Information code arrangement structure and advancing object

Abstract

The utility model relates to an information code arrangement structure and an advancing object, and relates to the technical field of intelligent driving. The arranged information codes record information for the code reader to read, the information codes are arranged on the advancing route of the advancing object, and the code reader can at least read one information code expressing complete information when the advancing object is in any advancing position state on the advancing route, so that the information code can be read even if the relative positions of the code reader and the information code deviate. According to the invention, the code reader can be ensured to identify the information code to a greater extent even if the angle of the code reader is changed or the angle of the code reader is changed, and the robustness of identifying the information code by the code reader is improved, so that the robustness of obtaining the first information required to be obtained by the current advancing object is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent driving, in particular to an information code layout structure and a moving object. Background Art

[0002] With the intelligent transformation and upgrading of factories, the development and progress of new technologies such as artificial intelligence and robot control technology, traditional factory facilities and equipment rely on a fully manual and manual operation method, which has certain safety hazards, especially for large industrial equipment such as forklifts and forklifts.

[0003] Currently, for equipment moving in factories or other restricted areas, positioning is often required, and then other operations are completed based on the positioning. In order to cope with positioning in a dynamic environment, in current methods, using information codes to assist robot positioning is a common practice, but the existing methods have high requirements for the deployment of information codes and high requirements for the established driving trajectory of robots, and there is a problem of low robustness in information code recognition. Summary of the Utility Model

[0004] The technical problem to be solved by this application is to provide an information code layout structure and a moving object, which have the characteristics of low deployment cost and high robustness.

[0005] In a first aspect, in one embodiment, an information code layout structure is provided. The information code records information for a code reader to read. The information code is set on the traveling route of a moving object, and in any traveling position state of the moving object on the traveling route, the code reader can at least read an information code expressing complete information.

[0006] In one embodiment, the information code includes a bar code. The bar code is set on the traveling route of the moving object, including:

[0007] The bar code completely covers the projection of the movement trajectory of the code reader in the first direction, and the length direction of the bar lines forming the bar code is parallel to the first direction.

[0008] In one embodiment, the information code includes a plurality of two-dimensional codes. The plurality of two-dimensional codes form at least one one-dimensional array. Among any two adjacent two-dimensional codes in the one-dimensional array, including a first two-dimensional code and a second two-dimensional code, the edge of the first two-dimensional code far from the second two-dimensional code is taken as the first edge, and the edge of the second two-dimensional code far from the first two-dimensional code is taken as the second edge. The distance between the first edge and the second edge is less than or equal to the edge distance of the coverage area of the code reading window of the code reader;

[0009] The information code described above is set on the travel route of the moving object, and includes: the space between the two edges far from the two-dimensional codes at both ends of the one-dimensional array completely covers the projection of the movement trajectory of the code reader in the first direction.

[0010] In one embodiment, the first direction includes a direction perpendicular to the road center line and / or the perpendicular direction of the side of the moving object.

[0011] In one embodiment, the first direction includes a direction perpendicular to the road center line, and the information code partially or completely covers the road width of the travel route, including:

[0012] The information code is set on the road surface, and the information code set on the road surface partially or completely covers the road width of the travel route;

[0013] and / or,

[0014] The information code is set on the top surface of the upper space of the road surface, and the projection of the set information code partially or completely covers the road width of the travel route.

[0015] In one embodiment, the information code partially or completely covers the road width of the travel route, including:

[0016] The information code includes a bar code. In the case of partial coverage, the positions of the left end and the right end of the bar code cover the position of the left edge of the code reader when driving on the leftmost side to the position of the right edge when driving on the rightmost side during the travel of the moving object.

[0017] and / or,

[0018] The information code includes a two-dimensional code. In the case of partial coverage, the space between the left edge of the left-end two-dimensional code and the right edge of the right-end two-dimensional code covers the position of the left edge of the code reader when driving on the leftmost side to the position of the right edge when driving on the rightmost side during the travel of the moving object.

[0019] In a second aspect, in one embodiment, a moving object is provided. A code reader is provided on the moving object, and the code reader is configured to identify an information code on the travel route of the moving object. The layout structure of the information code adopts the layout structure of the information code in any one of the above embodiments; the information recorded by the information code includes corresponding first information.

