Method and device for generating effective positioning track of logistics vehicle

Abstract

The invention discloses a method and a device for generating an effective positioning track of a logistics vehicle. The method comprises the steps that after a vehicle departs from a starting place A, transportation node information of the vehicle is obtained according to frequency f, and the transportation node information comprises fuzzy position data of the vehicle and the time of arriving at the position; driving route planning is conducted on the starting place A and the destination B through map navigation, a planned driving route is obtained, a space intersection algorithm is adopted to judge the driving route and the connecting line of the upper left point and the lower right point of the transportation node of the current space-time grid, and whether a geographic position intersection point exists or not is determined; on the premise that the previous transportation node is effective, whether the abnormal position point D is effective or not is judged through the track integrity increment and the vehicle running speed; and effective tracks are drawn on the map through the effective transportation nodes. On the premise of collecting fuzzy positioning, a relatively accurate track is generated.

Description

Technical Field

[0001] The present invention relates to generating effective positioning trajectories for logistics vehicles, and in particular to a method and device for generating effective positioning trajectories for logistics vehicles. Background Art

[0002] Logistics tracks refer to the records of an item's location, route, time, and other information during transportation. These tracks are typically recorded using GPS, code scanning, or manual recording. Tracking systems and other tools can record and display these tracks in real time, allowing shippers and consignees to track the item's progress and current location. For logistics companies and e-commerce platforms, recording and displaying these tracks is crucial for improving logistics efficiency and service quality. By keeping track of the shipment's progress in real time, logistics companies can adjust their transportation plans, providing better service to customers while minimizing financial losses caused by delays.

[0003] In logistics scenarios, the transportation status and current location of goods can be determined by the vehicle's driving trajectory during transportation and distribution.

[0004] In order to protect user privacy, some existing positioning technologies only allow precise positioning with the authorization of the vehicle owner. In actual use, since the driver is often not the vehicle owner, he or she cannot authorize the activation of precise positioning and can only provide fuzzy positioning, which is not conducive to accurate tracking. Summary of the Invention

[0005] To solve the above problems, the present invention provides a method and device for generating effective trajectories for logistics vehicle positioning.

[0006] The present invention provides the following technical solution: a method for generating an effective positioning trajectory for a logistics vehicle, comprising the following steps: After the vehicle departs from the origin A, the transportation node information of the vehicle is obtained at frequency f, including the vehicle's fuzzy location data and the time of arrival at the location; The driving route between origin A and destination B is planned through map navigation, and the planned driving route is obtained. The spatial intersection algorithm is used to connect the driving route with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection. If there is no geographical intersection, the current transportation node is marked as an abnormal location point D; if there is a geographical intersection, the current transportation node is determined to be a valid location point and recorded as a valid transportation node. On the premise that the previous transport node is valid, determine whether the abnormal location point D is valid based on the trajectory integrity increment and vehicle speed; Draw valid tracks on the map through valid transport nodes.

[0007] Furthermore, the total length of the route between the origin and destination B is S. The distance from the vehicle's current location to origin A is S1, and the distance from destination B is S2. The midpoint W of the route connecting origin A and destination B is taken as the weight reference point. The weight coefficient W' = min(S1, S2) / S is dynamically calculated based on the current point's distance from origin A and destination B. The base frequency for obtaining the vehicle's transport node information is set to fb. The dynamic frequency of the current point is the base frequency multiplied by the weight coefficient, that is, f = fb * W'. The weight coefficient of the weight reference point is 1, and fb is generally 1 hour / time, but other values can also be used. min(S1, S2) is the minimum value of S1 and S2.

[0008] Furthermore, judging whether the abnormal location point D is valid by using the trajectory integrity increment and the vehicle speed includes: Connect the origin A and the destination B to form a straight line AB; On the space-time grid, the straight line AB is the X-axis, A is the origin of the X-axis, the direction from A to B is the positive direction of the X-axis, the Y-axis passes through the origin and is perpendicular to the X-axis, and both the X-axis and the Y-axis are in the plane of the space-time grid; Determine whether the X-axis coordinate of the abnormal location D is farther from A than the previous transport node C. If the abnormal location D is closer to A, then the abnormal location D is an invalid transport node. If the abnormal location D is farther from A but the vehicle speed is unreasonable, then the abnormal location D is an invalid transport node. If the abnormal location D is farther from A and the vehicle speed is reasonable, then the abnormal location D is a valid transport node. Generally, the vehicle speed is reasonable within the range of 0-120 km / h, but other values are also possible.

