Equipment control method and system based on industrial Internet of Things

Abstract

The invention is suitable for the technical field of industrial control, and particularly relates to an equipment control method and system based on industrial Internet of Things, and the method comprises the steps: building data connection with an automatic following trolley; acquiring signal intensity information transmitted by the signal interaction end, and positioning a user; a three-dimensional coordinate system is constructed, the position of the user is marked, a delay control instruction is generated according to the moving track of the user, and the automatic following trolley is controlled to move based on the delay control instruction; a plurality of detection points are arranged on the moving track, and when the automatic following trolley arrives at each detection point, position verification is performed based on an Internet of Things signal, and position errors are eliminated. The automatic following trolley is guided to move according to the moving path of a user, the Internet of Things equipment is detected, the moving position error is eliminated, the moving control precision and the article carrying efficiency are improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial control, and particularly relates to a device control method and system based on the industrial Internet of Things. Background Art

[0002] The Industrial Internet of Things (IIoT) refers to a technical system that connects sensors, controllers, and other devices through the Internet in a manufacturing and industrial environment to achieve machine-to-machine (M2M) communication, automation, data collection, and analysis. It combines traditional industrial control systems with modern information technologies, enabling physical devices to communicate with each other and be remotely monitored and managed, thereby improving production efficiency, optimizing operation processes, reducing downtime, and promoting the development of innovative services. The IIoT is a key component of the fourth industrial revolution, also known as "Industry 4.0", which is changing the way industries operate and laying the foundation for smart factories and intelligent manufacturing.

[0003] In the current industrial production environment, especially during the warehousing management process, when goods need to be picked up and placed, small carts are usually used to load the goods. When a large amount of materials need to be requisitioned, the cart needs to be pushed for movement, which is cumbersome and causes significant physical fatigue to the warehousing management personnel. Summary of the Invention

[0004] The purpose of the present invention is to provide a device control method based on the industrial Internet of Things, aiming to solve the problem that in the current industrial production environment, especially during the warehousing management process, when goods need to be picked up and placed, small carts are usually used to load the goods. When a large amount of materials need to be requisitioned, the cart needs to be pushed for movement, which is cumbersome and causes significant physical fatigue to the warehousing management personnel.

[0005] The present invention is implemented as follows. A device control method based on the industrial Internet of Things, the method includes: Controlling a follow-up positioning device to establish a data connection with an automatic following cart. The follow-up positioning device is worn on the body of the user. The follow-up positioning device includes two groups of signal interaction ends, and the automatic following cart includes three groups of signal receiving ends; Obtaining the signal strength information emitted by the signal interaction ends, calculating the distance between the signal interaction ends and the signal receiving ends based on the signal strength information, and positioning the user; Constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the automatic following cart to move based on the delay control instruction; Setting a plurality of detection points on the movement trajectory, and performing position verification based on the Internet of Things signal when the automatic following cart arrives at each detection point to eliminate position errors.

[0006] Preferably, the steps of obtaining the signal strength information transmitted by the signal interaction end, calculating the distance between the signal interaction end and the signal receiving end based on the signal strength information, and positioning the signal interaction end include: Detect the signal strength information of the signal interaction end through the signal receiving end. During this process, the signal interaction end and the signal receiving end perform identity verification; Calculate the distance between each signal receiving end and each signal interaction end based on a preset signal strength-distance conversion formula; Determine the position of the signal receiving end relative to the automatic following cart through the distances between one signal receiving end and multiple other signal interaction ends, and use the midpoint of the signal interaction ends as the position of the user.

[0007] Preferably, the steps of constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following cart based on the delay control instruction specifically include: Construct a three-dimensional coordinate system, use the plane where the signal receiving end is located as the plane where the X-axis and Y-axis are located, mark the position of the signal receiving end, and determine the starting position of the signal receiving end; Mark the position of the user, connect the coordinate points where the position of the user is located to obtain a movement trajectory; Based on the real-time distance between the automatic following cart and the user, intercept the trajectory segment of the corresponding interval from the movement trajectory, enter it into the delay control instruction, and control the movement of the automatic following cart.

[0008] Preferably, the steps of setting multiple detection points on the movement trajectory, performing position verification based on the Internet of Things signal when the automatic following cart arrives at each detection point, and eliminating position errors specifically include: Set multiple detection points on the movement trajectory. The signal interaction end performs external signal detection at each detection point to obtain external signal detection data, and the external signal detection data includes the signal source device number and the signal source strength value; During the movement of the automatic following cart, perform external signal detection to obtain signal verification data, compare the signal verification data with the external signal detection data, and determine whether there is a deviation in the position; When it is determined that there is a position deviation, update the actual position of the automatic following cart.

