Mileage correction method, device, equipment and medium

Abstract

The embodiment of the invention relates to the technical field of positioning and navigation, and discloses a mileage correction method, device and equipment and a medium, and the mileage correction method comprises the following steps: reading a standard mileage value of an RFID tag installed on a driving path based on an RFID reader-writer, and meanwhile, obtaining an actual mileage value of mobile equipment on the driving path at present, scanning a magnetic marker mounted on the driving path based on a multi-channel magnetic sensor to obtain a plurality of magnetic signals; the position of the magnetic marker is the same as that of the RFID tag; calculating a mileage correction point according to the plurality of magnetic signals; the mileage correction point is a mileage correction position set on the driving path; judging whether a mileage error exists based on the actual mileage value and the mileage correction point; and if the mileage error exists, correcting the subsequent mileage of the mobile equipment based on the standard mileage value and the actual mileage value. According to the mileage correction method disclosed by the invention, high-precision and low-cost mileage correction in a complex environment is realized.

Description

Technical Field

[0001] This application relates to the field of positioning and navigation technology, and in particular to a mileage correction method, device, equipment and medium. Background Technology

[0002] In modern transportation systems, mileage measurement is crucial for accurate navigation, positioning, and vehicle management. Traditional mileage measurement relies heavily on tire rotation counts, but factors such as tire wear and slippage can easily lead to data inaccuracies. Existing technologies suffer from problems such as inaccurate mileage correction due to environmental influences, high equipment costs, and insufficient positioning accuracy. Summary of the Invention

[0003] The purpose of this application is to provide at least one mileage correction method, device, equipment and medium, which can at least solve the problems of inaccurate mileage correction caused by environmental influence, high equipment cost and insufficient positioning accuracy in the prior art, and can at least achieve high-precision and low-cost mileage correction in complex environments.

[0004] To address the aforementioned technical problems, at least one embodiment of this application provides a mileage correction method, comprising: The system reads the standard mileage value of RFID tags installed on the driving path using an RFID reader, and simultaneously obtains the actual mileage value of the mobile device on the driving path. It also scans magnetic markers installed on the driving path using a multi-channel magnetic sensor to obtain multiple magnetic signals. The location of the magnetic markers is the same as the location of the RFID tags. The multi-channel magnetic sensor includes at least two acquisition channels. The mileage correction point is calculated based on the multiple magnetic signals; the mileage correction point is a mileage correction position set on the driving path. Determine whether there is a mileage error based on the actual mileage value and the mileage correction point; If a mileage error is determined, the subsequent mileage of the mobile device is corrected based on the standard mileage value and the actual mileage value.

[0005] In an optional embodiment, determining whether a mileage error exists based on the actual mileage value and the mileage correction point includes: Calculate the difference between the actual mileage value and the mileage correction point; Determine whether the difference is within the allowable error range; if so, determine that there is a mileage error.

[0006] In an optional embodiment, correcting the actual mileage of the mobile device based on the standard mileage value and the actual mileage value includes: Calculate the offset between the standard mileage value and the actual mileage value; The actual mileage of the mobile device on the driving path is then corrected in real time based on the offset.

[0007] In an optional embodiment, calculating the odometer correction point based on the plurality of magnetic signals includes: Based on the multiple magnetic signals, the three strongest channels with the highest signal strength were selected; Determine whether the channel with the strongest signal among the three strongest channels is the middle channel; the middle channel is the acquisition channel located within the effective detection area of ​​the magnetic marker. If so, the signal strength distribution of the three strongest channels is analyzed, and the mileage correction point is calculated by combining the preset spacing between the two acquisition channels.

[0008] In an optional embodiment, it further includes: If it is determined that the channel with the strongest signal among the three strongest channels is not the middle channel, then the magnetic marker is rescanned to recalculate the mileage correction point.

[0009] In an optional embodiment, the multi-channel magnetic sensor includes at least two acquisition channels, and the plurality of acquisition channels are spaced apart by a preset interval.

