Position data acquisition method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a position data acquisition method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining initial angle data detected by a magnetic encoder under the current magnetic field polarity; then, performing translation correction processing on the initial angle data to obtain corrected angle data; and finally, obtaining standard position data corresponding to the initial angle data based on the corrected angle data. According to the embodiment of the invention, the step of translation correction processing is executed on the initial angle data acquired by the magnetic encoder, so that 180-degree fixed offset generated due to different N poles or S poles is eliminated on the software level, measurement data of the same physical position is ensured, the problems of positive and negative angle output are solved, and the measurement accuracy is improved. And the obtaining precision and reliability of the rotor position in the magnetic drive conveying system are obviously improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to a position data acquisition method and device, an electronic device, and a storage medium. BACKGROUND

[0002] In the field of industrial automation such as magnetic drive conveying, magnetic encoders are widely used due to their non-contact and low-wear characteristics. Such encoders output angle data by detecting changes in the magnetic field through elements such as Hall sensors, thereby determining the position of the mover. However, the working principle of the magnetic encoder results in a dependence of the angle output on the direction of the magnetic field. When the N or S pole of the magnetic grid is detected, even if the mover is in the same physical position, the angle signal output by the sensor will present two possible cases due to the different polarities of the magnetic field, causing the system to be unable to directly distinguish the true position of the mover based solely on the received angle data, thereby resulting in inaccurate position data obtained using the magnetic encoder. SUMMARY

[0003] Embodiments of the present application provide a position data acquisition method, device, electronic device, and storage medium, which can improve the accuracy of position data obtained using a magnetic encoder.

[0004] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application provides a position data acquisition method, which comprises: acquiring initial angle data detected by a magnetic encoder under a current magnetic field polarity; performing a translation correction process on the initial angle data to obtain corrected angle data; based on the corrected angle data, obtaining standard position data corresponding to the initial angle data.

[0005] In some embodiments, the translation correction process on the initial angle data to obtain corrected angle data comprises: when the current magnetic field polarity is a first preset polarity, the initial angle data is taken as the corrected angle data; when the current magnetic field polarity is a second preset polarity, the initial angle data is adjusted based on a preset offset to obtain the corrected angle data.

[0006] In some embodiments, the adjustment of the initial angle data based on a preset offset to obtain the corrected angle data comprises: when the second preset polarity is a south pole, the initial angle data is subtracted by the preset offset to obtain the corrected angle data; when the second preset polarity is a north pole, the initial angle data is added by the preset offset to obtain the corrected angle data.

[0007] In some embodiments, the obtaining the standard position data corresponding to the initial angle data based on the corrected angle data comprises: selecting a target value range matching the corrected angle data from a plurality of preset value ranges; obtaining the standard position data based on position data corresponding to the target value range.

[0008] In some embodiments, the method further comprises: obtaining a number of magnetic pole pairs in the magnetic drive conveying system, and obtaining a position data measurement range of the magnetic encoder; uniformly dividing a circumferential angle and the position data measurement range based on twice the number of magnetic pole pairs to obtain a plurality of preset value ranges and the position data corresponding to each preset value range.

[0009] In some embodiments, when the initial angle data is measurement data during operation of the mover, the method further comprises: obtaining a set position data of the magnetic encoder in the magnetic drive conveying system; obtaining real-time position data of the mover based on the set position data and the standard position data.

[0010] In some embodiments, the obtaining real-time position data of the mover based on the set position data and the standard position data comprises: obtaining an error angle value based on a difference between the corrected angle data and a lower limit of the target value range; obtaining an error angle ratio based on a ratio of the error angle value to a range length of the target value range; obtaining error position data based on a product of the error angle ratio and a position data length of the target value range; obtaining real-time position data of the mover based on the set position data, the standard position data, and the error position data.

[0011] To achieve the above object, a second aspect of the embodiments of the present application provides a position data acquisition device, which comprises: an acquisition module configured to acquire initial angle data detected by a magnetic encoder under a current magnetic field polarity; a correction module configured to perform a translation correction process on the initial angle data to obtain corrected angle data; a position data calculation module configured to obtain standard position data corresponding to the initial angle data based on the corrected angle data.

[0012] To achieve the above object, a third aspect of the embodiments of the present application provides an electronic device, comprising a memory and a processor, the memory stores a computer program, and the processor implements the position data acquisition method according to the first aspect when executing the computer program.

[0013] To achieve the above object, a fourth aspect of the embodiments of the present application provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the position data acquisition method according to the first aspect.

[0014] The position data acquisition method, device, electronic device and storage medium provided by the embodiments of the present application, the method comprises: first, obtaining initial angle data detected by a magnetic encoder under a current magnetic field polarity; then, performing a translation correction process on the initial angle data to obtain corrected angle data; finally, obtaining standard position data corresponding to the initial angle data based on the corrected angle data. The embodiments of the present application eliminate the 180-degree fixed offset caused by the difference between N-pole and S-pole by performing the "translation correction process" step on the initial angle data obtained by the magnetic encoder at the software level, ensuring that for the measurement data of the same physical position, no matter what the current detected magnetic field polarity is, a unified and unambiguous corrected angle data can be generated, so that the standard position data obtained based on the corrected data is unique and accurate, to solve the positive and negative two cases of angle output, significantly improve the acquisition accuracy and reliability of the mover position in the magnetic drive conveying system, and without any modification to the existing hardware.

[0015] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of a position data acquisition method provided by an embodiment of the present application.

[0017] Figure 2 is a flowchart of a position data acquisition method provided by another embodiment of the present application.