[0009] Preferably, the orientation of the user is detected according to the positional relationship between the two groups of signal interaction ends and the three groups of signal receiving ends. When the user faces the automatic following cart, the simulation cart-pushing mode is entered. At this time, the automatic following cart detects the position of the user in real time, controls the automatic following cart to always face the user, and rotates and moves according to the position of the user.

[0010] Another object of the present invention is to provide a device control system based on the industrial Internet of Things. The system includes: A data connection module for controlling the establishment of a data connection between the follow-up positioning device and the automatic following cart. The follow-up positioning device is worn on the user's body. The follow-up positioning device includes two groups of signal interaction ends, and the automatic following cart includes three groups of signal receiving ends; A personnel positioning module for obtaining the signal strength information transmitted by the signal interaction end, calculating the distance between the signal interaction end and the signal receiving end based on the signal strength information, and positioning the user; A following control module for constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following cart based on the delay control instruction; An error elimination module for setting a plurality of detection points on the movement trajectory, and performing position verification based on the Internet of Things signal when the automatic following cart reaches each detection point to eliminate the position error.

[0011] Preferably, the personnel positioning module includes: An identity verification unit for detecting the signal strength information of the signal interaction end through the signal receiving end. During this process, the signal interaction end and the signal receiving end perform identity verification; A distance calculation unit for calculating the distance between each signal receiving end and each signal interaction end based on a preset signal strength-distance conversion formula; A personnel position calculation unit for determining the position of the signal receiving end relative to the automatic following cart through the distances between one signal receiving end and multiple other signal interaction ends, and taking the midpoint of the signal interaction ends as the position of the user.

[0012] Preferably, the following control module includes: A coordinate system construction unit for constructing a three-dimensional coordinate system, using the plane where the signal receiving ends are located as the plane where the X-axis and the Y-axis are located, marking the positions of the signal receiving ends, and determining the starting positions of the signal receiving ends; A trajectory recording unit for marking the position of the user, connecting the coordinate points where the position of the user is located, and obtaining a movement trajectory; An instruction generation unit, configured to intercept a track segment of a corresponding interval from a movement track based on the real-time distance between the automatic following cart and the user, input it into a delay control instruction, and control the movement of the automatic following cart.

[0013] Preferably, the error elimination module includes: A first signal detection unit, configured to set a plurality of detection points on the movement track, and the signal interaction end performs external signal detection at each detection point to obtain external signal detection data, where the external signal detection data includes a signal source device number and a signal source intensity value; A second signal detection unit, configured to perform external signal detection during the movement of the automatic following cart to obtain signal verification data, and compare the signal verification data with the external signal detection data to determine whether there is a position deviation; An offset correction unit, configured to update the actual position of the automatic following cart when it is determined that there is a position deviation.

[0014] Preferably, the orientation of the user is detected according to the positional relationship between two groups of signal interaction ends and three groups of signal receiving ends. When the user faces the automatic following cart, it enters the simulated cart-pushing mode. At this time, the automatic following cart detects the position of the user in real time, controls the automatic following cart to always face the user, and rotates and moves according to the position of the user.

[0015] The device control method based on the industrial Internet of Things provided by the present invention can, by setting a signal interaction end and a signal receiving end, monitor the position of the user in real time, guide the automatic following cart to move according to the movement path of the user, and eliminate the error of the moving position by detecting the Internet of Things device, improving the accuracy of movement control and the efficiency of item handling, and reducing the labor intensity. Description of the Drawings

[0016] Figure 1 It is a flowchart of the device control method based on the industrial Internet of Things provided by an embodiment of the present invention; Figure 2 It is a flowchart of the steps of obtaining the signal intensity information transmitted by the signal interaction end, calculating the distance between the signal interaction end and the signal receiving end based on the signal intensity information, and positioning the user; Figure 3 It is a flowchart of the steps of constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement track of the user, and controlling the movement of the automatic following cart based on the delay control instruction; Figure 4A flowchart of the steps provided in the embodiments of the present invention for setting multiple detection points on a moving trajectory and performing position verification based on Internet of Things signals to eliminate position errors when an automatic following cart reaches each detection point; Figure 5 An architecture diagram of a device control system based on the industrial Internet of Things provided in the embodiments of the present invention; Figure 6 An architecture diagram of a personnel positioning module provided in the embodiments of the present invention; Figure 7 An architecture diagram of a following control module provided in the embodiments of the present invention; Figure 8 An architecture diagram of an error elimination module provided in the embodiments of the present invention; Figure 9 A schematic diagram of the positioning principle of a device control method based on the industrial Internet of Things provided in the embodiments of the present invention. Detailed implementation manners

[0017] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0018] As Figure 1 shown, S100, control the slave positioning device to establish a data connection with the automatic following cart. The slave positioning device is worn on the body of the user. The slave positioning device includes two groups of signal interaction terminals, and the automatic following cart includes three groups of signal receiving terminals.