[0010] In an optional embodiment, obtaining the actual mileage value of the mobile device on its current travel route includes: The actual mileage is calculated by measuring the number of tire rotations of the mobile device using an encoder.

[0011] At least one embodiment of this application provides a mileage correction device, comprising: The acquisition module is used to read the standard mileage value M0 of the RFID tag installed on the driving path based on the RFID reader, and simultaneously acquire the actual mileage value of the mobile device on the driving path, and to scan the magnetic markers installed on the driving path based on the multi-channel magnetic sensor to obtain multiple magnetic signals; the location of the magnetic markers is the same as the location of the RFID tag; the multi-channel magnetic sensor includes at least two acquisition channels; The calculation module is used to calculate the mileage correction point based on the multiple magnetic signals; the mileage correction point is a mileage correction position set on the driving path. The judgment module is used to determine whether there is a mileage error based on the actual mileage value and the mileage correction point; A correction module is used to correct the subsequent mileage of the mobile device based on the standard mileage value and the actual mileage value if the judgment module determines that there is a mileage error.

[0012] At least one embodiment of this application also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the mileage correction method described above.

[0013] At least one embodiment of this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the mileage correction method described above.

[0014] The mileage correction method, apparatus, device, and medium provided in the embodiments of this application enable a mobile device to continuously scan surrounding RFID tags using an RFID reader while in motion. When an RFID tag is detected, the standard mileage value M0 is read, and the actual mileage value M1 of the mobile device at that moment is obtained. Simultaneously, a multi-channel magnetic sensor continuously scans magnetic markers along the travel path. When the mobile device reaches a magnetic marker at the same location as the RFID tag, multiple magnetic signals are collected. These signals are processed to calculate a mileage correction point M2. The difference between the actual mileage value M1 and the correction point M2 is compared to determine if a mileage error exists. If an error exists, the offset is calculated using the standard mileage value M0 and the actual mileage value M1, and subsequent mileage is corrected in real time. By working collaboratively with multi-channel magnetic sensors and RFID technology, the standard mileage reference provided by RFID and the precise location information from the magnetic sensor are combined, leveraging their respective advantages to achieve high-precision, low-cost mileage correction for mobile devices, improving the accuracy and reliability of mileage measurement. Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0016] Figure 1 This is a flowchart of an embodiment of the mileage correction method provided in this application; Figure 2 This is a schematic diagram of a mileage correction method provided in another embodiment of this application; Figure 3 This is a schematic diagram of a mileage correction method provided in another embodiment of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in another embodiment of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details are presented in the various embodiments of this application to facilitate a better understanding of the application. However, the technical solutions claimed in this application can be implemented even without these technical details and various variations and modifications based on the following embodiments. The division of the various embodiments below is for ease of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0018] To facilitate understanding of the embodiments of this application, relevant content about existing navigation systems will be introduced first.

[0019] In modern transportation systems, mileage measurement is a crucial element in ensuring accurate navigation, positioning, and effective vehicle management. Especially in applications such as Automated Guided Vehicles (AGVs) and robots, accurate mileage calibration is essential for efficient path planning and task execution. Existing technologies have the following shortcomings: GPS positioning system: GPS signals are easily blocked in urban environments such as high-rise buildings, tunnels, and indoors, resulting in unstable or lost signals. Positioning accuracy is also affected by factors such as weather, number of satellites, and terrain, which may lead to errors in mileage measurement. High-precision GPS devices are usually expensive and require additional base station deployment.

[0020] Inertial navigation systems rely on accelerometers and gyroscopes; errors accumulate over time, leading to a gradual increase in positional deviation. Precise initial alignment is required before use, as any initial error will affect subsequent navigation accuracy. High-performance inertial sensors are expensive, and the system is highly complex.