[0020] In one embodiment, the information recorded by the information code includes corresponding first information, including:

[0021] The information recorded by the information code includes first information;

[0022] Or,

[0023] The information recorded by the information code includes second information, and the second information corresponds to first information.

[0024] In one embodiment, the first information includes position information and / or speed information; when the information recorded by the information code includes second information, the second information includes unique coding information.

[0025] In one embodiment, the information code is arranged on the travel route at the entrance of each area.

[0026] The beneficial effects of the present utility model are:

[0027] Since the arranged information code records information for the code reader to read, the information code is set on the travel route of the traveling object, and in any traveling position state of the traveling object on the travel route, the code reader can at least read an information code expressing complete information, so that even if the relative position between the code reader and the information code deviates, or the angle of the code reader changes, it can be ensured to a greater extent that the code reader can recognize the information code, improving the robustness of the code reader to recognize the information code.

[0028] Since the information code is set on the travel route of the traveling object, and in any traveling position state of the traveling object on the travel route, the code reader can at least read an information code expressing complete information. So that even if the relative position between the code reader and the information code deviates, or the angle of the code reader changes, it can be ensured to a greater extent that the code reader can recognize the information code, so as to ensure to a greater extent the recognition of the first information corresponding to the current position of the traveling object, and improve the robustness of obtaining the first information required by the current traveling object. Description of the Drawings

[0029] Figure 1 is a schematic diagram of a two-dimensional code reader reading a two-dimensional code in one embodiment;

[0030] Figure 2 is a schematic diagram of the road surface width of the travel route completely covered by a bar code in one embodiment of the present application;

[0031] Figure 3 is a schematic diagram of the road surface width of the travel route partially covered by a bar code in one embodiment of the present application;

[0032] Figure 4 is a schematic diagram of the size relationship between any two adjacent two-dimensional codes and the coverage area of the code reading window in a one-dimensional array in one embodiment of the present application;

[0033] Figure 5It is a schematic diagram showing that the space between the two edges away from the two-dimensional codes at both ends of a one-dimensional array in an embodiment of the present application completely covers the road surface width of the travel route.

[0034] In the figure, 01 is the area covered by the code reading window, 02 is the two-dimensional code, 03 is the road surface central axis, 04 is the projection window, 05 is the first two-dimensional code, 06 is the second two-dimensional code, 07 is the bar code, 0701 is the bar line, 08 is the road surface, 0801 is the left edge of the road surface, 0802 is the right edge of the road surface, and 09 is the one-dimensional array. Detailed implementation manners

[0035] The present utility model will be further described in detail below in conjunction with the accompanying drawings through specific implementation manners. Similar elements in different implementation manners are labeled with related similar element numbers. In the following implementation manners, many detailed descriptions are provided to enable a better understanding of the present application. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, or methods. In some cases, some operations related to the present application are not shown or described in the specification to avoid overwhelming the core part of the present application with excessive descriptions. For those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0036] In addition, the features, operations, or characteristics described in the specification can be combined in any appropriate manner to form various implementation manners. At the same time, the steps or actions in the method description can also be reordered or adjusted in a manner obvious to those skilled in the art. Therefore, the various sequences in the specification and drawings are only for clearly describing a certain embodiment and do not mean that they are the necessary sequences, unless it is stated that a certain sequence must be followed.

[0037] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. And the "connection" and "coupling" mentioned in the present application, unless otherwise specified, both include direct and indirect connection (coupling).

[0038] For the convenience of explaining the inventive concept of the present application, the information code recognition technology in a factory or other restricted areas will be briefly described below.

[0039] In the current identification of information codes, one method is to set information codes on a moving object, and then set code readers at multiple positions in the environment where the moving object is located to identify the moving object. Since the code readers fixed at the environmental positions have unique IDs, the position where the moving object is located can be known through the code readers with the unique IDs that identify the moving object. Another method is to set code readers on the moving object and then set information codes on the travel route. The information codes can be corresponded to position information. In this way, the code readers can obtain the current position by reading the information codes.