[0019] In this step, control the slave positioning device to establish a data connection with the automatic following cart. The signal receiving terminals and the signal interaction terminals are used to detect the distance through wireless communication, such as Bluetooth communication, WIFI communication, Zigbee or LoRa, etc. The signal interaction terminals have signal transmitting and signal receiving functions. The distance between the two groups of signal interaction terminals is fixed. Similarly, the relative positions of the three groups of signal receiving terminals installed on the automatic following cart are also fixed. The three groups of signal receiving terminals form a triangle. In order to avoid obstacles during the movement of the automatic following cart, sensors for obstacle avoidance, such as radars, can be set around the automatic following cart. When in use, the slave positioning device can be made into a vest or other devices that are easy to fix, and fixed on the chest or back of the user.

[0020] S200, obtain the signal strength information transmitted by the signal interaction terminal, calculate the distance between the signal interaction terminal and the signal receiving terminal based on the signal strength information, and position the user.

[0021] In this step, obtain the signal strength information transmitted by the signal interaction end. When in use, transmit a wireless signal outward through the signal interaction section. At this time, use the signal receiving end to detect the wireless signals sent by each signal interaction end and monitor their signal strength values. Calculate the distance value between the signal interaction end and the signal receiving end based on the signal strength value. Then, the distance value between each signal interaction end and any signal receiving end can be determined accordingly. The relative position between each signal interaction end and the automatic following cart can be calculated through three groups of signal receiving ends. After determining the positions of two groups of signal interaction ends, use the position in the middle of the two groups of signal interaction ends as the position of the user, that is, the positioning of the user is completed.

[0022] S300, construct a three-dimensional coordinate system, mark the position of the user, generate a delay control instruction according to the moving trajectory of the user, and control the movement of the automatic following cart based on the delay control instruction.

[0023] In this step, construct a three-dimensional coordinate system, select three points from the three-dimensional coordinate system as the positions where the three signal receiving ends are located. According to the positions of the signal receiving ends set on the automatic following cart, set the representation point of the automatic following cart. The representation point is regarded as the position of the automatic following cart. By marking the position of the user and continuously updating the position of the user in the three-dimensional coordinate system, a series of coordinate points are generated in the three-dimensional coordinate system. At the beginning, the position of the automatic following cart remains fixed until the distance between the user and the automatic following cart is greater than the preset value. At this time, the automatic following cart starts to move, that is, the real-time moving position of the automatic following cart relative to the user has a delay. Then, according to the historical trajectory of the user, the moving trajectory of the automatic following cart can be determined, that is, control the movement of the automatic following cart by generating a delay control instruction. The projection trajectory of the moving trajectory of the automatic following cart on the horizontal plane is the same as the moving trajectory of the user.

[0024] S400, set multiple detection points on the moving trajectory. When the automatic following cart arrives at each detection point, perform position verification based on the Internet of Things signal to eliminate position errors.

[0025] In this step, multiple detection points are set on the movement trajectory. Since there are errors in ranging based on signal strength, during continuous movement, there will be position deviations, resulting in the trajectory of the automatic following cart being different from the movement trajectory of the user. To solve this problem, signal detection is performed through two sets of signal interaction terminals at regular intervals. Since there are various Internet of Things devices set in the factory environment and the Internet of Things devices broadcast signals outward, the signals of each Internet of Things device can be detected by the signal interaction terminals and their identities can be recognized. The above device information and signal strength are recorded. During the movement of the automatic following cart, if the same device and the same signal strength are detected, it is regarded that the automatic following cart has reached the corresponding detection point, thereby resetting the position of the automatic following cart to eliminate the position error.

[0026] As Figure 2 shown, as a preferred embodiment of the present invention, the steps of obtaining the signal strength information transmitted by the signal interaction terminal, calculating the distance between the signal interaction terminal and the signal receiving terminal based on the signal strength information, and positioning the signal interaction terminal include: S201, detecting the signal strength information of the signal interaction terminal through the signal receiving terminal. During this process, the signal interaction terminal and the signal receiving terminal perform identity verification.

[0027] In this step, the signal strength information of the signal interaction terminal is detected through the signal receiving terminal. When the signal interaction terminal starts to transmit a wireless signal, the signal receiving terminal continuously monitors the signal strength, thereby recording the signal strength information. The signal interaction terminal sends identity verification information to the signal receiving terminal through the wireless signal. The above identity verification information is stored in the signal receiving terminal. After the signal receiving terminal receives the above identity verification information, the identity of the signal interaction terminal is determined by comparison.

[0028] S202, calculating the distance between each signal receiving terminal and each signal interaction terminal based on a preset signal strength-distance conversion formula.

