of dozens of meters, and a relatively dense beacon layout is required.

[0024] 3. Inertial Navigation System (INS) The Inertial Navigation System (INS) is a technology that estimates the position, velocity, and orientation of a moving object by measuring and calculating its acceleration and angular velocity. This system relies on an Inertial Measurement Unit (IMU), which typically includes sensors such as accelerometers, gyroscopes, and sometimes magnetometers. Accelerometers are used to detect the linear acceleration of an object, and gyroscopes are used to measure the angular velocity of the object. By integrating this data, the displacement, velocity, and orientation of the object can be deduced. The inertial navigation system has high autonomy and does not rely on external signal sources. Therefore, in an environment where GPS signals are unavailable or weak, the INS can continuously provide reliable navigation information. Although it has high real-time performance and anti-interference ability, due to measurement errors that accumulate over time, the accuracy may decrease during long-term use. Therefore, it is usually combined with other positioning systems (such as GPS, visual positioning, etc.) to improve positioning accuracy and reliability.

[0025] The present invention addresses the problems in the prior art and provides a positioning system and method for retrieved meters in a metering warehouse, solving the problem in the prior art that it is difficult to find the electricity meters subsequently due to errors easily occurring in manually placing the electricity meters and entering data.

[0026] Embodiment 1: The present invention addresses the problems in the prior art and provides a positioning system for retrieved meters in a metering warehouse, comprising: A modeling unit for establishing a positioning coordinate system for the shelves in the warehouse; The modeling unit converts the spatial position data of the shelves in the warehouse into a standardized three-dimensional coordinate system through data acquisition, facilitating subsequent positioning and navigation applications; The modeling unit needs to select a reference point as the origin of the coordinate system. Usually, this reference point is set at the entrance or the central position of the warehouse. In this embodiment, the calibration unit is used as the origin position. The three axes (X, Y, Z) of the coordinate system respectively represent the horizontal, depth, and height directions of the warehouse; The modeling unit acquires the relative positions and size information of each shelf in the warehouse through laser ranging, lidar, cameras, or other sensors. These sensors can accurately measure the distances, angles, and heights between the shelves and convert this physical space information into specific coordinates in the coordinate system; Through the combination of mathematical models and measurement data, the modeling unit can accurately reflect the positions of the shelves in the warehouse and can also handle complex layouts and obstacle distributions, ensuring that the spatial coordinates of each shelf in the warehouse can be accurately represented in the coordinate system; A handheld terminal for information interaction with the retrieved meters; In this embodiment, a barcode scanning unit and a photographing unit are provided in the handheld terminal. The barcode scanning unit is used to scan the barcode information on the returned meter. While scanning the barcode, the photographing unit takes an image of the returned meter to perform appearance recognition of the returned meter. Such a setting can avoid the situation where, after a long-term storage, even if the barcode on the returned meter falls off, the returned meter can still be recognized and distinguished based on the stored image information. The first positioning system is used to connect to the modeling unit to obtain positioning coordinate system information; it is also used to establish a signal connection with the handheld terminal to obtain the position of the handheld terminal. The first positioning system adopts BLE positioning or Wi-Fi positioning. The processing unit is used to connect to the modeling unit to obtain positioning coordinate system information; it is also used to connect to the handheld terminal to obtain the information of the returned meter at the handheld terminal; it is also used to connect to the first positioning system to obtain the position information of the handheld terminal. The storage unit is used to connect to the processing unit to receive and store the position information of the handheld terminal and the information of the returned meter.

[0027] In this embodiment, the first positioning system includes a number of signal transmitting units arranged on the shelves, and a signal receiving unit is arranged inside the handheld terminal. The signal receiving unit is used to receive the signals transmitted by the signal transmitting units and judge the distance from the signal transmitting units according to the signal strength.

[0028] In this embodiment, the signal transmitting unit is a Bluetooth beacon or a WIFI access point (AP). In this embodiment, a Bluetooth beacon is adopted. At least four Bluetooth beacons are provided and the four Bluetooth beacons are arranged non-coplanarly in space. The signal receiving unit includes a Bluetooth module.