[0018] Figure 3 is Figure 2 the flowchart of step 202 in

[0019] Figure 4 is Figure 3 the flowchart of step 302 in

[0020] Figure 5 is Figure 2 the flow chart in step 203.

[0021] Figure 6 is a schematic flow chart of preset numerical range and position data determination provided by another embodiment of the present application.

[0022] Figure 7 is a definition schematic diagram of preset numerical range provided by another embodiment of the present application.

[0023] Figure 8 is a real-time position data acquisition flow chart of a mover provided by another embodiment of the present application.

[0024] Figure 9 is Figure 8 the flow chart in step 802.

[0025] Figure 10 is a structural schematic diagram of a position data acquisition apparatus provided by an embodiment of the present application.

[0026] Figure 11 is a hardware structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the objects, technical solutions and advantages of the present application clearer, the present application 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 application and not intended to limit the present application.

[0028] It should be noted that although the functional modules are divided in the apparatus schematic diagram, and the logical order is shown in the flow chart, in some cases, the steps shown or described can be executed in a manner different from the module division in the apparatus or the order in the flow chart.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing the embodiments of the present application only and not intended to limit the present application.

[0030] In the field of industrial automation such as magnetic drive conveying, magnetic encoder is widely used due to its non-contact and low wear characteristics. This kind of encoder detects the change of magnetic field through elements such as Hall sensor to output angle data, so as to determine the position of the mover. However, its working principle leads to the dependence of the angle output on the direction of the magnetic field. When the N pole or S pole of the magnetic grid is detected, even if the mover is in the same physical position, the angle signal output by the sensor will present two possible cases due to the different polarities of the magnetic field, which leads to the system being unable to directly distinguish the real position of the mover only by the received angle data, so that the position data obtained by using the magnetic encoder is not accurate.

[0031] In order to improve the accuracy of the position data obtained by using the magnetic encoder, the embodiment of the present application performs a "translation correction processing" step on the initial angle data obtained by the magnetic encoder, which eliminates the 180-degree fixed offset caused by the difference between N pole and S pole at the software level, ensures that for the measurement data of the same physical position, no matter what the currently detected magnetic field polarity is, a unified and unambiguous corrected angle data can be generated, so that the standard position data obtained based on the corrected data is unique and accurate, thereby solving the positive and negative cases of angle output, significantly improving the accuracy and reliability of the position of the mover in the magnetic drive conveying system, and without any modification to the existing hardware.

[0032] In order to better describe the position data acquisition method provided by the present application, first, a schematic flow of acquiring position data by using a magnetic encoder is described. Referring to Figure 1 , a schematic diagram of acquiring position data by using a magnetic encoder provided by the embodiment of the present application is shown, as Figure 1 indicated, the inherent technical problems in the prior art when acquiring position data by using a magnetic encoder are shown. Figure 1 Two cases are depicted in : when two magnetic grids with opposite initial magnetic pole directions (the first one is arranged in N-S, and the second one is arranged in S-N. In the magnetic drive conveying system, the carrier of the magnetic grid can be a mover) move in the same direction, the magnetic encoder below will induce two groups of periodic angle signals with opposite phases (blue and red waveforms respectively). This directly reflects a core problem: even if the physical position of the magnetic grid is the same, the angle value output by the sensor will have a fixed offset of 180 degrees due to the different dominant magnetic field directions. The ambiguity of the angle output leads to the system being unable to obtain unique and determined position information, thereby causing positioning errors, which is the technical problem to be solved by the present application.

[0033] Based on the above-mentioned position data acquisition method based on the magnetic encoder, the position data acquisition method in the embodiment of the present application will be described in detail. Referring to Figure 2 , an optional flowchart of the position data acquisition method provided by the embodiment of the present application is shown,Figure 2 The method in the embodiment can include, but is not limited to, steps 201 to 203. It can be understood that the order of steps 201 to 203 in the embodiment is not limited, and the order of steps can be adjusted, or some steps can be reduced or added according to actual needs. The position data acquisition method provided in the embodiment can be applied to any control processor (such as a smart terminal, a server, a computer, etc.) connected with a magnetic encoder. Figure 2 The order of steps 201 to 203 in the embodiment is not limited, and the order of steps can be adjusted, or some steps can be reduced or added according to actual needs. The position data acquisition method provided in the embodiment can be applied to any control processor (such as a smart terminal, a server, a computer, etc.) connected with a magnetic encoder.

[0034] Step 201: acquiring initial angle data detected by the magnetic encoder under a current magnetic field polarity.

[0035] Step 201 will be described in detail below.

[0036] In some embodiments, in response to position data processing on the data output by the magnetic encoder, initial angle data detected by the magnetic encoder under a current magnetic field polarity is first acquired, so as to collect original and unprocessed position signals from physical hardware.

[0037] It can be understood that the magnetic encoder is a sensor device that determines the position of an object non-contactly by detecting the change of a magnetic field, and is commonly used in industrial automation systems to achieve high durability. The "current magnetic field polarity" refers to the direction of the magnetic field on the magnetic grating scale sensed by the magnetic encoder at that moment, i.e., the north pole (N pole) or the south pole (S pole). The "initial angle data" is the original angle reading directly output by the magnetic encoder based on the magnetic field polarity. The key feature of this data is that its value will be different due to different magnetic field polarities, i.e., the same physical position will correspond to different angle values under different polarities, which is the root cause of position uncertainty.

[0038] Step 202: performing translation correction processing on the initial angle data to obtain corrected angle data.

[0039] Step 202 will be described in detail below.