[0029] In this step, the preset signal strength-distance conversion formula is retrieved, and the current signal strength value and the corresponding parameters are substituted into the formula. The signal strength-distance conversion formula is expressed as:

[0030] where is the signal transmission strength of the signal interaction terminal, which is a fixed value, is the signal strength detected by the signal receiving terminal, n is the path loss exponent, and L is the straight-line distance between the signal receiving terminal and the signal interaction terminal.

[0031] S203. Determine the position of the signal receiving end relative to the automatic following cart based on the distances between one signal receiving end and multiple other signal interaction ends, and take the midpoint of the signal interaction ends as the position of the user.

[0032] In this step, construct a virtual three-dimensional coordinate system. The positions of three groups of signal receiving ends are marked in the virtual three-dimensional coordinate system. Each time a distance measurement is performed, a set of distance values is obtained. For example, there are three sets of distance values, namely L1, L2, and L3, for the A signal interaction end relative to the three groups of signal receiving ends. Take the positions of the three signal receiving ends as the origin points, and construct three spheres with the corresponding distance measurement values as the radii. The intersection point of the three spheres is taken as the position of one signal interaction end. Based on this, determine the position of each signal interaction end and indirectly determine the position of the user.

[0033] As Figure 3 shown, as a preferred embodiment of the present invention, the steps of constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following cart based on the delay control instruction specifically include: S301. Construct a three-dimensional coordinate system. Take the plane where the signal receiving end is located as the plane where the X-axis and Y-axis are located, mark the position of the signal receiving end, and determine the starting position of the signal receiving end.

[0034] In this step, construct a three-dimensional coordinate system, set the starting position of the signal receiving end, take the center of the signal receiving end as the position of the automatic following cart, and record the historical trajectory of the automatic following cart when it moves.

[0035] S302. Mark the position of the user, connect the coordinate points where the position of the user is located, and obtain the movement trajectory.

[0036] In this step, at the beginning, the automatic following cart keeps its position fixed, and the user starts to move away from the automatic following cart. During this process, mark the unchanged position of the user in the three-dimensional coordinate system to form the movement trajectory of the user. When the distance value between the user and the automatic following cart is greater than the preset value, the automatic following cart starts to move.

[0037] S303. Based on the real-time distance between the automatic following cart and the user, intercept the trajectory segment of the corresponding interval from the movement trajectory, input it into the delay control instruction, and control the movement of the automatic following cart.

[0038] In this step, based on the real-time distance between the automatic following cart and the user, determine the position delay between the automatic following cart and the user. For example, Figure 9As shown in the figure, A, B, and C are the positions where the signal receiving ends are located, G17 and G18 are the positions of two groups of signal interaction ends, and G0 - G15 are the positions of the users. The movement trajectory is projected onto the plane where the X-axis and Y-axis are located, and the corresponding trajectory segment is intercepted as the route to control the automatic following cart. This trajectory segment is divided into multiple paragraphs, and each paragraph serves as a delay control instruction. For example, when the user moves 50 cm in the due north direction in the M - N interval segment, when the automatic following cart reaches point M, it moves 50 cm in the due north direction synchronously. The moving distance of the automatic following cart can be detected by a wheel speed sensor. During the process of controlling the movement of the automatic following cart, if it is detected that the rotation angle of the user's trajectory in the delay control instruction is greater than the preset value, it is determined that a turn is required at this location. Then, the movement trajectory of the user at the corresponding position is retrieved, and the curvature and deflection direction of the movement trajectory are recorded. When the automatic following cart reaches the corresponding position, the corresponding angle deflection is performed.

[0039] As Figure 4 shown, as a preferred embodiment of the present invention, the step of setting multiple detection points on the movement trajectory and performing position verification based on the Internet of Things signal to eliminate position errors when the automatic following cart reaches each detection point specifically includes: S401, Set multiple detection points on the movement trajectory. The signal interaction end performs external signal detection at each detection point to obtain external signal detection data. The external signal detection data includes the signal source device number and the signal source intensity value.

[0040] In this step, multiple detection points are set on the movement trajectory. The purpose of setting the detection points is to reset the position of the automatic following cart by detecting the signals of nearby Internet of Things devices to eliminate position errors. Specifically, the detection points are selected from the movement trajectory according to a preset distance step length. For example, a detection point is set every 10 meters, or the detection points can also be set according to a time interval. For example, a detection point is set every 10 seconds. When the user reaches the detection point, the Internet of Things devices detected by the current position signal interaction end are recorded, and the signal intensities of the corresponding Internet of Things devices are recorded. The numbers of the above-mentioned Internet of Things devices are preset in the signal interaction end and the signal receiving end, so the identities of the Internet of Things devices can be directly recognized. The above information is recorded to obtain the external signal detection data.

[0041] S402, During the movement of the automatic following cart, external signal detection is performed to obtain signal verification data, and the signal verification data is compared with the external signal detection data to determine whether there is a position deviation.