[0009] Furthermore, it also includes: When the vehicle departs, it is judged whether the location of the vehicle departure is within the geographical fence of the origin A. If the location of the vehicle departure is not within the geographical fence of the origin A, an abnormal warning is issued.

[0010] Furthermore, it also includes: When the vehicle arrives at destination B, it is determined whether the vehicle's departure location is within the geographic fence of destination B. If the vehicle travels within the geographic fence of destination B, the vehicle status is synchronously updated to "arrived" and the time when the vehicle first enters the fence is recorded.

[0011] A device for generating effective positioning trajectories for logistics vehicles, comprising at least: The acquisition module is used to obtain the vehicle's transportation node information at a frequency f after the vehicle departs from the origin A, including the vehicle's fuzzy location data at the transportation node information and the time it arrived at the location; The planning module is used to plan the driving route for the origin A and the destination B through map navigation, obtain the first three planned driving routes, and use the spatial intersection algorithm to connect the driving routes with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection; if there is no geographical intersection, the current transportation node is marked as an abnormal location point D; if there is a geographical intersection, the current transportation node is determined to be a valid location point and recorded as a valid transportation node; A judgment module is used to judge whether the abnormal location point D is valid based on the trajectory integrity increment and the vehicle speed, under the premise that the previous transportation node is valid; Display module, used to draw valid trajectories on the map through valid transportation nodes.

[0012] Furthermore, it also includes: The first geographic position fence judgment module is used to judge whether the vehicle departure location is within the geographic fence of the origin A when the vehicle departs. If the vehicle departure location is not within the geographic fence of the origin A, an abnormal warning is issued.

[0013] Furthermore, it also includes: The second geographic fence judgment module is used to judge whether the vehicle's departure location is within the geographic fence of destination B when the vehicle arrives at destination B. If the vehicle travels to the geographic fence of destination B, the vehicle status is synchronously updated to "arrived" and the time when the vehicle first enters the fence is recorded.

[0014] An electronic device, comprising: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method.

[0015] A computer-readable storage medium stores computer instructions, wherein the instructions implement the steps of the above method when executed by a processor.

[0016] The beneficial effects of the present invention are as follows: By combining the vehicle's real space-time grid transport nodes with navigation planning simulation routes, the algorithm is used to judge the validity of the space-time grid transport nodes, thereby collecting relatively accurate positioning coordinates and generating a more accurate trajectory under the premise of collecting fuzzy positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of a method for generating a logistics trajectory according to the present invention; Figure 2 A schematic diagram of weight coefficients of a method for generating logistics trajectories according to the present invention; Figure 3 A schematic diagram of an abnormal location point D in a method for generating a logistics trajectory according to the present invention; Figure 4 This is a module diagram of a device for generating logistics trajectories according to the present invention.

[0018] Among them, there are collection module 1, planning module 2, judgment module 3, and display module 4. DETAILED DESCRIPTION

[0019] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the specific implementation methods, structures, features and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0020] Name explanation: Logistics tracks refer to the records of an item's location, route, time, and other information during transportation. These tracks are typically recorded using GPS, code scanning, or manual recording. Tracking systems and other tools can record and display these tracks in real time, allowing shippers and consignees to track the item's progress and current location. For logistics companies and e-commerce platforms, recording and displaying these tracks is crucial for improving logistics efficiency and service quality. By keeping track of the shipment's progress in real time, logistics companies can adjust their transportation plans, providing better service to customers while minimizing financial losses caused by delays.

[0021] A transportation node refers to a specific spatial location in a logistics transportation network that has logistics resources (such as warehouses, road nodes, etc.). It is a fuzzy processing of precise positioning. The space-time grid divides an area into equal grid units according to certain rules, matches the time accuracy and spatial accuracy on the map and time axis, and forms a grid structure based on time and space. In this space-time grid, each grid has coordinates and time, which can quickly locate the position of the logistics transportation node. Therefore, the space-time grid transportation node relies on positioning technologies such as GPS to obtain the location information of the logistics node, and then can perform map display, route planning, logistics transportation planning, transportation monitoring and other related operations. The transportation node information of the space-time grid described in the present invention includes: GPS time, coordinates of the upper left corner of the grid (longitude, latitude), and coordinates of the lower right corner of the grid (longitude, latitude).