[0040] After acquiring the initial angle data, translation correction processing is performed on the initial angle data to obtain corrected angle data. The purpose of this step is to eliminate the inherent uncertainty of the initial angle data. The "translation correction processing" here is a mathematical operation at the software level, which performs a fixed arithmetic offset, such as adding or subtracting a 180-degree compensation value, on the initial angle data acquired under a specific magnetic field polarity (for example, S pole) according to a preset rule. The purpose of this processing is to unify the angle outputs under different polarities to the same reference. The "corrected angle data" generated after this processing will no longer depend on the magnetic field polarity at the time of detection, so as to ensure that any physical position corresponds to only one unique and unambiguous angle value.

[0041] The translation correction process will be described in detail below.

[0042] Referring to Figure 3 The translation correction process on the initial angle data to obtain the corrected angle data includes the following steps 301 to 302.

[0043] Step 301: When the current magnetic field polarity is the first preset polarity, the initial angle data is taken as the corrected angle data.

[0044] Step 302: When the current magnetic field polarity is the second preset polarity, the initial angle data is adjusted based on a preset offset to obtain the corrected angle data.

[0045] The steps 301 to 302 will be described in detail below.

[0046] In some embodiments, when the "current magnetic field polarity" is the first preset polarity, the initial angle data is directly taken as the corrected angle data. The "first preset polarity" here is a pre-set reference polarity, which can be defined as the north pole (N pole) for example. When the system determines that the magnetic field polarity currently detected by the magnetic encoder is consistent with the first preset polarity, it is considered that the "initial angle data" obtained at this time is accurate itself and does not need any mathematical adjustment. Therefore, under this specific condition, the initial angle data is directly adopted and considered as the "corrected angle data", providing a unified reference standard for subsequent position calculation.

[0047] When the "current magnetic field polarity" is the second preset polarity, the initial angle data is adjusted based on a preset offset to obtain the corrected angle data. This step defines the compensation or "adjustment" condition in the data correction process. The "second preset polarity" here is another polarity corresponding to the first preset polarity, such as the south pole (S pole). The "preset offset" is a fixed and known value, which is usually 180 degrees in the scheme of the present application. This value represents the inherent difference in angle output under two different polarities. When the system detects that the current magnetic field polarity is the second preset polarity, the adjustment mechanism is started, and the preset offset is applied to the "initial angle data" (for example, through addition or subtraction operation), so as to convert it to the same reference as the output value under the first preset polarity, and finally obtain the "corrected angle data", which is described in detail as follows.

[0048] Referring to Figure 4 The adjustment of the initial angle data based on the preset offset to obtain the corrected angle data includes the following steps 401 to 402.

[0049] Step 401: When the second preset polarity is the south pole, the initial angle data is subtracted by the preset offset to obtain the corrected angle data.

[0050] Step 402: When the second preset polarity is the north pole, the initial angle data is added with a preset offset to obtain the corrected angle data.

[0051] The steps 401 to 402 are described in detail below.

[0052] In some embodiments, when the second preset polarity is the south pole, i.e., in one case, the south pole (S pole) is selected as the "second preset polarity" that needs to be corrected, and the corresponding north pole (N pole) is naturally the reference (i.e., the first preset polarity). In this implementation, in order to align the "initial angle data" measured under the south pole to the reference of the north pole, the system performs subtraction operation, i.e., subtracts the preset offset (i.e., 180 degrees) representing the polarity difference from the initial angle data, and the result of the operation is the unambiguous "corrected angle data".

[0053] When the second preset polarity is the north pole, i.e., in another case, the north pole (N pole) is selected as the "second preset polarity" that needs to be corrected, and the south pole (S pole) is the reference (i.e., the first preset polarity). In this setting, in order to align the "initial angle data" measured under the north pole to the reference of the south pole, the system performs addition operation, i.e., adds the preset offset (i.e., 180 degrees) to the initial angle data. Through this "upward translation", the "corrected angle data" unified with the reference and independent of the magnetic field polarity can also be obtained.

[0054] Through the above steps 401 and 402, two alternative specific implementation paths of the technical feature of "adjustment based on a preset offset" are shown, which are not sequentially executed, but represent two equivalent design options. By applying a fixed offset to compensate for the angle deviation caused by one of the poles, the data reference is unified, and through the explicit subtraction and addition operations which are opposite but have the same effect, the flexibility and universality of the implementation are shown. Whether the south pole or the north pole is used as the reference, the angle ambiguity can be reliably eliminated through the corresponding arithmetic adjustment, and the uniqueness and accuracy of the final corrected angle data are ensured.

[0055] Through the above steps 301 and 302, a complete and rigorous conditional judgment and correction logic is constituted, and the initial angle data output by the magnetic encoder is selectively processed by distinguishing the magnetic field polarity into "first preset polarity" and "second preset polarity": the data under the reference polarity is not changed, and the data under the other polarity is subjected to a "preset offset" for accurate compensation. This way of different treatment ensures that the final output of the corrected angle data can be unified under the same measurement standard regardless of the original detection conditions, thereby effectively and reliably eliminating the angle ambiguity problem caused by the magnetic field direction dependence, and laying a solid foundation for obtaining accurate standard position data subsequently.

[0056] Step 203: obtaining standard position data corresponding to the initial angle data based on the corrected angle data.

[0057] Step 203 will be described in detail below.

[0058] In some embodiments, after obtaining the corrected angle data, in order to convert the obtained and ambiguity-eliminated corrected angle data into final usable position information. Further, based on the corrected angle data, the standard position data corresponding to the initial angle data is obtained. Specifically, the system will map the corrected angle data to a pre-defined position coordinate or number according to the corrected angle data through table lookup, interval judgment or further interpolation calculation, etc. The final output result is the "standard position data", which is unique and accurate, and can be directly adopted by the system for subsequent control or monitoring tasks, because it has completely eliminated the interference caused by the change of magnetic field polarity, which is described as follows.