[0042] S403, When it is determined that there is a position deviation, update the actual position of the automatic following cart.

[0043] In this step, during the process of the automatic following cart moving, external signal detection is carried out. Similarly, when the automatic following cart arrives at the corresponding detection point, the Internet of Things device is also detected, and the signal strength value is recorded. If it coincides with the external signal detection data, it indicates that there is no position error at the current detection point. If it does not coincide with the external signal detection data, it means there is a position error. If the data detected by the automatic following cart near the detection point coincides with the external signal detection data, then it is determined that the position is the same as the position where the detection point is located, and the position update of the automatic following cart is completed; during the movement of the automatic following cart, if the user folds back along the trajectory, the automatic following cart pauses until the distance between the automatic following cart and the user is greater than the preset value, and the repeated segments of the user's movement trajectory are deleted.

[0044] As a preferred embodiment of the present invention, the orientation of the user is detected according to the positional relationship between the two signal interaction ends and the three signal receiving ends. When the user faces the automatic following cart, it enters the simulated cart-pushing mode. At this time, the automatic following cart detects the position of the user in real time, and controls the automatic following cart to always face the user, and rotates and moves according to the position of the user.

[0045] In this embodiment, when the automatic following cart moves, its forward direction is defined as the front. The two signal interaction ends are defined as the a signal interaction end and the b signal interaction end. When the automatic following cart is in the following mode, the a signal interaction end is located at the left front of the automatic following cart, and the b signal interaction end is located at the right front of the automatic following cart. When the user folds back and approaches the automatic following cart and faces the automatic following cart, then the a signal interaction end is located at the right front of the automatic following cart, and the b signal interaction end is located at the left front of the automatic following cart. The positions of the a signal interaction end and the b signal interaction end are exchanged. If the distance between the a signal interaction end and the b signal interaction end and the automatic following cart is less than the preset value, it is determined to enter the simulated cart-pushing mode. At this time, the automatic following cart is located directly in front of the user, and controls the automatic following cart to always face the user, that is, always keep in front of the user. Then when controlling the automatic following cart to enter the warehouse or move forward, the automatic following cart can be kept in front of the user to adapt to different usage scenarios.

[0046] As Figure 5 shown, a device control system based on the industrial Internet of Things provided by an embodiment of the present invention, the system includes: A data connection module 100, which is used to control the follow-up positioning device to establish a data connection with the automatic following cart. The follow-up positioning device is worn on the user's body. The follow-up positioning device includes two signal interaction ends, and the automatic following cart includes three signal receiving ends.

[0047] In this system, the data connection module 100 controls the data connection between the follow-up positioning device and the automatic following cart. The signal receiving end and the signal interaction end are used for distance detection through wireless communication, such as Bluetooth communication, WIFI communication, Zigbee or LoRa, etc. The signal interaction end has a signal transmitting function and a signal receiving function. The distance between two groups of signal interaction ends is fixed. Similarly, the relative positions between the three groups of signal receiving ends installed on the automatic following cart are also fixed. The three groups of signal receiving ends form a triangle. In order to avoid obstacles during the movement of the automatic following cart, sensors such as radars can be set around the automatic following cart. When in use, the follow-up positioning device can be made into a vest or other devices that are easy to fix, and fixed on the chest or back of the user.

[0048] The personnel positioning module 200 is used to obtain the signal strength information transmitted by the signal interaction end, calculate the distance between the signal interaction end and the signal receiving end based on the signal strength information, and locate the user.

[0049] In this system, the personnel positioning module 200 obtains the signal strength information transmitted by the signal interaction end. When in use, it emits wireless signals through the signal interaction section. At this time, the signal receiving end detects the wireless signals sent by each signal interaction end and monitors their signal strength values. Based on the signal strength values, the distance values between the signal interaction end and the signal receiving end are calculated. Then, the distance values between each signal interaction end and any one signal receiving end can be determined accordingly. Through the three groups of signal receiving ends, the relative positions between each signal interaction end and the automatic following cart can be calculated. After determining the positions of two groups of signal interaction ends, the position in the middle of the two groups of signal interaction ends is used as the position of the user, that is, the positioning of the user is completed.

[0050] The following control module 300 is used to construct a three-dimensional coordinate system, mark the position of the user, generate a delay control instruction according to the movement trajectory of the user, and control the movement of the automatic following cart based on the delay control instruction.