[0040] However, the applicant found in the research that for an information code reader, the size of the window is fixed. Therefore, the coverage area of the code reading window during the movement of the object is also fixed. Therefore, the code reading window needs to completely cover the area where the information code is located in order to identify the arranged information code. In the above two methods, for the former method, the code readers set in the surrounding environment need to accurately identify the information codes that move with the moving object; for the latter method, the information codes set in the surrounding environment need to be accurately identified by the code readers that move with the moving object. To solve this problem, in the former method, the visual height of the fixedly set code reader needs to be the same as the height of the fixedly set information code. If the position of the fixedly set information code deviates, there is a high probability that it cannot be recognized, and the robustness is low. In the latter method, similarly, the moving object needs to travel along the established travel center line in order to recognize the information codes on the line corresponding to the established travel center line. In the current solution, for the convenience of setting, please refer to Figure 1 , the information code (such as QR code 02) is arranged along the road surface central axis 03. Similarly, in order to accurately identify the information code arranged along the road surface central axis 03, the moving object needs to travel along this central axis without too much deviation. Generally, the code reader is arranged in the middle of the moving object. When the moving object travels on the road surface, it travels in the middle (this requires centering detection during the travel), or the central axis is marked and always recognized on the road surface, and it travels along this central axis. In this way, it is ensured that when the code reader on the moving object has a small deviation and travels to the position where the information code is arranged, the coverage area 01 of the code reading window of the code reader can cover the information code. This process requires a large amount of computing resources, and centering detection needs to deploy auxiliary devices such as lidar on the moving object to achieve, and the cost is also large. Moreover, in the above identification methods, no matter which method it is, once the relative position between the code reader and the information code deviates, or the angle of the code reader changes, it is very easy to cause the code reader to fail to recognize the information code, and the robustness is low.

[0041] In view of this, in the embodiments of the present application, an information code arrangement structure is provided. The arranged information code records information for a code reader to read. The information code is set on the travel route of the moving object, and in any travel position state of the moving object on the travel route, the code reader can at least read an information code expressing complete information. In this way, even if the relative position between the code reader and the information code deviates, or the angle of the code reader changes, it can be ensured to a greater extent that the code reader can recognize the information code, improving the robustness of the code reader to recognize the information code.

[0042] Those skilled in the art can understand that the information code here can at least include a two-dimensional code and / or a bar code.

[0043] In some embodiments, the moving object can be an AGV cart, a robot, or can also be equipment such as a forklift truck or a fork lift. The operating environment of the moving object can be an indoor space or an outdoor space with restricted areas, etc. In addition, it should be noted that the moving object in this application does not specifically refer to the equipment in motion, but refers to the equipment provided with moving components (such as rollers, stepping supports, etc.) that can travel. The application field is not limited to industrial scenarios, and this technology can also be used in commercial and other scenarios.

[0044] In one embodiment, the information code includes a bar code. The above-mentioned information code is set on the travel route of the moving object, including: the bar code completely covers the projection of the movement track of the code reader in the first direction, and the length direction of the bar lines forming the bar code is parallel to the first direction.

[0045] In one embodiment, the first direction includes the direction perpendicular to the road center line. The moving object travels on the road and can travel on the left or on the right. Between traveling on the far left and traveling on the far right, the code reader set on the moving object forms a movement track projection in the direction perpendicular to the road center line. In this embodiment of the present application, the bar code completely covers the projection of the movement track of the code reader in the first direction, that is, the length direction of the bar lines forming the bar code is perpendicular to the road center line and parallel to the first direction. In this way, even when the moving object travels on the far left side of the road, it can read the bar code information, and when traveling on the far right side, it can also read the bar code information. The moving object does not need to strictly follow the established travel center line to recognize the bar code information, improving the robustness of the code reader to recognize the information code.

[0046] Those skilled in the art can understand that in actual applications, it is difficult to achieve absolute perpendicularity or parallelism, and a certain error is allowed. Therefore, the perpendicularity or parallelism in this application does not only include absolute perpendicularity or parallelism, but allows perpendicularity or parallelism with allowable errors.

[0047] In one embodiment, when the first direction is perpendicular to the central axis of the road surface, the bar code partially or completely covers the road width of the travel route.