[0021] Laser SLAM: The performance of laser sensors can be affected by environmental factors such as strong light, rain, fog, or dust, which can lead to inaccuracies in data acquisition. The effective range of laser SLAM is limited, especially in complex environments (such as narrow passages), where it may fail to acquire comprehensive information. The large amounts of data generated by lidar require powerful processing capabilities and high computational resource demands, potentially leading to a decrease in real-time performance. This is one of the main reasons for the slow operating speed of SLAM-based devices.

[0022] Traditional RFID odometer calibration suffers from limitations in accuracy due to the limited range of RFID tag readings during the calibration process. Furthermore, RFID device readings typically rely on protocol interactions, resulting in slow response times. These two factors impose certain limitations on both speed and accuracy in RFID odometer calibration.

[0023] To address the aforementioned technical challenges in accurate mileage measurement and correction, this application proposes a mileage correction method that combines magnetic sensors and radio frequency identification (RFID) technology. This method is applicable to the accurate measurement and correction of mileage for mobile devices such as automated guided vehicles (AGVs) and robots, thereby resolving issues such as inaccurate mileage correction due to environmental influences, high equipment performance requirements and high costs, and inaccurate positioning. This improves the accuracy and reliability of mileage measurement for AGVs and robots.

[0024] AGV (Automated Guided Vehicle) refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical systems, enabling it to travel along a predetermined guidance path. An AGV is a self-driving vehicle operating on a fixed route.

[0025] The following is a detailed description of the implementation details of the mileage correction method in this embodiment. The following content is only for the convenience of understanding the implementation details and is not necessary for implementing this solution.

[0026] Example 1: The process correction method of this embodiment can be applied to electronic devices with communication, computing, and data storage capabilities. Its specific process can be as follows: Figure 1 As shown, it includes: Step S110: Read the standard mileage value of the RFID tag installed on the driving path based on the RFID reader, and at the same time obtain the actual mileage value of the mobile device on the driving path, and obtain multiple magnetic signals by scanning the magnetic markers installed on the driving path based on the multi-channel magnetic sensor.

[0027] RFID tags and magnetic markers are pre-installed at intervals along the driving route. The magnetic markers can be magnetic nails, magnetic strips, or magnetic sheets. The magnetic markers and RFID tags are installed at the same location along the driving route as fixed reference points, making them dual identifiers of the same mileage correction benchmark.

[0028] Compared to the "range-based reading" of traditional RFID mileage correction, this embodiment achieves precise identification of "specific points" by binding RFID tags to the positions of magnetic markers, avoiding correction errors caused by the ambiguity of the RFID reading range. The magnetic markers, serving as physical reference points, have fixed positions and are unaffected by environmental factors such as weather, building obstructions, and lighting conditions. They can operate stably in scenarios such as tunnels, indoor spaces, and complex terrains, overcoming the environmental limitations of technologies like GPS and laser SLAM.

[0029] In one embodiment, the mobile device can be an AGV, a mobile robot, or an automated transportation device, which can have functions such as autonomous navigation and path planning, and can be used in fields such as industrial logistics, warehouse management, and intelligent manufacturing.

[0030] In one embodiment, the actual mileage value can be calculated using an encoder, typically mounted on the drive wheel axle of an AGV or robot. Specifically, when the mobile device travels to a location with RFID tags and magnetic markers, the RFID reader reads the standard mileage value M0 from the tag, while the encoder measures the number of tire rotations of the mobile device to calculate the actual mileage value M1, thus obtaining the standard mileage value M0 and the actual mileage value M1.

[0031] The M0 stored in the RFID tag can be an absolute mileage value calibrated manually. For example, starting from 0 meters, a tag is deployed every 10 meters. After being bound to the location of the magnetic marker, it provides an absolute reference for the relative positioning of the multi-channel magnetic sensor, making up for the lack of mileage reference in the multi-channel magnetic sensor.

[0032] In this step, when the RFID reader detects the RFID tag, a trigger signal is generated to simultaneously activate the multi-channel magnetic sensor to scan the magnetic marker, ensuring that the data collected by both correspond to the same physical location.