[0051] In this system, the following control module 300 constructs a three-dimensional coordinate system, selects three points from the three-dimensional coordinate system as the positions where the three signal receivers are located, sets a representation point of the automatic following cart according to the positions of the signal receivers on the automatic following cart, and the representation point is regarded as the position of the automatic following cart. By marking the position of the user, the position of the user is continuously updated in the three-dimensional coordinate system, so as to generate a series of coordinate points in the three-dimensional coordinate system. At the beginning, the position of the automatic following cart remains fixed until the distance between the user and the automatic following cart is greater than a preset value. At this time, the automatic following cart starts to move, that is, the real-time moving position of the automatic following cart relative to the user has a delay. Then, according to the historical trajectory of the user, the moving trajectory of the automatic following cart can be determined, that is, by generating a delay control instruction to control the movement of the automatic following cart, and the projection trajectory of the moving trajectory of the automatic following cart on the horizontal plane is the same as the moving trajectory of the user.

[0052] The error elimination module 400 is used to set a plurality of detection points on the moving trajectory. When the automatic following cart reaches each detection point, position verification is performed based on the Internet of Things signal to eliminate position errors.

[0053] In this system, the error elimination module 400 sets a plurality of detection points on the moving trajectory. Since there are errors in ranging based on signal strength, during continuous movement, there will be position deviations, resulting in the trajectory of the automatic following cart being different from the moving trajectory of the user. To solve this problem, a signal detection is performed through two groups of signal interaction terminals at regular intervals. Since there are various Internet of Things devices set in the factory environment and the Internet of Things devices broadcast signals outward, the signal interaction terminals can detect the signals of each Internet of Things device and identify its identity, record the above device information and signal strength. During the movement of the automatic following cart, if the same device and the same signal strength are detected, it is regarded that the automatic following cart has reached the corresponding detection point, so as to reset the position of the automatic following cart and eliminate position errors.

[0054] As Figure 6 shown, as a preferred embodiment of the present invention, the personnel positioning module 200 includes: The identity verification unit 201 is used to detect the signal strength information of the signal interaction terminal through the signal receiver. During this process, the signal interaction terminal and the signal receiver perform identity verification.

[0055] In this module, the authentication unit 201 detects the signal strength information of the signal interaction end through the signal receiving end. When the signal interaction end starts to transmit wireless signals, the signal receiving end continuously monitors the signal strength, thereby recording the signal strength information. The signal interaction end sends authentication information to the signal receiving end through the wireless signal. The above authentication information is stored in the signal receiving end. After the signal receiving end receives the above authentication information, it determines the identity of the signal interaction end by comparison.

[0056] The distance calculation unit 202 is used to calculate the distance between each signal receiving end and each signal interaction end based on a preset signal strength-distance conversion formula.

[0057] In this module, the distance calculation unit 202 retrieves a preset signal strength-distance conversion formula and substitutes the current signal strength value and the corresponding parameters into the formula. The signal strength-distance conversion formula is expressed as:

[0058] Wherein, is the signal transmission strength of the signal interaction end, which is a fixed value, P is the signal strength detected by the signal receiving end, n is the path loss exponent, and L is the straight-line distance between the signal receiving end and the signal interaction end.

[0059] The personnel position calculation unit 203 is used to determine the position of the signal receiving end relative to the automatic following cart through the distances between one signal receiving end and multiple other signal interaction ends, and use the midpoint of the signal interaction ends as the position of the user.

[0060] In this module, the personnel position calculation unit 203 constructs a virtual three-dimensional coordinate system. The positions of three groups of signal receiving ends are marked in the virtual three-dimensional coordinate system. Each time a distance measurement is performed, a set of distance values is obtained. For example, there are three sets of distance values for the A signal interaction end relative to the three groups of signal receiving ends, which are L1, L2, and L3 respectively. Taking the positions of the three signal receiving ends as the origin and using the corresponding distance measurement values as the radii to construct three spheres, the intersection point of the three spheres is used as the position of one signal interaction end. Based on this, the position of each signal interaction end is determined, and indirectly the position of the user is determined.

[0061] As Figure 7 shown, as a preferred embodiment of the present invention, the following control module 300 includes: The coordinate system construction unit 301 is used to construct a three-dimensional coordinate system, use the plane where the signal receiving end is located as the plane where the X-axis and Y-axis are located, mark the position of the signal receiving end, and determine the starting position of the signal receiving end.

[0062] In this module, the coordinate system construction unit 301 constructs a three-dimensional coordinate system, sets the starting position of the signal receiving end, takes the center of the signal receiving end as the position of the automatic following cart, and records the historical trajectory of the automatic following cart when it moves.

[0063] The trajectory recording unit 302 is used to mark the position of the user, connect the coordinate points where the user's position is located, and obtain the movement trajectory.

[0064] In this module, at the beginning, the automatic following cart of the trajectory recording unit 302 keeps its position fixed, and the user starts to move away from the automatic following cart. During this process, the position of the user is marked unchanged in the three-dimensional coordinate system to form the movement trajectory of the user. When the distance value between the user and the automatic following cart is greater than the preset value, the automatic following cart starts to move.