[0048] Among them, when the bar code completely covers the road width of the travel route, please refer to Figure 2 , in one embodiment, the bar code can be set on the ground. The length direction of the bar line 0701 of the bar code 07 is perpendicular to the central axis direction of the road surface 08. Both ends of each bar line 0701 of the bar code 07 extend even beyond the left edge 0801 and the right edge 0802 of the road surface. In this case, in order to recognize the bar code 07 set on the road surface, the reading window of the bar code reader to be set should face downwards, and there is no visual obstruction between the reading window and the ground bar code. Figure 2 It can be seen from

[0049] Those skilled in the art can understand that Figure 2 The situation shown is only when the bar code exactly covers the road width of the travel route. In fact, completely covering the road width of the travel route also includes the situation where the left end of the bar code 07 extends beyond the left edge 0801 of the road surface, and / or the situation where the right end of the bar code 07 extends beyond the right edge 0802 of the road surface.

[0050] The applicant found in the research that in some cases where the road surface conditions of the travel route are relatively complex, for example, the working environment is not conducive to setting information codes on the road surface, or it is not conducive to recognition after setting, it is difficult to set information codes on the road surface. For example, in cases where the road surface is frequently severely rubbed or is more likely to be damaged, etc., after setting the information code, on the one hand, it is easily soiled, and on the other hand, it is easily damaged or lost, resulting in a large maintenance cost.

[0051] In view of this, similarly, in one embodiment, the bar code can also be set on the top surface of the upper space of the road surface (such as the ceiling), and the projection of the set bar code completely covers the road width of the travel route. In this case, in order to recognize the bar code set on the top surface of the upper space of the road surface, the reading window of the bar code reader to be set should face upwards, and there is no visual obstruction between the reading window and the top bar code.

[0052] For the setting of the barcode, it can be one or more of printing, stickers, and fixed bars, etc. For printing, it can be one or more of laser printing, ink, and paint, etc. For the fixed bars, it can be one or more of wooden boards, plastics, and metal bar plates. Additionally, it is not limited to black and white barcodes, and color barcodes are also within the protection scope of this application.

[0053] For the arranged barcode, in one embodiment, it can be one or more of the barcode of the UPC (Universal Product Code) standard type, the barcode of the EAN (European Article Number) standard type, the barcode of the Code 39 standard type, the barcode of the Code 128 standard type, the barcode of the Interleaved 2 of 5 standard type, the barcode of the Codabar standard type, the barcode of the MSI (Modified Plessey) standard type, and the barcode of the Pharmacode standard type. Among them, UPC can include one or both of the two formats of UPC-A and UPC-E; EAN can include one or both of the two formats of EAN-13 and EAN-8; Code 39 can support the recognition of alphabetic and numeric characters; Code 128 uses a high-density barcode and supports more characters; Interleaved 2 of 5 supports encoding numbers and has a relatively high density; Codabar supports numbers and some special characters; MSI (Modified Plessey) supports encoding numbers.

[0054] While saving the material cost of the set barcode, it is also ensured that barcode information can be obtained regardless of how large the deviation between the travel center line of the traveling object and the road center axis or the established travel center line is. In one embodiment, when the barcode partially covers the road width of the travel route, the position of the left end of the barcode and the position of the right end of the barcode cover the position of the left edge of the reader when traveling on the leftmost side to the position of the right edge when traveling on the rightmost side during the travel of the traveling object.

[0055] Please refer to Figure 3 , in one embodiment, it can be to set the barcode on the ground, and the position of the left end of the barcode 07 and the position of the right end of the barcode cover the position of the left edge of the reader when traveling on the leftmost side to the position of the right edge when traveling on the rightmost side during the travel of the traveling object.

[0056] Those skilled in the art can understand that Figure 3What is shown is only the case where both the left and right ends of the barcode are between the left and right edge lines of the road surface, and the barcode partially covers the road surface width of the travel route. In fact, the case where the road surface width of the travel route is partially covered also includes the case where the left end of the barcode does not reach the left edge 0801 of the road surface, or the case where the right end of the barcode does not reach the right edge 0802 of the road surface.

[0057] Similarly, in one embodiment, the barcode can also be arranged on the top surface of the upper space of the road surface (such as the ceiling), and the projected part of the arranged barcode covers the road surface width of the travel route. In this case, in order to recognize the barcode arranged on the top surface of the upper space of the road surface, the reading window of the barcode reader to be arranged should face upward, and there is no visual occlusion between the reading window and the top surface barcode.