[0059] Referring to Figure 5 , based on the corrected angle data, the standard position data corresponding to the initial angle data is obtained, including the following steps 501 to 502.

[0060] Step 501: selecting a target value range matching the corrected angle data from a plurality of preset value ranges.

[0061] Step 502: obtaining the standard position data based on the position data corresponding to the target value range.

[0062] Steps 501 to 502 will be described in detail below.

[0063] In some embodiments, after obtaining the corrected angle data, in order to interval position the continuous and corrected angle value, a target value range matching the corrected angle data needs to be selected from a plurality of preset value ranges. The plurality of preset value ranges here refers to a series of continuous and non-overlapping angle intervals that are pre-divided by the system according to its physical structure (such as the number of pole pairs), for example, the complete cycle of 360 degrees is divided into six 60-degree intervals and numbered respectively. Then by comparing the current value of the corrected angle data, it is determined which preset interval it falls into, and the successfully matched interval is the target value range.

[0064] After determining the target value range corresponding to the corrected angle data, in order to convert the positioned angle interval into the final position information, the standard position data needs to be obtained based on the position data corresponding to the target value range. The position data corresponding to the target value range refers to that during system initialization, each preset value range has been pre-associated with a specific position identifier, such as a section number, a rough coordinate or a logical address. Therefore, according to the selected target value range, the corresponding position data is found and extracted from the preset mapping relationship, and is taken as the final output result, i.e. the standard position data.

[0065] Through the above steps 501 and 502, by interval matching, an accurate corrected angle data is classified into a macro target value range, realizing the preliminary positioning of the data. Then, through a direct finding and extracting operation, the range is directly converted into the standard position data understandable by the system, which not only has a clear logical structure and is easy to implement, but also ensures that the conversion process from the unambiguous angle signal to the final position information is stable and unique, thereby completing the closed loop of the entire position data acquisition method and ensuring the accuracy and usability of the final output result.

[0066] How to pre-divide a plurality of preset value ranges in the present application scheme will be further described below.

[0067] Referring to Figure 6 The position data acquisition method further includes the following steps 601 to 602.

[0068] Step 601: Obtain the number of pole pairs in the magnetic drive conveying system, and obtain the position data measurement range of the magnetic encoder.

[0069] Step 602: Uniformly divide the circular angle and the position data measurement range based on the number of pole pairs doubled, to obtain a plurality of preset value ranges and the position data corresponding to each preset value range.

[0070] The steps 601-602 are described in detail below.

[0071] In some embodiments, in order to collect the basic physical parameters necessary for subsequent division operations, it is first necessary to obtain the number of magnetic pole pairs in the magnetic drive conveying system, and to obtain the position data measurement range of the magnetic encoder. The "number of magnetic pole pairs" here refers to the total number of complete magnetic units composed of one N-pole and one S-pole on the magnetic scale or stator that constitutes the driving path of the magnetic drive conveying system, which is a core hardware parameter that determines the period of the system magnetic field distribution. The "position data measurement range of the magnetic encoder" defines the complete period of the sensor output signal. For a rotary encoder, this is usually the physical length value measured by a 360-degree angle representing a physical circle. For a linear system, it may correspond to a specific physical length.

[0072] Next, the physical parameters obtained in the previous step are used to construct the lookup table or logical basis for data conversion. At this time, the circular angle and the position data measurement range are uniformly divided based on twice the number of magnetic pole pairs, obtaining a plurality of preset numerical ranges and the position data corresponding to each preset numerical range. The core operation of this step is to use the total number of magnetic poles (i.e., "twice the number of magnetic pole pairs") as the division base, and use this base to evenly divide the entire "circular angle" (e.g., 360 degrees) and "position data measurement range". By uniformly dividing the circular angle, a series of equal-width, continuous angle intervals can be obtained, which are "a plurality of preset numerical ranges". At the same time, by uniformly dividing the position data measurement range, a discrete "position data" corresponding to each angle interval can be assigned, thereby establishing a one-to-one mapping relationship between the two.

[0073] Referring to Figure 7 is a definition diagram of a preset numerical range provided by an embodiment of the present application. As shown in Figure 7As shown in the middle of the figure, the core process of defining "preset value range" in the scheme of the present application is demonstrated, that is, how to normalize the original angle signal under different magnetic field polarity. The upper and lower parts of the figure (blue S-N and red N-S) represent the cases under opposite magnetic field polarity respectively: the sawtooth wave on the top is the "initial angle data" output by the magnetic encoder with opposite phase; the sawtooth wave on the bottom is the "corrected angle data" obtained after "shift correction processing" (indicated by the vertical arrow) with completely consistent phase. The key is that this normalized corrected waveform is further uniformly divided into 12 (numbered 0 to 11) consecutive intervals, which constitute "a plurality of preset value ranges". This division process is completely consistent with the scheme "uniformly divided based on twice the number of magnetic pole pairs", ensuring that no matter the initial magnetic field direction, the corrected angle data can always be accurately mapped to a unique one of the 12 standard ranges, thereby providing a solid foundation for finally obtaining accurate position data.

[0074] Through the above steps 601 and 602, a set of automatic and parameterized system configuration method is formed, which aims to pre-generate necessary mapping rules that accurately match the physical system for the subsequent position analysis process. First, the key hardware specifications of the system are collected, and then based on these specifications, standardized mathematical division is performed, thereby automatically creating the core data structure for converting sensor signals into position information, not only ensuring the accuracy and rationality of position division, but also making the entire position data acquisition method have good adaptability and portability, which can be easily applied to magnetic drive systems with different numbers of magnetic pole pairs, greatly enhancing the universality and robustness of the technical scheme.