[0065] The instruction generation unit 303 is used to intercept the trajectory segment corresponding to the corresponding interval from the movement trajectory based on the real-time distance between the automatic following cart and the user, input it into the delay control instruction, and control the movement of the automatic following cart.

[0066] In this module, the instruction generation unit 303 determines the position delay between the automatic following cart and the user based on the real-time distance between the automatic following cart and the user, projects the movement trajectory onto the plane where the X-axis and the Y-axis are located, intercepts the corresponding trajectory segment as the route for controlling the automatic following cart, divides the trajectory segment, divides it into multiple paragraphs, and each paragraph is used as a delay control instruction. For example, when the user moves 50 cm in the due north direction in the M-N interval segment, when the automatic following cart reaches point M, it synchronously moves 50 cm in the due north direction. The moving distance of the automatic following cart can be detected by a wheel speed sensor. During the process of controlling the movement of the automatic following cart, if it is detected that the rotation angle of the user's trajectory in the delay control instruction is greater than the preset value, it is determined that a turn is required at this place, then the movement trajectory of the user at the corresponding position is retrieved, the curvature and deflection direction of the movement trajectory are recorded, and when the automatic following cart reaches the corresponding position, the corresponding angle deflection is performed.

[0067] As Figure 8 shown, as a preferred embodiment of the present invention, the error elimination module 400 includes: The first signal detection unit 401 is used to set multiple detection points on the movement trajectory, and the signal interaction end performs external signal detection at each detection point to obtain external signal detection data, and the external signal detection data includes the signal source device number and the signal source intensity value.

[0068] In this module, the first signal detection unit 401 sets multiple detection points on the movement trajectory. The purpose of setting the detection points is to reset the position of the automatic following cart by detecting the signals of nearby Internet of Things devices, so as to eliminate the position error. Specifically, the detection points are selected from the movement trajectory according to a preset distance step. For example, a detection point is set every 10 meters, or the detection points can also be set according to a time interval. For example, a detection point is set every 10 seconds. When the user is at the detection point, the Internet of Things devices detected by the current position signal interaction end are recorded, and the signal strength of the corresponding Internet of Things devices is recorded. The numbers of the above-mentioned Internet of Things devices are preset in the signal interaction end and the signal receiving end. Therefore, the identities of the Internet of Things devices can be directly recognized, and the above information is recorded to obtain the external signal detection data.

[0069] The second signal detection unit 402 is used to perform external signal detection during the movement of the automatic following cart, obtain signal verification data, and compare the signal verification data with the external signal detection data to determine whether there is a position deviation.

[0070] The offset correction unit 403 is used to update the actual position of the automatic following cart when it is determined that there is a position deviation.

[0071] In this module, during the movement of the automatic following cart, external signal detection is performed. Similarly, when the automatic following cart reaches the corresponding detection point, the Internet of Things devices are also detected, and the signal strength value is recorded. If it coincides with the external signal detection data, it indicates that there is no position error at the current detection point. If it does not coincide with the external signal detection data, it means that there is a position error. If the data detected by the automatic following cart near the detection point coincides with the external signal detection data, it is determined that the position is the same as the position where the detection point is located, and the position update of the automatic following cart is completed; during the movement of the automatic following cart, if the user turns back along the trajectory, the automatic following cart pauses moving until the distance between the automatic following cart and the user is greater than the preset value, and the repeated segments of the user's movement trajectory are deleted.

[0072] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A device control method based on the industrial Internet of Things, characterized in that, The method includes: Controlling the slave positioning device to establish a data connection with the automatic following trolley. The slave positioning device is worn on the user's body. The slave positioning device includes two groups of signal interaction terminals, and the automatic following trolley includes three groups of signal receiving terminals; Obtaining the signal strength information transmitted by the signal interaction terminals, calculating the distance between the signal interaction terminals and the signal receiving terminals based on the signal strength information, and positioning the user; Constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following trolley based on the delay control instruction; Setting a plurality of detection points on the movement trajectory. When the automatic following trolley arrives at each detection point, performing position verification based on the Internet of Things signal to eliminate position errors.

2. The device control method based on the industrial Internet of Things according to claim 1, wherein The step of obtaining the signal strength information transmitted by the signal interaction terminals, calculating the distance between the signal interaction terminals and the signal receiving terminals based on the signal strength information, and positioning the signal interaction terminals includes: Detecting the signal strength information of the signal interaction terminals through the signal receiving terminals. During this process, the signal interaction terminals and the signal receiving terminals perform identity verification; Calculating the distance between each signal receiving terminal and each signal interaction terminal based on a preset signal strength-distance conversion formula; Determining the position of the signal receiving terminal relative to the automatic following trolley through the distances between one signal receiving terminal and multiple other signal interaction terminals, and taking the midpoint of the signal interaction terminals as the position of the user.