[0022] Geo-fencing is a new application of location-based services (LBS). It uses a virtual fence to create a virtual geographic boundary. When a phone enters, leaves, or moves within a specific geographic area, it can receive automatic notifications and alerts. With geo-fencing technology, location-based social networking sites can automatically register users when they enter a certain area.

[0023] The present invention provides a method and device for generating logistics trajectories. By capturing the spatiotemporal grid transport nodes during vehicle travel and determining their validity based on whether they intersect with the planned route, the distance between abnormal location points D and A, and a reasonable algorithm for vehicle travel speed, a relatively accurate trajectory is generated while collecting fuzzy positioning data. Furthermore, while accurately reflecting the vehicle's current position and estimated arrival time, the optimized route is displayed as much as possible, presenting a vehicle travel simulation trajectory with a better user experience.

[0024] The embodiments of the present invention are further described below with reference to a number of embodiments.

[0025] Example 1 like Figure 1 A method for generating an effective trajectory for logistics vehicle positioning includes the following steps: S1. After the vehicle departs from origin A, the vehicle's transportation node information is obtained at frequency f, including the vehicle's fuzzy location data at the transportation node information and the time it arrives at the location; S2. Plan a driving route for origin A and destination B using map navigation, obtain the planned driving route, and use a spatial intersection algorithm to connect the driving route with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection; if there is no geographical intersection, mark the current transportation node as an abnormal location point D; if there is a geographical intersection, determine that the current transportation node is a valid location point, and record the current geographical intersection as a valid transportation node; Generally, the route is planned in accordance with the shortest driving time, shortest driving mileage, least toll, and avoiding congestion; it is sorted or selected independently according to different needs. In this application, the method for obtaining the transport nodes of the space-time grid is: calling the space-time grid transport node service (paid product service) provided by the logistics aPaaS product of Beijing Zhongjiao Xinglu Information Technology Co., Ltd., the interface address is: / save / apis / gridTransTimeManage.

[0026] S3. Under the premise that the previous transport node is valid, determine whether the abnormal location point D is valid based on the trajectory integrity increment and vehicle speed; like Figure 2The total length of the route between the origin and destination B is S. The distance from the vehicle's current location to origin A is S1, and the distance from destination B is S2. The midpoint W of the route connecting origin A and destination B is taken as the weight reference point. The weight coefficient W' = min(S1, S2) / S is dynamically calculated based on the current point's distance from origin A and destination B. The base frequency for obtaining vehicle transport node information is set to 1 hour / time. The dynamic frequency of the current point is the base frequency multiplied by the weight coefficient, that is, f = 1 * W'. This method can achieve a higher capture frequency the closer to origin A and destination B, thereby improving the accuracy of trajectory capture.

[0027] like Figure 3 , judging whether the abnormal location point D is valid based on the trajectory integrity increment and the vehicle speed, including: Connect the origin A and the destination B to form a straight line AB; On the space-time grid, straight line AB is the X-axis, A is the origin of the X-axis, the direction from A to B is the positive direction of the X-axis, the Y-axis passes through the origin and is perpendicular to the X-axis, and both the X-axis and the Y-axis are in the plane of the space-time grid; the distances from the abnormal position point D to the X-axis and Y-axis are Dx and Dy respectively, that is, the coordinates of the abnormal position point D are; Determine whether the distance between abnormal location point D and A is farther from A than the previous transport node. If abnormal location point D is closer to A, abnormal location point D is an invalid transport node. If abnormal location point D is farther from A but the vehicle speed is unreasonable, abnormal location point D is an invalid transport node. If abnormal location point D is farther from A and the vehicle speed is reasonable, abnormal location point D is a valid transport node, and the vehicle speed is reasonable within the range of 0-120 km / h. That is, the trajectory completeness increment = D'(X)-C'(X) is a positive number and the vehicle speed is reasonable; D' is the projection point of D on the X-axis, C' is the projection point of C on the X-axis, D'(X) is the coordinate of D' on the X-axis, and C'(X) is the coordinate of C' on the X-axis; S4. Draw a valid trajectory on the map through valid transportation nodes.