[0033] RFID readers and multi-channel magnetic sensors can be integrated into mobile devices to work together for data acquisition. For example, by strategically positioning these two devices on an AGV, it's possible to ensure the RFID reader accurately reads tag information and the multi-channel magnetic sensor effectively scans the signal of magnetic markers. Furthermore, the installation positions of both devices must consider the stability of the mobile device during operation and the accuracy of detection. This way, when the mobile device (such as an AGV or robot) reaches a certain location, it can both read the standard mileage value through the RFID reader and scan the magnetic signal through the multi-channel magnetic sensor, providing synchronous reference information for subsequent data comparison and correction.

[0034] For example, a multi-channel magnetic sensor acquires magnetic signals by detecting changes in the magnetic field strength of ground magnetic markers. A multi-channel magnetic sensor can be, for instance, a multi-channel magnetic navigation sensor, which scans magnetic markers to obtain multiple magnetic signals.

[0035] For example, a multi-channel magnetic sensor includes at least two acquisition channels arranged at a fixed interval for synchronously detecting magnetic signals in the environment. When scanning a magnetic marker, acquiring the magnetic signals from each acquisition channel allows for the acquisition of multiple magnetic signals. Specifically, when a mobile device (such as an AGV) approaches a magnetic nail on the ground, the magnetic sensing elements of each channel of the multi-channel magnetic sensor detect the magnetic field generated by the nail and output an electrical signal (voltage or current value) related to the magnetic field strength. The signal strength varies with the distance from the magnetic nail (the closer the distance, the stronger the signal).

[0036] In this step, data acquisition is synchronized to ensure the time consistency of data during subsequent processing.

[0037] Step S120: Calculate the mileage correction point based on multiple magnetic signals; the mileage correction point is the mileage correction position set on the driving path.

[0038] The mileage correction point is calculated by a multi-channel magnetic sensor by collecting the magnetic signal intensity of ground magnetic markers and analyzing the multi-channel signals. This calculation determines whether the current mileage needs correction. Specifically, a multi-channel magnetic navigation sensor scans the deployed magnetic markers on the ground in real time. Each channel of the multi-channel magnetic navigation sensor continuously collects magnetic signal intensity data, forming a signal distribution related to the location of the magnetic markers. The multi-channel magnetic sensor accurately locates the mileage correction point M2 through signal intensity analysis, ensuring the accuracy of the mileage correction point M2. For example, the relative position of the mobile device and the magnetic markers can be calculated using geometric relationships or preset algorithms, based on the channel spacing, to determine the mileage correction point M2.

[0039] Step S130: Determine whether there is a mileage error based on the actual mileage value and the mileage correction point.

[0040] In intelligent logistics, AGVs need to accurately stop at shelves and load / unload goods based on mileage data. In robot inspection, routes need to be planned according to mileage to cover all inspection points. If the mileage deviation is too large, it may lead to problems such as goods collisions or missed tasks. In this step, the actual mileage value is compared with the mileage correction point to determine whether there is a mileage error.

[0041] In this step, the difference between the actual mileage value M1 and the mileage correction point M2 can be calculated to determine if it is within the allowable error range. If there is a deviation between the actual mileage value M1 and the mileage correction point M2, and the difference is within the allowable error range, it means that the magnetic marker and the RFID tag are properly paired and can be corrected, i.e., a mileage error is determined to exist.

[0042] In one embodiment, the allowable error range is 2cm-8cm. The allowable error range can also be set according to the spacing L between the acquisition channels of the multi-channel magnetic sensor. For example, the allowable error range is 1 / 4, and exemplarily, the spacing L between the acquisition channels is 10cm.

[0043] Step S140: If it is determined that there is a mileage error, the actual mileage of the mobile device is corrected based on the standard mileage value and the actual mileage value.