[0075] Next, the position data acquisition method provided by the present application is associated with the running data of the mover in the magnetic drive conveying system.

[0076] Referring to Figure 8 , the position data acquisition method further includes the following steps 801 to 802.

[0077] Step 801: Obtain the setting position data of the magnetic encoder in the magnetic drive conveying system.

[0078] Step 802: Based on the setting position data and the standard position data, obtain the real-time position data of the mover.

[0079] The steps 801 to 802 are described in detail below.

[0080] In some embodiments, to provide a basis for subsequent calculation of the precise physical coordinates of the mover, it is first necessary to obtain the setting position data of the magnetic encoder in the magnetic drive conveyor system. Here, "setting position data" refers to a fixed, known physical position of the magnetic encoder itself within the coordinate system of the entire magnetic drive conveyor system (e.g., a long guide rail). This data is typically calibrated and stored during the equipment installation and commissioning phase; it serves as a static "zero point" or "reference point" and is crucial for subsequently converting relative position information into absolute position information.

[0081] Then, in order to synthesize all known information and output the final, physically meaningful mover position, it is necessary to obtain the mover's real-time position data based on the setpoint data and the standard position data. This process combines the acquired static sensor "setpoint data" with the dynamic "standard position data" (representing the mover's position relative to the magnetic field period) calculated in the previous process. Through a specific algorithm (e.g., adding the two and considering possible fine interpolation), the system can calculate the "motor's real-time position data," which is a precise and continuously varying absolute coordinate value in the entire transport system coordinate system, as described below.

[0082] Reference Figure 9 Based on the set position data and standard position data, the real-time position data of the mover is obtained, including the following steps 901 to 904.

[0083] Step 901: Obtain the error angle value based on the difference between the corrected angle data and the lower limit of the target value range.

[0084] Step 902: Obtain the error angle ratio based on the ratio of the error angle value to the range length of the target value range.

[0085] Step 903: Obtain the error position data based on the product of the error angle ratio and the position data length of the target numerical range.

[0086] Step 904: Based on the set position data, standard position data and error position data, obtain the real-time position data of the mover.

[0087] Steps 901 to 904 are described in detail below.

[0088] In some embodiments, to quantify the precise angular displacement of the mover within the current position segment, an error angle value is obtained based on the difference between the corrected angle data and the lower limit of the target numerical range. Specifically, the system subtracts the unambiguous "corrected angle data" from the starting value (i.e., the "lower limit") of the "target numerical range" to which the data belongs. This calculation result is called the "error angle value," which does not represent a system error but rather refers to the specific amount by which the corrected angle value exceeds the lower limit of its range. This value accurately reflects the relative angular displacement of the mover within the current angular segment.

[0089] Next, to normalize the obtained absolute angular offset, it is converted into a relative proportional value. This is done by dividing the error angle value by the total width (i.e., the range length) of the target numerical range. The resulting error angle ratio is a dimensionless value between 0 and 1, precisely representing the percentage of the mover's current position within the entire angular segment. For example, an error angle ratio of 0.5 means the mover is exactly in the middle of the current segment.

[0090] Next, to remap the dimensionless "error angle ratio" calculated in the previous step back to a physically meaningful unit of length, the error position data is obtained by multiplying the error angle ratio by the length of the position data within the target numerical range. In this process, the system multiplies the error angle ratio by the length of the actual physical segment corresponding to the "target numerical range" (i.e., the "position data length"). The result of this multiplication is the "error position data," a specific physical length value representing the precise displacement of the mover within the current physical segment relative to the starting point of that segment.

[0091] Finally, all previously obtained position components are integrated, that is, the real-time position data of the mover is obtained based on the set position data, standard position data, and error position data. This process involves arithmetically summing the sensor's fixed "set position data" (absolute reference), the "standard position data" (coarse position) representing the starting position of the segment, and the calculated "error position data" (fine displacement within the segment). The final sum is the "real-time position data of the mover," which is a high-precision absolute physical coordinate in the entire system coordinate system.

[0092] Through steps 901 to 904 above, a complete and refined interpolation calculation method is formed. It is no longer satisfied with only determining the coarse segment where the mover is located (given by standard position data). Instead, by calculating the angle offset, normalization ratio, and physical displacement mapping, the precise position of the mover within the segment is analyzed. By integrating the absolute reference, coarse segment, and fine displacement, smooth, continuous, and highly accurate real-time position data can be output. This upgrades the entire system from a segment positioning system to a high-precision continuous tracking system, thereby meeting the requirements of higher-level precision motion control.

[0093] Through steps 801 and 802 above, a conversion from relative position to absolute position is achieved. By introducing the "set position data" of the magnetic encoder as the absolute coordinate reference, and combining it with the reliable "standard position data" obtained after correction and analysis, the internal readings of the sensor can be successfully mapped to the external physical world coordinate system. This ensures that the final output "real-time position data of the mover" is not only unambiguous and accurate, but also has clear physical meaning, and can directly serve industrial application scenarios such as high-precision motion control, path tracking, and real-time monitoring. Thus, a complete technical closed loop from raw signal acquisition to final precise positioning is completed.

[0094] In one example, the physical parameters of a magnetically driven conveyor system are initialized. The system includes a magnetic scale with six pole pairs and a total length of 120 mm. Typically, one pole pair (i.e., one N / S pole) represents one 360-degree cycle. Multiple N / S poles have multiple identical cycles, and the values ​​within each cycle are unique.