[0029] In this embodiment, let the coordinates of the target position be (x, y, z), and the positions of the four Bluetooth beacons in the positioning coordinate system are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) in sequence; the distances between the target position and the four Bluetooth beacons are d1, d2, d3, d4 in sequence. The first positioning system performs the positioning of the handheld terminal through the following equations:

[0030] where the distance between the target position and the Bluetooth beacon is based on the signal attenuation model:

[0031] where d is the distance between the target position and the Bluetooth beacon; RSSI is the received signal strength; A is the signal strength at 1m; n is the signal propagation attenuation exponent.

[0032] In this embodiment, the return table positioning system further includes a second positioning system. The second positioning system is connected to the processing unit. The second positioning system includes a position sensing unit. The position sensing unit is fixedly connected to the handheld terminal or built into the handheld terminal. The position sensing unit is used to sense the actions of the handheld terminal to calculate the displacement direction and displacement distance of the handheld terminal.

[0033] In this embodiment, the position sensing unit includes an acceleration sensing module, an angular velocity sensing module, and a magnetic force module; Among them, the acceleration sensing module is an accelerometer, which is used to measure the acceleration of an object in three directions (x, y, z axes). These acceleration data are used to calculate the speed and displacement of the object. By detecting the acceleration changes of the object in each axis direction, the speed is obtained by integration, and the displacement is obtained by integrating again; The angular velocity sensing module is a gyroscope, which is used to measure the angular velocity of an object around three coordinate axes (x, y, z axes). The data of the gyroscope are used to estimate the orientation of the object. By integrating the angular velocity, the angle change of the object is calculated, so as to obtain the direction of the object; The magnetic force module is a magnetometer, which is used to measure the intensity and direction of the earth's magnetic field, and helps to determine the azimuth angle of the device. Especially during long-term use, it is used to correct the drift error of the gyroscope. According to the change of the earth's magnetic field, the azimuth of the device relative to the north pole of the earth's magnetic field is determined, so as to improve the heading accuracy.

[0034] In this embodiment, the second positioning system further includes at least one calibration unit. The calibration unit is fixedly arranged in the warehouse. The calibration unit is connected to the position sensing unit and is used to calibrate the position sensing unit; The calibration unit is designed to perform static and dynamic tests on sensors such as accelerometers, gyroscopes, and magnetometers to ensure their stable and accurate performance; The calibration method is as follows: Accelerometer calibration: The accelerometer should measure the gravitational acceleration (g) in three axis directions. When the device is in a stationary state, ideally, the acceleration value along each axis should be close to ±9.81 m / s² (i.e., the gravitational acceleration of the earth). By changing the direction of the device, the response of the accelerometer to gravity in different directions is detected, and its zero offset and scale factor are corrected.

[0035] Gyroscope calibration: The gyroscope should have no rotation in a stationary state, so its output should be zero. Through static testing, the zero offset value of the gyroscope can be measured and adjusted. Usually, the deviation is determined by comparing the output of the gyroscope with the ideal state (zero rotation).

[0036] Magnetometer calibration: By measuring the earth's magnetic field, the magnetometer should be able to detect a stable magnetic field direction. By rotating the device and recording the output of the magnetometer, any non-ideal response can be detected and adjusted.