[0044] If an error exists, the offset MS between the standard mileage value M0 and the actual mileage value M1 is calculated. The offset MS = M0 - M1. Based on this offset, the subsequent mileage of the mobile device on the travel path is corrected in real time. For example, subsequent mileage = actual mileage value M1 + MS, where M0 is the standard mileage value and M1 is the actual mileage value. That is, the actual mileage value of the mobile device is then added to this offset to complete the correction, eliminate accumulated errors, and ensure that the mileage data is consistent with the actual displacement. This solves the mileage data deviation caused by sensor errors, environmental interference, and other factors during the travel of various mobile devices (such as AGVs and robots), ensuring their positioning accuracy, path planning, and task execution accuracy.

[0045] In this embodiment, as the mobile device travels, the RFID reader continuously scans surrounding RFID tags. When an RFID tag is detected, it reads the standard mileage value M0 and obtains the actual mileage value M1 of the mobile device at that moment. Simultaneously, a multi-channel magnetic sensor continuously scans magnetic markers along the travel path. When the mobile device reaches a magnetic marker at the same location as the RFID tag, it collects multiple magnetic signals. These signals are processed to calculate a mileage correction point M2. The difference between the actual mileage value M1 and the correction point M2 is compared to determine if a mileage error exists. If an error is found, the offset is calculated using the standard mileage value M0 and the actual mileage value M1, and subsequent mileage is corrected in real time. By working collaboratively with multi-channel magnetic sensors and RFID technology, the standard mileage reference provided by RFID is combined with the precise location information from the magnetic sensors, thereby completing mileage correction.

[0046] The mileage correction method provided in this application can complement each other through multi-channel magnetic sensors and RFID technology, giving full play to their respective advantages, to achieve high-precision mileage correction of mobile devices at low cost, improve the accuracy and reliability of mileage measurement, and meet the navigation and task execution needs of AGVs, robots and other devices in complex environments.

[0047] Example 2: According to an exemplary embodiment, most of the content of the mileage correction method in this embodiment is the same as that in the above embodiments. The difference between this embodiment and the above embodiments is that this embodiment is a further explanation of step S120 in the above embodiments.

[0048] In this embodiment, the mileage correction point is calculated based on multiple magnetic signals from the magnetic markers, such as... Figure 2 As shown, it includes: Step S121: Based on multiple magnetic signals, select the three strongest channels with the highest signal strength.

[0049] Step S122: Determine whether the channel with the strongest signal strength among the three strongest channels is the middle channel; if yes, proceed to step S123; otherwise, proceed to step S124.

[0050] Step S123: Analyze the signal strength distribution of the three strongest channels and calculate the mileage correction point by combining the preset spacing of the two acquisition channels.

[0051] Step S124: Rescan the magnetic markers to recalculate the odometer correction point.

[0052] Taking a multi-channel magnetic navigation sensor with a channel spacing of L as an example, when scanning a magnetic marker, magnetic signals from each channel are acquired, resulting in multiple magnetic signals. The three strongest signals, denoted as T0, T1, and T2, are selected from these signals. Assuming T1 is the middle channel, located within the effective detection area of ​​the magnetic marker, it is determined whether the signal strength of the middle channel T1 is the maximum. If the signal strength of the middle channel T1 is the maximum, it indicates that the relative position between the multi-channel magnetic sensor and the magnetic marker is normal. The signal strength distribution of the three channels is then analyzed, and the mileage correction point M2 is calculated based on the preset channel spacing L. If the strongest signal appears in a non-middle channel, a positional offset is determined, and the magnetic marker needs to be rescanned to obtain multiple magnetic signals again for recalculating the mileage correction point to avoid error propagation. The analysis of the three-channel signal strength distribution and the calculation of the mileage correction point M2 based on the preset channel spacing L can be performed using existing known techniques, which will not be elaborated upon here.