[0095] However, in the scheme of this application, according to the division rule of "based on twice the number of magnetic pole pairs", the 360-degree period of multiple magnetic pole pairs is changed into the 180-degree period of twice the number of magnetic pole pairs (i.e. the preset value range mentioned above), and then the linear offset position is obtained by using the preset value range and the value within the preset value range.

[0096] Based on this, the system divides the 360° electrical angle measurement range of the 6 pairs of magnetic poles in the magnetic encoder into 12 "preset value ranges," each with a width of 180° (360° / 2). Simultaneously, the 120mm physical length is also divided into 12 segments, each 10mm long. Thus, the system establishes a mapping table; for example, the first preset value range (i.e., 180°) corresponds to a physical segment of [0mm, 10mm), the second preset value range (i.e., 180°) corresponds to a segment of [10mm, 20mm), and so on.

[0097] In a specific measurement scenario, the mover moves to a physical position of 25mm. This position is located in the middle of the third physical segment [20mm, 30mm]. At this point, if the magnetic field polarity below the mover is N (first preset polarity), the magnetic encoder will output an "initial angle data," such as 90°. However, if the polarity is S (second preset polarity), the encoder will output a value with a 180° offset, i.e., 270° (90° + 180°). After obtaining this initial angle data, the system immediately performs "translation correction processing." In the case of N pole, 90° is directly used as the "corrected angle data." In the case of S pole, the system subtracts the 180° "preset offset" from 270°, also obtaining 90° as the "corrected angle data." Through this step, regardless of the initial conditions, the measured electrical angle is uniformly unified to a unique 90°.

[0098] Finally, the system performs precise position analysis based on the 90° correction angle data. The system first determines that the mover has moved to 90° within the [0, 180°] range of the third physical block, and that the starting position of the third physical block is 20mm. Subsequently, the system performs fine interpolation calculations: calculating the "error angle value" as 90° (90°-0°), the "error angle ratio" as 0.5 (90° / 180°), and finally obtaining the "error position data" as 5mm (0.5*10mm). Adding this error position data to the standard position data (20mm) and the sensor's set position data (assumed to be 0mm), the system finally calculates the "real-time position data of the mover" as 25mm (0mm+20mm+5mm). This result perfectly matches the actual physical position of the mover, proving that this method can effectively overcome the dependence on magnetic field direction and achieve high-precision position acquisition.

[0099] The location data acquisition method, apparatus, electronic device, and storage medium proposed in this application include: First, acquiring initial angle data detected by a magnetic encoder under the current magnetic field polarity; then, when the current magnetic field polarity is a first preset polarity, using the initial angle data as correction angle data; when the current magnetic field polarity is a second preset polarity, and the second preset polarity is the South Pole, obtaining correction angle data by subtracting a preset offset from the initial angle data; and when the second preset polarity is the North Pole, obtaining correction angle data by adding a preset offset to the initial angle data; finally, selecting a target value range that matches the correction angle data from multiple preset value ranges, and obtaining standard position data based on the position data corresponding to the target value range; furthermore, the method also includes... The method includes: acquiring the number of magnetic pole pairs in the magnetic drive conveyor system and acquiring the position data measurement range of the magnetic encoder; uniformly dividing the circumferential angle and position data measurement range based on twice the number of magnetic pole pairs to obtain multiple preset value ranges and position data corresponding to each preset value range; and further comprising: acquiring the set position data of the magnetic encoder in the magnetic drive conveyor system; obtaining the error angle value based on the difference between the correction angle data and the lower limit of the target value range; obtaining the error angle ratio based on the ratio of the error angle value to the range length of the target value range; obtaining the error position data based on the product of the error angle ratio and the position data length of the target value range; and obtaining the real-time position data of the mover based on the set position data, standard position data, and error position data.

[0100] This application embodiment eliminates the 180-degree fixed offset caused by different N or S poles at the software level by performing a "translation correction processing" step on the initial angle data acquired by the magnetic encoder. This ensures that for measurement data at the same physical location, regardless of the currently detected magnetic field polarity, a unified and unambiguous corrected angle data can be generated. Therefore, the standard position data obtained based on this corrected data is unique and accurate, solving the problem of both positive and negative angle outputs. This significantly improves the accuracy and reliability of the mover position acquisition in the magnetic drive conveyor system without requiring any modification to existing hardware. Furthermore, a fixed offset is applied to compensate for... The method addresses the angular deviation caused by one polarity, thereby unifying the data benchmark. By clearly defining subtraction and addition—two opposite but equally effective arithmetic operations—it demonstrates the flexibility and universality of its implementation. Regardless of whether the North or South Pole is used as the benchmark, the ambiguity of the angle can be reliably eliminated through appropriate arithmetic adjustments, ensuring the uniqueness and accuracy of the final corrected angle data. Furthermore, by distinguishing the magnetic field polarity into "first preset polarity" and "second preset polarity," the initial angle data output by the magnetic encoder is selectively processed: the data under the benchmark polarity is not modified, while the data under the other polarity is precisely compensated by applying a "preset offset."This differentiated approach ensures that regardless of the initial detection conditions, the final output corrected angle data is unified under the same measurement standard. This effectively and reliably eliminates the ambiguity of angles caused by magnetic field direction dependence, laying a solid foundation for obtaining accurate standard position data. Furthermore, by using interval matching, a precise "corrected angle data" is categorized into a macroscopic "target value range," achieving initial data localization. Subsequently, a direct lookup and extraction operation converts this range directly into "standard position data" that the system can understand. This not only has a clear and easy-to-implement logical structure but also ensures that the conversion process from unambiguous angle signals to final position information is stable and unique, thus completing the closed loop of the entire position data acquisition method and guaranteeing the accuracy and usability of the final output. Moreover, by acquiring the key hardware specifications of the system and then performing standardized mathematical partitioning based on these specifications, a core data structure for converting sensor signals into position information is automatically created. This not only ensures the accuracy and rationality of the position partitioning but also makes the entire position data... The acquisition method exhibits excellent adaptability and portability, making it easily applicable to magnetic drive systems with varying numbers of magnetic pole pairs, significantly enhancing the versatility and robustness of the technical solution. Furthermore, by introducing the "set position data" of the magnetic encoder as an absolute coordinate reference, combined with reliable "standard position data" obtained after correction and analysis, the sensor's internal readings can be successfully mapped to the external physical world coordinate system. This ensures that the final output of "real-time position data of the mover" is not only unambiguous and accurate but also possesses clear physical meaning, directly serving high-precision motion control, path tracking, and real-time monitoring in industrial applications. This completes the entire technical loop from raw signal acquisition to precise positioning. Finally, by calculating angular offset, normalized ratio, and physical displacement mapping, the minute position of the mover within the segment is precisely analyzed. By integrating the absolute reference, coarse segment, and fine displacement, smooth, continuous, and highly accurate real-time position data can be output, upgrading the entire system from a segment positioning system to a high-precision continuous tracking system, thereby meeting higher-level precision motion control requirements.