3. The device control method based on industrial Internet of Things according to claim 1, characterized in that The step of constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following trolley based on the delay control instruction specifically includes: Constructing a three-dimensional coordinate system, taking the plane where the signal receiving terminals are located as the plane of the X-axis and the Y-axis, marking the positions of the signal receiving terminals, and determining the starting positions of the signal receiving terminals; Marking the position of the user, connecting the coordinate points where the position of the user is located to obtain a movement trajectory; Based on the real-time distance between the automatic following trolley and the user, intercepting the trajectory segment of the corresponding interval from the movement trajectory, entering it into the delay control instruction, and controlling the movement of the automatic following trolley.

4. The device control method based on industrial Internet of Things according to claim 1, wherein The step of setting a plurality of detection points on the movement trajectory, and when the automatic following trolley arrives at each detection point, performing position verification based on the Internet of Things signal to eliminate position errors specifically includes: Setting a plurality of detection points on the movement trajectory. The signal interaction terminals perform external signal detection at each detection point to obtain external signal detection data. The external signal detection data includes the signal source device number and the signal source strength value; During the movement of the automatic following trolley, performing external signal detection to obtain signal verification data, comparing the signal verification data with the external signal detection data, and determining whether there is a deviation in the position; When it is determined that there is a position deviation, updating the actual position of the automatic following trolley.

5. The device control method based on industrial Internet of Things according to claim 1, wherein Detect the orientation of the user according to the positional relationship between the two sets of signal interaction terminals and the three sets of signal receiving terminals. When the user's orientation follows the automatic following cart, enter the simulated cart-pushing mode. At this time, the automatic following cart detects the user's position in real time, controls the automatic following cart to always face the user, and rotates and moves according to the user's position.

6. An equipment control system based on the industrial Internet of Things, characterized in that, The system includes: A data connection module for controlling the establishment of a data connection between the follow-up positioning device and the automatic following cart. The follow-up positioning device is worn on the user's body. The follow-up positioning device includes two sets of signal interaction terminals, and the automatic following cart includes three sets of signal receiving terminals; A personnel positioning module for obtaining the signal strength information transmitted by the signal interaction terminal, calculating the distance between the signal interaction terminal and the signal receiving terminal based on the signal strength information, and positioning the user; A following control module for constructing a three-dimensional coordinate system, marking the position of the user, generating a delay control instruction according to the movement trajectory of the user, and controlling the movement of the automatic following cart based on the delay control instruction; An error elimination module for setting multiple detection points on the movement trajectory, and performing position verification based on the Internet of Things signal when the automatic following cart reaches each detection point to eliminate position errors.

7. The device control system based on industrial Internet of Things according to claim 6, characterized in that, The personnel positioning module includes: An identity verification unit for detecting the signal strength information of the signal interaction terminal through the signal receiving terminal. During this process, the signal interaction terminal and the signal receiving terminal perform identity verification; A distance calculation unit for calculating the distance between each signal receiving terminal and each signal interaction terminal based on a preset signal strength-distance conversion formula; A personnel position calculation unit for determining the position of the signal receiving terminal relative to the automatic following cart through the distances between one signal receiving terminal and multiple other signal interaction terminals, and taking the midpoint of the signal interaction terminals as the position of the user.

8. The device control system based on the industrial Internet of Things according to claim 6, wherein The following control module includes: A coordinate system construction unit for constructing a three-dimensional coordinate system, using the plane where the signal receiving terminals are located as the plane where the X-axis and Y-axis are located, marking the positions of the signal receiving terminals, and determining the starting positions of the signal receiving terminals; A trajectory recording unit for marking the position of the user, connecting the coordinate points where the user's position is located to obtain a movement trajectory; An instruction generation unit for intercepting a corresponding section of the trajectory from the movement trajectory based on the real-time distance between the automatic following cart and the user, entering it into the delay control instruction, and controlling the movement of the automatic following cart.

9. The device control system based on the industrial Internet of Things according to claim 6, characterized in that The error elimination module includes: A first signal detection unit for setting multiple detection points on the movement trajectory. The signal interaction terminal performs external signal detection at each detection point to obtain external signal detection data. The external signal detection data includes the signal source device number and the signal source strength value; A second signal detection unit for performing external signal detection during the movement of the automatic following cart to obtain signal verification data, comparing the signal verification data with the external signal detection data, and determining whether there is a position deviation; An offset correction unit for updating the actual position of the automatic following cart when it is determined that there is a position deviation.

10. The device control system based on the industrial Internet of Things according to claim 6, characterized in that, Detect the orientation of the user according to the positional relationship between the two groups of signal interaction ends and the three groups of signal receiving ends. When the user's orientation automatically follows the trolley, enter the simulated trolley-pushing mode. At this time, the automatically following trolley detects the user's position in real time and controls the automatically following trolley to always face the user, and rotates and moves according to the user's position.

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