[0037] Embodiment 2: This application provides a method for positioning a returned form, as Figure 1 shown, which includes the following steps: Step S1: Use a modeling unit to establish a positioning coordinate system for the shelves in the warehouse according to the size and positional relationship of the warehouse and the shelves; The modeling unit converts the spatial position data of the shelves in the warehouse collected through the data into a standardized three-dimensional coordinate system for subsequent positioning and navigation applications; The modeling unit needs to select a reference point as the origin of the coordinate system. Usually, this reference point is set at the entrance or central position of the warehouse. In this embodiment, the calibration unit is used as the origin position. The three axes (X, Y, Z) of the coordinate system respectively represent the horizontal, depth, and height directions of the warehouse; The modeling unit collects the relative positions and dimension information of each shelf in the warehouse through laser ranging, lidar, cameras, or other sensors. These sensors can accurately measure the distances, angles, and heights between the shelves and convert this physical space information into specific coordinates in the coordinate system; Through the combination of mathematical models and measurement data, the modeling unit can accurately reflect the positions of the shelves in the warehouse, and can also handle complex layouts and obstacle distributions to ensure that the spatial coordinates of each shelf in the warehouse can be accurately represented in the coordinate system; Step S2: Import the position of the calibration unit into the positioning coordinate system and use the calibration unit to perform initial calibration of the position sensing unit; When the position sensing unit is initialized, it will perform data interaction with the calibration unit. By receiving the position signal or reference value of the calibration unit, it corrects its initial state and eliminates the deviation or error during the installation of the sensor. After calibration, the measurement data of the position sensing unit will be aligned with the positioning coordinate system, improving the overall positioning accuracy and stability of the system; Step S3: When placing the returned form, the handheld terminal collects the data of the returned form and sends it to the storage unit through the processing unit; Step S3 includes the following steps: Step S3-1: The handheld terminal collects the non-position data of the returned form. When the non-position data collection is completed, a time window is established. The change information of the position of the handheld terminal collected by the first positioning system is monitored within the time window. When the position change information is less than the preset threshold, the position information P1 of the handheld terminal output by the first positioning system at the end of the time window is collected, and step S3-2 is executed; otherwise, a new time window is established for monitoring; Since the first positioning system uses Bluetooth beacon - based detection, there is a large delay in the Bluetooth signal processing. Therefore, the set time window can monitor whether the impact of the delay on position detection has been reduced, avoiding the problem of large position recognition deviation caused by the delay. Step S3 - 2: Collect the position information P2 of the handheld terminal output by the second positioning system, calculate the distance between P1 and P2 in the positioning coordinate system. When the distance is less than the threshold, calculate the mid - point of the line connecting P1 and P2 as the position information P of the corresponding return - disassemble table, and send the collected data to the processing unit; otherwise, perform a position anomaly alarm. By setting the first positioning system and the second positioning system, double - position detection and mutual verification can be carried out when placing the return - disassemble table, avoiding the problem that when using a single - position detection, there is a position drift that the operator cannot detect. At the same time, by setting the threshold, the accuracy problem between the two positioning methods can be adapted, avoiding the problem that when combining detection methods with different accuracies, the numerical fluctuation is large, making it impossible for the staff to judge whether it is normal. Step S3 - 3: The processing unit sends the collected data to the storage unit for storage for subsequent calls. The data collected here includes position data, tag data, and image data. Step S4: Receive the return - disassemble table data that needs to be viewed. The received return - disassemble table data here is tag data, and search for the corresponding return - disassemble table position information and image information in the storage unit according to the received tag data. Step S5: The handheld terminal performs navigation according to the position information. The second positioning system uploads the position information of the handheld terminal to the processing unit in real - time. The processing unit judges the distance between the handheld terminal position and the positioning position. When the distance between the handheld terminal position and the positioning position is less than the threshold, the handheld terminal emits a prompt signal to complete the positioning and navigation of the return - disassemble table. At this time, the staff can search for the return - disassemble table on the corresponding shelf according to the tag information and image information.

[0038] It can be understood that the systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, and the specific form of the computer can be a personal computer, a laptop computer, a personal digital assistant, a tablet computer, a wearable device, or a combination of any several of these devices.

[0039] In a typical configuration, a computer includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0040] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0041] Computer-readable media include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. Information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0042] 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.

[0043] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0044] The above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the acts or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0045] The terms used in one or more embodiments of this specification are for the purpose of describing particular embodiments only and are not intended to limit one or more embodiments of this specification. The singular forms "a", "the", and "said" used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0046] It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of this specification to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of one or more embodiments of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "upon" or "in response to determining".

[0047] The above are only the preferred embodiments of one or more embodiments of this specification and are not intended to limit one or more embodiments of this specification. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of one or more embodiments of this specification shall be included within the scope of protection of one or more embodiments of this specification.

Claims

1. A positioning system for the retrieved meter in the metering storage, characterized in that, Including: A modeling unit, which is used to establish a positioning coordinate system for the shelves in the warehouse; A handheld terminal, which is used to interact with the retrieved meter; A first positioning system, which is used to connect with the modeling unit to obtain positioning coordinate system information; and is also used to connect with the handheld terminal for signal connection to obtain the position of the handheld terminal; A processing unit, which is used to connect with the modeling unit to obtain positioning coordinate system information; is also used to connect with the handheld terminal to obtain the retrieved meter information at the handheld terminal; and is also used to connect with the first positioning system to obtain the position information of the handheld terminal; A storage unit, which is used to connect with the processing unit to receive and store the position information of the handheld terminal and the retrieved meter information.