[0053] In this embodiment, the comparison of magnetic signals from multiple channels can weaken the influence of stray magnetic fields in the environment, such as interference from surrounding metallic objects. By using logic filtering, only the effective signals generated by the magnetic markers are retained, thus improving robustness. When the mobile device deviates from the path of the magnetic markers, the signal strength of non-intermediate channels will be abnormal. The "re-scan-recalculate" mechanism dynamically corrects the mileage correction point position deviation, avoiding error accumulation.

[0054] In this embodiment, the limitations of single-channel detection are overcome by the collaborative analysis of multi-channel data, the reliability of magnetic signal acquisition is improved, channels are screened based on signal strength analysis, and correction points are calculated by combining spacing to improve the accuracy of position marking, thereby providing accurate position calculation basis for mileage correction.

[0055] In one embodiment, when the signal strengths of each channel are unequal, the calculation error of the mileage correction point can be controlled within L / 4 by using the relationship between the channel spacing L and the signal distribution, thus ensuring correction accuracy. For example, when the multi-channel magnetic sensor detects similar signal strengths in two channels, such as T0=80, T1=82, and T2=75, the measurement error is mainly determined by the accuracy of the multi-channel magnetic sensor; when the signal strengths differ significantly, such as T0=60, T1=90, and T2=70, the error is controlled within L / 4=2.5cm, meeting the accuracy requirements of most scenarios.

[0056] Example 3: Another embodiment of this application relates to a mileage correction device, which is suitable for accurate mileage measurement and correction of mobile devices such as automated guided vehicles (AGVs) and robots, in order to solve problems such as inaccurate mileage correction caused by environmental influences, high equipment performance requirements and high costs, and inaccurate positioning.

[0057] The implementation details of the odometer correction device in this embodiment are described below. The following details are provided for ease of understanding and are not essential for implementing this solution. A schematic diagram of the odometer correction device in this embodiment can be seen as follows: Figure 3 As shown, it includes: The acquisition module 100 is used to read the standard mileage value M0 of the RFID tag installed on the driving path based on the RFID reader, and at the same time acquire the actual mileage value of the mobile device on the driving path, and scan the magnetic markers installed on the driving path based on the multi-channel magnetic sensor to obtain multiple magnetic signals; the location of the magnetic markers is the same as the location of the RFID tag; the multi-channel magnetic sensor includes at least two acquisition channels. The calculation module 200 is used to calculate the mileage correction point based on multiple magnetic signals; the mileage correction point is a mileage correction position set on the driving path. The judgment module 300 is used to determine whether there is a mileage error based on the actual mileage value and the mileage correction point. The correction module 400 is used to determine if there is a mileage error, and then correct the subsequent mileage of the mobile device based on the standard mileage value and the actual mileage value.

[0058] In one embodiment, the judgment module 300 is further configured to calculate the difference between the actual mileage value and the mileage correction point; Determine if the difference is within the allowable error range; if so, then determine that there is a mileage error.

[0059] In one embodiment, the calculation module 200 is also used to filter out the three strongest channels with the highest signal strength based on multiple magnetic signals; Determine whether the channel with the strongest signal among the three strongest channels is the middle channel; the middle channel is the acquisition channel located within the effective detection area of ​​the magnetic marker. If so, analyze the signal strength distribution of the three strongest channels and calculate the mileage correction point by combining the preset spacing between the two acquisition channels.

[0060] In one embodiment, the acquisition module 100 is further configured to rescan the magnetic marker if it is determined that the channel with the strongest signal strength among the three strongest channels is not the middle channel. The calculation module 200 is also used to recalculate the mileage correction point.

[0061] In one embodiment, the multi-channel magnetic sensor includes at least two acquisition channels, and the multiple acquisition channels are spaced apart by a preset interval.

[0062] In one embodiment, the allowable error range is 2cm-8cm.

[0063] In one embodiment, the acquisition module 100 is further configured to calculate the actual mileage value by measuring the number of tire rotations of the mobile device using an encoder.

[0064] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed in this application; however, this does not mean that other units are absent in this embodiment.