[0058] In one embodiment, the first direction includes the direction of the side perpendicular line of the traveling object.

[0059] The applicant found in the research that when the reader arranged on the traveling object needs to recognize the information code on the side wall of the surrounding environment, due to problems such as ground inclination or unevenness, or the up and down jitter of the traveling object itself, etc., there will be a deviation in the horizontal height between the reader and the information code, and the reader itself is also prone to move up and down or tilt at an angle, resulting in a high probability that the information code cannot be recognized by the reader.

[0060] In view of this, the length direction of the bar lines of the barcode arranged on the side wall of the environment where the traveling object is located is along the direction of the side perpendicular line of the traveling object, that is, the length direction of the bar lines of the arranged barcode is parallel to the direction of the side perpendicular line of the traveling object, and the left and right ends of the bar lines extend as much as possible up and down with the horizontal position where the reader is located as the center. In this way, the problem that there is a high probability that the information code cannot be recognized by the reader due to problems such as ground inclination or unevenness, or the up and down jitter of the traveling object itself, etc., or the reader itself moves up and down or tilts at an angle is solved, so that the reader can at least read an information code expressing complete information in any traveling position state of the traveling object on the travel route. In this case, in order to recognize the barcode arranged on the side wall of the environment, the reading window of the barcode reader to be arranged should face the side wall of the environment where the barcode is arranged, and there is no visual occlusion between the reading window and the barcode arranged on the side wall of the environment.

[0061] In some embodiments, the information code can be arranged on any one side of the side wall, or the information code can be arranged on both sides of the side wall, which are all within the protection scope of this application.

[0062] In one embodiment, the information code includes a plurality of two-dimensional codes. The plurality of two-dimensional codes at least form a one-dimensional array. Please refer to Figure 4, among any two adjacent two-dimensional codes in the one-dimensional array, including the first two-dimensional code 05 and the second two-dimensional code 06, the edge of the first two-dimensional code 05 far from the second two-dimensional code 06 is taken as the first edge, and the edge of the second two-dimensional code 06 far from the first two-dimensional code 05 is taken as the second edge. The distance d1 between the first edge and the second edge is less than or equal to the edge distance d2 of the code reading window coverage area 01 of the code reader.

[0063] The information code is set on the travel route of the traveling object, including: the space between the two edges far from the two-dimensional codes at both ends of the one-dimensional array completely covers the projection of the movement trajectory of the code reader in the first direction.

[0064] In one embodiment, when the first direction is the direction perpendicular to the central axis of the road surface, the space between the two edges far from the two-dimensional codes at both ends of the one-dimensional array partially or completely covers the road surface width of the travel route.

[0065] Among them, when the space between the two edges far from the two-dimensional codes at both ends of the one-dimensional array completely covers the road surface width of the travel route, please refer to Figure 5 , in one embodiment, it can be to set the one-dimensional array 09 on the ground, the one-dimensional length direction of the one-dimensional array 09 is perpendicular to the central axis direction of the road surface 08, and the two edges far from the two-dimensional codes at both ends of the one-dimensional array respectively touch or at least one edge exceeds the corresponding road surface edge. Figure 5 It can be seen from that the code reading window coverage area 01 of the two-dimensional code reader on the road surface can obtain the two-dimensional code information at any position of the one-dimensional array 09 from left to right. Therefore, there is no need to consider too much the deviation between the travel center line of the traveling object and the central axis of the road surface or the established travel center line, which improves the robustness of the information code recognition.

[0066] Those skilled in the art can understand that Figure 5 The situation shown is only the case where the two-dimensional code just covers the road surface width of the travel route. In fact, completely covering the road surface width of the travel route also includes the case where the left edge of the two-dimensional code at the left end of the one-dimensional array extends beyond the left road surface edge, and / or the case where the right edge of the two-dimensional code at the right end extends beyond the right road surface edge.

[0067] Similarly, in one embodiment, the one-dimensional array can also be set on the top surface of the upper space of the road surface (such as the ceiling), and the projection of the space between the two edges far from the two-dimensional codes at both ends of the set one-dimensional array completely covers the road surface width of the travel route. In this case, in order to recognize the two-dimensional code set on the top surface of the upper space of the road surface, the code reading window of the required two-dimensional code reader needs to face upward, and there is no visual occlusion between the code reading window and the top surface two-dimensional code.