2. The positioning system for the retrieved meters in the metering warehouse according to claim 1, wherein The first positioning system includes a number of signal transmitting units arranged on the shelves. A signal receiving unit is arranged inside the handheld terminal. The signal receiving unit is used to receive the signals transmitted by the signal transmitting units and judge the distance from the signal transmitting units according to the signal strength.

3. The positioning system for the retrieved meter in the metering warehouse according to claim 2, characterized in that, The signal transmitting unit is a Bluetooth beacon. At least four Bluetooth beacons are arranged and the four Bluetooth beacons are not coplanar in space. The signal receiving unit includes a Bluetooth module.

4. The positioning system for the retrieved meter in the metering warehouse according to claim 3, wherein Let the coordinates of the target position be (x, y, z). The positions of the four Bluetooth beacons in the positioning coordinate system are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), and (x4, y4, z4) in sequence; the distances between the target position and the four Bluetooth beacons are d1, d2, d3, and d4 in sequence. The first positioning system performs the positioning of the handheld terminal through the following equations: Where the distance between the target position and the Bluetooth beacon is based on the signal attenuation model: Where, d is the distance between the target position and the Bluetooth beacon; RSSI is the received signal strength; A is the signal strength at 1m; n is the signal propagation attenuation exponent.

5. The positioning system for the retrieved meter in the metering warehouse according to claim 1, characterized in that, The retrieved meter positioning system further includes a second positioning system. The second positioning system is connected with the processing unit. The second positioning system includes a position sensing unit. The position sensing unit is fixedly connected with the handheld terminal or built into the handheld terminal. The position sensing unit is used to sense the actions of the handheld terminal to calculate the displacement direction and displacement distance of the handheld terminal.

6. The positioning system for the retrieved meters in the metering warehouse according to claim 5, characterized in that, The position sensing unit includes an acceleration sensing module and an angular velocity sensing module.

7. The positioning system for retrieved meters in a metering warehouse according to claim 5, characterized in that, The second positioning system further includes at least one calibration unit. The calibration unit is fixedly arranged in the warehouse. The calibration unit is connected with the position sensing unit and is used to calibrate the position sensing unit.

8. The positioning system for the retrieved meter in the metering storage as claimed in claim 1, wherein, A scanning unit and a photographing unit are arranged in the handheld terminal.

9. A method for positioning a disassembled and reinstalled meter, characterized in that, Including the following steps: Step S1: Use the modeling unit to establish a positioning coordinate system for the shelves in the warehouse according to the size and position relationship of the warehouse and the shelves; Step S2: Import the position of the calibration unit into the positioning coordinate system and use the calibration unit to perform initial calibration of the position sensing unit; Step S3: When placing the retrieved meter, the handheld terminal collects the retrieved meter data and sends it to the storage unit through the processing unit; Step S4: Receive the retrieved meter data that needs to be viewed and search for the position information in the storage unit; Step S5: The handheld terminal performs navigation based on the location information. The second positioning system uploads the location information of the handheld terminal to the processing unit in real time. The processing unit determines the distance between the location of the handheld terminal and the positioning location. When the distance between the location of the handheld terminal and the positioning location is less than the threshold, the handheld terminal emits a prompt signal, completing the positioning and navigation of the meter removal and reinstallation.

10. The table disassembling and reinstalling positioning method according to claim 9, wherein Step S3 includes the following steps: Step S3-1: The handheld terminal collects non-location data for meter removal and reinstallation. When the collection of non-location data is completed, a time window is established. Within the time window, the change information of the location of the handheld terminal collected by the first positioning system is monitored. When the change information of the location is less than the preset threshold, the location information P1 of the handheld terminal output by the first positioning system at the end of the collection time window is collected, and step S3-2 is executed; otherwise, a new time window is established for monitoring. Step S3-2: The location information P2 of the handheld terminal output by the second positioning system is collected, and the distance between P1 and P2 in the positioning coordinate system is calculated. When the distance is less than the threshold, the midpoint of the line connecting P1 and P2 is calculated as the location information P of the corresponding meter removal and reinstallation, and the collected data is sent to the processing unit; otherwise, a location anomaly alarm is issued. Step S3-3: The processing unit sends the collected data to the storage unit for storage.

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