[0065] Example 4: Another embodiment of this application relates to an electronic device, such as... Figure 4 As shown, it includes: at least one processor 901; and a memory 902 communicatively connected to the at least one processor 901; wherein the memory 902 stores instructions executable by the at least one processor 901, the instructions being executed by the at least one processor 901 to enable the at least one processor 901 to perform the mileage correction methods in the above embodiments.

[0066] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0067] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0068] Example 5: Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the above-described mileage correction method embodiment.

[0069] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0070] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. A method of correcting a mileage, characterized by, The method comprises the following steps: reading a standard mileage value of an RFID tag installed on a driving path by an RFID reader, simultaneously obtaining an actual mileage value of a mobile device currently on the driving path, and obtaining a plurality of magnetic signals based on scanning a magnetic marker installed on the driving path by a multi-channel magnetic sensor; the magnetic marker is located at the same position as the RFID tag; calculating a mileage correction point according to the plurality of magnetic signals; the mileage correction point is a mileage correction position set on the driving path; judging whether there is a mileage error based on the actual mileage value and the mileage correction point; if it is judged that there is a mileage error, correcting subsequent mileage of the mobile device based on the standard mileage value and the actual mileage value.

2. The method of mileai correction according to claim 1, characterized in that, judging whether there is a mileage error based on the actual mileage value and the mileage correction point, comprising: calculating a difference value between the actual mileage value and the mileage correction point; judging whether the difference value is within an allowable error range, and if yes, judging that there is a mileage error.

3. The method of mileai correction according to claim 1 or 2, characterized in that, correcting the actual mileage of the mobile device based on the standard mileage value and the actual mileage value, comprising: calculating an offset between the standard mileage value and the actual mileage value; correcting the actual mileage value of the mobile device on the driving path in real time based on the offset.

4. The method of mileai correction according to claim 1, characterized in that, calculating a mileage correction point according to the plurality of magnetic signals, comprising: selecting three strongest channels with the strongest signal intensity based on the plurality of magnetic signals; judging whether the channel with the strongest signal intensity among the three strongest channels is a middle channel; the middle channel is an acquisition channel located in an effective detection area of the magnetic marker; if yes, analyzing the signal intensity distribution of the three strongest channels, and calculating the mileage correction point in combination with a preset interval of two acquisition channels.

5. The method of mileai correction according to claim 4, characterized in that, The method further comprises: if it is judged that the channel with the strongest signal intensity among the three strongest channels is not the middle channel, rescaning the magnetic marker to recalculate the mileage correction point.

6. The mileage correction method according to claim 1, wherein the multi-channel magnetic sensor comprises at least two acquisition channels, and the plurality of acquisition channels are spaced apart at a preset interval.

7. The method of mileaii correction according to claim 1, wherein obtaining an actual mileage value of a mobile device currently on a driving path, comprising: calculating the actual mileage value by measuring the number of tire rotations of the mobile device by an encoder.

8. A mileage correction device characterized by comprising: The method comprises the following steps: an obtaining module is configured to read a standard mileage value M0 of an RFID tag installed on a driving path by an RFID reader, simultaneously obtain an actual mileage value of a mobile device currently on the driving path, and obtain a plurality of magnetic signals based on scanning a magnetic marker installed on the driving path by a multi-channel magnetic sensor; the magnetic marker is located at the same position as the RFID tag; a calculating module is configured to calculate a mileage correction point according to the plurality of magnetic signals; the mileage correction point is a mileage correction position set on the driving path; a judging module is configured to judge whether there is a mileage error based on the actual mileage value and the mileage correction point; A correction module is configured to correct subsequent mileage of the mobile device based on the standard mileage value and the actual mileage value if the judging module determines that there is mileage error.

9. An electronic device, comprising: The method comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the mileage correction method according to any one of claims 1 to 7.

10. A computer readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to implement the mileage correction method according to any one of claims 1 to 7.

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