[0028] The system also includes: When a vehicle departs, it adds a geofence check for origin A. If the vehicle's departure location is outside the geofence of origin A, an abnormality warning is issued. During subsequent driving, the vehicle's actual trajectory can be determined using the "first entry into the fence" and "first exit from the fence" times, allowing deviations to be corrected.

[0029] If there is a "First entry fence time" but no "First exit fence time", it can be confirmed that the vehicle is initially outside the origin A geofence. After entering the origin A geofence, it has not been launched, and the entire trajectory is invalid. There is no "First entry fence time" but there is "First exit fence time", which confirms that the vehicle's initial state is within the origin A geofence and the vehicle's actual trajectory is valid; There is a "first entry fence time" and a "first exit fence time", which can confirm that the vehicle's initial state is outside the origin A geofence. The track before leaving the origin A geofence is not within the current order itinerary and can be considered invalid and eliminated. The track after leaving the origin A geofence is a valid track.

[0030] It also includes: when the vehicle arrives at destination B, adding a geographical fence judgment of destination B, the vehicle drives into the geographical fence range of destination B, and synchronously updates the vehicle status to "arrived", and records the time when the vehicle first enters the fence.

[0031] When the consignee inquires about the order trajectory, if the vehicle has arrived at the destination, the display module 4 reads the trajectory points of the vehicle loaded with the current order from the start of departure to the end of the order, and replays and draws the vehicle's driving trajectory on the user interface through the map's WEB interface; if the vehicle has not arrived at the destination, the display module 4 reads the trajectory points of the vehicle loaded with the current order from the start of departure to the current time, and replays and draws the vehicle's driving trajectory on the user interface through the map's WEB interface, and uses the last valid trajectory coordinate point as the vehicle's latest positioning point, and at the same time calculates the current position at a speed of 60 kilometers per hour and displays it to the consignee.

[0032] The average time efficiency of the route is calculated based on the historical travel data of the route (including the departure time t1 and arrival time t2 of the historical orders of the current route). The estimated arrival time of the current order is T0 = the departure time of the current order + T.

[0033] like Figure 4 , a device for generating effective positioning trajectories for logistics vehicles, comprising at least: Acquisition module 1 is used to obtain the vehicle's transportation node information at frequency f after the vehicle departs from the origin A, including the vehicle's fuzzy position data at the transportation node information and the time it arrived at the location; Planning module 2 is used to plan the driving route for origin A and destination B through map navigation, obtain the first three planned driving routes, and use the spatial intersection algorithm to connect the driving routes with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection; if there is no geographical intersection, the current transportation node is marked as an abnormal location point D; if there is a geographical intersection, the current transportation node is determined to be a valid location point and recorded as a valid transportation node; A judgment module 3 is used to judge whether the abnormal location point D is valid based on the trajectory integrity increment and the vehicle speed, under the premise that the previous transportation node is valid; The display module 4 is used to display the valid trajectory on the map through the valid transportation nodes.

[0034] The device also includes: The first geographic position fence judgment module is used to judge whether the vehicle departure location is within the geographic fence of the origin A when the vehicle departs. If the vehicle departure location is not within the geographic fence of the origin A, an abnormal warning is issued.

[0035] The device also includes: The second geographic fence judgment module is used to judge whether the vehicle's departure location is within the geographic fence of destination B when the vehicle arrives at destination B. If the vehicle travels to the geographic fence of destination B, the vehicle status is synchronously updated to "arrived" and the time when the vehicle first enters the fence is recorded.

[0036] An electronic device, comprising: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the above-described method.

[0037] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can also be implemented in other ways. The method and system embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the methods and systems, methods, and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment, or a portion of code, and the module, program segment, or a portion of code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions.

[0038] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0039] On the other hand, a computer-readable storage medium stores computer instructions thereon, which, when executed by a processor, implement the steps of the above-mentioned method. When the computer program is executed by the processor, it implements the method of any one of the above-mentioned first aspects. If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory 101 (ROM), a random access memory 101 (RAM), a magnetic disk or an optical disk.