[0101] This application also provides a location data acquisition device that can implement the above-described location data acquisition method, see reference. Figure 10 The device 1000 includes: The acquisition module 1010 is used to acquire the initial angle data detected by the magnetic encoder under the current magnetic field polarity; The correction module 1020 is used to perform translation correction processing on the initial angle data to obtain the corrected angle data; The position data calculation module 1030 is used to obtain the standard position data corresponding to the initial angle data based on the corrected angle data.

[0102] In some embodiments, the correction module 1020 is further configured to: When the current magnetic field polarity is the first preset polarity, the initial angle data is used as the correction angle data; When the current magnetic field polarity is the second preset polarity, the initial angle data is adjusted based on the preset offset to obtain the corrected angle data.

[0103] In some embodiments, the correction module 1020 is further configured to: When the second preset polarity is Antarctica, the corrected angle data is obtained by subtracting the preset offset from the initial angle data; When the second preset polarity is North Pole, the corrected angle data is obtained by adding a preset offset to the initial angle data.

[0104] In some embodiments, the location data calculation module 1030 is further configured to: Select the target value range that matches the correction angle data from multiple preset value ranges; Standard location data is obtained based on the location data corresponding to the target numerical range.

[0105] In some embodiments, the location data calculation module 1030 is further configured to: Obtain the number of magnetic pole pairs in the magnetic drive conveyor system, and obtain the position data measurement range of the magnetic encoder; The measurement range of circumferential angle and position data is uniformly divided based on twice the number of magnetic pole pairs, resulting in multiple preset value ranges and the position data corresponding to each preset value range.

[0106] In some embodiments, the location data calculation module 1030 is further configured to: Acquire the setting position data of the magnetic encoder in the magnetic drive conveyor system; Based on the set position data and standard position data, the real-time position data of the mover is obtained.

[0107] In some embodiments, the location data calculation module 1030 is further configured to: The error angle value is obtained based on the difference between the corrected angle data and the lower limit of the target value range. The error angle ratio is obtained based on the ratio of the error angle value to the range length of the target value range; The error position data is obtained by multiplying the error angle ratio by the length of the position data within the target numerical range. Based on the set position data, standard position data, and error position data, the real-time position data of the mover is obtained.

[0108] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, the specific implementation of the location data acquisition device is basically the same as the specific implementation of the location data acquisition method described above, and will not be repeated here.

[0109] The position data acquisition device in this embodiment performs a "translation correction processing" step on the initial angle data acquired by the magnetic encoder. This eliminates the 180-degree fixed offset caused by different N or S poles at the software level, ensuring that for measurement data at the same physical location, regardless of the currently detected magnetic field polarity, a unified and unambiguous corrected angle data is generated. Therefore, the standard position data obtained based on this corrected data is unique and accurate, resolving the issue of both positive and negative angle outputs. This significantly improves the accuracy and reliability of the mover position acquisition in the magnetic drive conveyor system without requiring any modification to existing hardware. Furthermore, by applying a fixed offset... The method compensates for the angular deviation caused by one polarity, thereby unifying the data benchmark. By clearly defining the two opposite but equally effective operation methods of subtraction and addition, it demonstrates the flexibility and universality of its implementation. Regardless of whether the North or South Pole is used as the benchmark, the ambiguity of the angle can be reliably eliminated through corresponding arithmetic adjustments, ensuring the uniqueness and accuracy of the final corrected angle data. In addition, by distinguishing the magnetic field polarity into "first preset polarity" and "second preset polarity", the initial angle data output by the magnetic encoder is selectively processed: the data under the benchmark polarity is not modified, while the data under the other polarity is precisely compensated by applying a "preset offset".This differentiated approach ensures that regardless of the initial detection conditions, the final output corrected angle data is unified under the same measurement standard. This effectively and reliably eliminates the ambiguity of angles caused by magnetic field direction dependence, laying a solid foundation for obtaining accurate standard position data. Furthermore, by using interval matching, a precise "corrected angle data" is categorized into a macroscopic "target value range," achieving initial data localization. Subsequently, a direct lookup and extraction operation converts this range directly into "standard position data" that the system can understand. This not only has a clear and easy-to-implement logical structure but also ensures that the conversion process from unambiguous angle signals to final position information is stable and unique, thus completing the closed loop of the entire position data acquisition method and guaranteeing the accuracy and usability of the final output. Moreover, by acquiring the key hardware specifications of the system and then performing standardized mathematical partitioning based on these specifications, a core data structure for converting sensor signals into position information is automatically created. This not only ensures the accuracy and rationality of the position partitioning but also makes the entire position data... The acquisition method exhibits excellent adaptability and portability, making it easily applicable to magnetic drive systems with varying numbers of magnetic pole pairs, significantly enhancing the versatility and robustness of the technical solution. Furthermore, by introducing the "set position data" of the magnetic encoder as an absolute coordinate reference, combined with reliable "standard position data" obtained after correction and analysis, the sensor's internal readings can be successfully mapped to the external physical world coordinate system. This ensures that the final output of "real-time position data of the mover" is not only unambiguous and accurate but also possesses clear physical meaning, directly serving high-precision motion control, path tracking, and real-time monitoring in industrial applications. This completes the entire technical loop from raw signal acquisition to precise positioning. Finally, by calculating angular offset, normalized ratio, and physical displacement mapping, the minute position of the mover within the segment is precisely analyzed. By integrating the absolute reference, coarse segment, and fine displacement, smooth, continuous, and highly accurate real-time position data can be output, upgrading the entire system from a segment positioning system to a high-precision continuous tracking system, thereby meeting higher-level precision motion control requirements.

[0110] This application also provides an electronic device, including: At least one memory; At least one processor; At least one program; The program is stored in a memory, and the processor executes the at least one program to implement the location data acquisition method described above in this application. The electronic device can be any smart terminal, including mobile phones, tablets, personal digital assistants (PDAs), in-vehicle computers, etc.

[0111] Please see Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1101 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1102 can be implemented in the form of ROM (Read-Only Memory), static storage device, dynamic storage device, or RAM (Random Access Memory). The memory 1102 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1102 and is called and executed by the processor 1101 to execute the location data acquisition method of the embodiments of this application. Input / output interface 1103 is used to implement information input and output; The communication interface 1104 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1105 transmits information between various components of the device (e.g., processor 1101, memory 1102, input / output interface 1103, and communication interface 1104); The processor 1101, memory 1102, input / output interface 1103 and communication interface 1104 are connected to each other within the device via bus 1105.

[0112] This application embodiment also provides a storage medium, which is a computer-readable storage medium, storing a computer program that, when executed by a processor, implements the above-described location data acquisition method.

[0113] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0114] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0115] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0116] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0117] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0118] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0119] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. The coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, or indirect coupling or communication connection between the apparatus or units, and may be electrical, mechanical, or other forms.

[0121] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method for acquiring location data, characterized in that, The method includes: Acquire the initial angle data detected by the magnetic encoder under the current magnetic field polarity; The initial angle data is translated and corrected to obtain the corrected angle data; Based on the corrected angle data, the standard position data corresponding to the initial angle data is obtained.

2. The location data acquisition method according to claim 1, characterized in that, The process of performing translation correction on the initial angle data to obtain corrected angle data includes: When the current magnetic field polarity is the first preset polarity, the initial angle data is used as the corrected angle data; When the current magnetic field polarity is the second preset polarity, the initial angle data is adjusted based on the preset offset to obtain the corrected angle data.

3. The location data acquisition method according to claim 2, characterized in that, The step of adjusting the initial angle data based on a preset offset to obtain the corrected angle data includes: When the second preset polarity is Antarctica, the corrected angle data is obtained by subtracting the preset offset from the initial angle data; When the second preset polarity is North Pole, the corrected angle data is obtained by adding the preset offset to the initial angle data.

4. The location data acquisition method according to claim 1, characterized in that, The step of obtaining the standard position data corresponding to the initial angle data based on the corrected angle data includes: Select a target value range from multiple preset value ranges that matches the corrected angle data; The standard location data is obtained based on the location data corresponding to the target numerical range.

5. The location data acquisition method according to claim 4, characterized in that, The method further includes: Obtain the number of magnetic pole pairs in the magnetic drive conveyor system, and obtain the position data measurement range of the magnetic encoder; The circumferential angle and the position data measurement range are uniformly divided based on twice the number of magnetic pole pairs to obtain multiple preset value ranges and the position data corresponding to each preset value range.

6. The location data acquisition method according to claim 4, characterized in that, When the initial angle data is measurement data during the movement of the mover, the method further includes: Obtain the setting position data of the magnetic encoder in the magnetic drive conveyor system; Based on the set position data and the standard position data, the real-time position data of the mover is obtained.

7. The location data acquisition method according to claim 6, characterized in that, The process of obtaining the real-time position data of the mover based on the set position data and the standard position data includes: The error angle value is obtained based on the difference between the corrected angle data and the lower limit of the target numerical range; The error angle ratio is obtained based on the ratio of the error angle value to the range length of the target value range; The error position data is obtained by multiplying the error angle ratio by the position data length of the target value range; Based on the set position data, the standard position data, and the error position data, the real-time position data of the mover is obtained.

8. A location data acquisition device, characterized in that, The device includes: The acquisition module is used to acquire the initial angle data detected by the magnetic encoder under the current magnetic field polarity; The correction module is used to perform translation correction processing on the initial angle data to obtain corrected angle data; The position data calculation module is used to obtain the standard position data corresponding to the initial angle data based on the corrected angle data.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the location data acquisition method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the location data acquisition method according to any one of claims 1 to 7.

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