[0040] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the technical solution of the present invention, make some changes or modifications to equivalent embodiments using the technical contents disclosed above. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A method for generating effective trajectories for logistics vehicle positioning, characterized in that: The steps include: After the vehicle departs from the origin A, the transportation node information of the vehicle is obtained at frequency f, including the vehicle's fuzzy location data and the time of arrival at the location; The route between origin A and destination B is planned using map navigation. The planned route is obtained and the spatial intersection algorithm is used to connect the route with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection. If there is no geographical intersection, the current transportation node is marked as an abnormal location point D. If there is a geographical location intersection, the current transportation node is determined to be a valid location point, and the current geographical location intersection is recorded as a valid transportation node; On the premise that the previous transport node is valid, determine whether the abnormal location point D is valid based on the trajectory integrity increment and vehicle speed; Draw valid tracks on the map through valid transport nodes.

2. The method according to claim 1, characterized in that The total length of the line between origin A and destination B is S, the distance between the vehicle's current position and origin A is S1, and the distance between the vehicle and destination B is S2. The midpoint W of the line connecting origin A and destination B is taken as the weight reference point, and the weight coefficient W'=min(S1,S2) / S is dynamically calculated based on the distance between the current point and origin A and destination B. The base frequency for obtaining the vehicle's transportation node information is set to fb, and the dynamic frequency of the current point is the base frequency multiplied by the weight coefficient, that is, f=fb*W'.

3. The method according to claim 1, characterized in that Determining whether the abnormal location point D is valid based on the trajectory integrity increment and the vehicle speed includes: Connect the origin A and the destination B to form a straight line AB; On the space-time grid, the straight line AB is the X-axis, A is the origin of the X-axis, the direction from A to B is the positive direction of the X-axis, the Y-axis passes through the origin and is perpendicular to the X-axis, and both the X-axis and the Y-axis are in the plane of the space-time grid; Determine whether the X-axis coordinate of the abnormal location point D is farther from A than the previous transport node C. If the abnormal location point D is closer to A, the abnormal location point D is an invalid transport node; if the abnormal location point D is farther from A but the vehicle speed is unreasonable, the abnormal location point D is an invalid transport node; if the abnormal location point D is farther from A and the vehicle speed is reasonable, the abnormal location point D is a valid transport node.

4. The method according to claim 1, wherein Also includes: When the vehicle departs, it is judged whether the location of the vehicle departure is within the geographical fence of the origin A. If the location of the vehicle departure is not within the geographical fence of the origin A, an abnormal warning is issued.

5. The method according to claim 1, wherein Also includes: When the vehicle arrives at destination B, it is determined whether the vehicle's departure location is within the geographic fence of destination B. If the vehicle travels within the geographic fence of destination B, the vehicle status is synchronously updated to "arrived" and the time when the vehicle first enters the fence is recorded.

6. A device for generating effective positioning trajectories for logistics vehicles, characterized in that: At least: The acquisition module is used to obtain the vehicle's transportation node information at a frequency f after the vehicle departs from the origin A, including the vehicle's fuzzy location data at the transportation node information and the time it arrived at the location; The planning module is used to plan the driving route between origin A and destination B through map navigation, obtain the first three planned driving routes, and use the spatial intersection algorithm to connect the driving routes with the upper left and lower right points of the transportation node of the current space-time grid to determine whether there is a geographical intersection; If there is no geographical intersection, the current transport node is marked as an abnormal location point D; If there is a geographical location intersection, the current transportation node is determined to be a valid location point, and the current geographical location intersection is recorded as a valid transportation node; A judgment module is used to judge whether the abnormal location point D is valid based on the trajectory integrity increment and the vehicle speed, under the premise that the previous transportation node is valid; Display module, used to draw valid trajectories on the map through valid transportation nodes.

7. The device according to claim 6, characterized in that Also includes: The first geographic position fence judgment module is used to judge whether the vehicle departure location is within the geographic fence of the origin A when the vehicle departs. If the vehicle departure location is not within the geographic fence of the origin A, an abnormal warning is issued.

8. The device according to claim 6, characterized in that Also includes: The second geo-fence determination module is used to determine whether the vehicle's departure location is within the geo-fence of destination B when the vehicle arrives at destination B. If the vehicle travels within the geo-fence of destination B, the vehicle status is synchronously updated to "arrived" and the time when the vehicle first enters the fence is recorded.

9. An electronic device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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