[0068] For the arranged two-dimensional code, in some embodiments, it may include one or several of PDF417, QR Code, DM Code, Code 49, Code 16K, Code One, etc.

[0069] For the setting of the two-dimensional code, it may be one or several of printing, stickers, fixed lines, etc. For printing, it may use one or several of laser printing, ink, paint, etc. For fixed lines, it may be one or several of wooden boards, plastic, and metal line boards. In addition, it is not limited to black and white two-dimensional codes, and color two-dimensional codes are also within the protection scope of this application.

[0070] To save the material cost of the set two-dimensional code while ensuring that the two-dimensional code information can be obtained regardless of how large the deviation between the travel center line of the traveling object and the road surface central axis or the established travel center line is. In one embodiment, when the space part between the two edges away from the two-dimensional codes at both ends of the one-dimensional array covers the road surface width of the travel route, the space between the position of the outer edge of the two-dimensional code at one end and the position of the outer edge of the two-dimensional code at the other end in the one-dimensional array covers the position of the left edge of the reader when driving on the leftmost side to the position of the right edge when driving on the rightmost side during the travel of the traveling object.

[0071] Similarly, in one embodiment, the one-dimensional array can also be arranged on the top surface of the upper space of the road surface (such as the ceiling), and the projection part of the space between the two edges away from the two-dimensional codes at both ends of the arranged one-dimensional array covers the road surface width of the travel route. In this case, to identify the two-dimensional code set on the top surface of the upper space of the road surface, the reading window of the set two-dimensional code reader needs to face upward, and there is no visual obstruction between the reading window and the two-dimensional code on the top surface.

[0072] In one embodiment, when the information code includes a two-dimensional code, the first direction includes the lateral perpendicular direction of the traveling object. The one-dimensional length direction of the one-dimensional array arranged on the side wall of the environment where the traveling object is located is along the lateral perpendicular direction of the traveling object, that is, the one-dimensional length direction of the one-dimensional array where the two-dimensional code is set is parallel to the lateral perpendicular direction of the traveling object, and the two-dimensional code is added as much as possible up and down with the horizontal position where the reader is located as the center. In this case, to identify the two-dimensional code set on the side wall of the environment, the reading window of the set two-dimensional code reader needs to face the side wall of the environment, and there is no visual obstruction between the reading window and the two-dimensional code set on the side wall of the environment.

[0073] In one embodiment, the first direction includes both the direction perpendicular to the road surface central axis and the lateral perpendicular direction of the traveling object. There are information codes arranged both in the direction perpendicular to the road surface central axis and in the lateral perpendicular direction of the traveling object.

[0074] In one embodiment, the information code includes both a two-dimensional code and a bar code, that is, the first direction in any of the above embodiments is provided with a one-dimensional array of bar codes and two-dimensional codes.

[0075] Based on any of the above embodiments, it is possible to ensure to a greater extent that the code reader can recognize the information code and improve the robustness of the code reader in recognizing the information code.

[0076] In one embodiment of the present application, a traveling object is provided, and a code reader is arranged on the traveling object. The code reader is configured to recognize the information code on the traveling route of the traveling object. Among them, the layout structure of the information code adopts the information code layout structure of any of the above embodiments; the information recorded by the information code includes corresponding first information.

[0077] In one embodiment, the first information may include position information and / or speed information.

[0078] In one embodiment, the information recorded by the information code includes corresponding first information, including: the information code information directly indicates the first information. For example, the read bar code information and / or two-dimensional code information directly represent the first information and / or contain the recorded first information.

[0079] When the first information includes position information, the information code information directly indicates the position information. For example, the read bar code information and / or two-dimensional code information directly represent a position information and / or contain the recorded position information.

[0080] When the first information includes speed limit information, the information code information directly indicates the speed limit information. For example, the read bar code information and / or two-dimensional code information directly represent a speed limit information and / or contain the recorded speed limit information.

[0081] In one embodiment, the information recorded by the information code includes corresponding first information, including: the information recorded by the information code includes second information, and the second information corresponds to the first information.

[0082] Among them, the second information may include unique coding information. For example, an ID number is obtained based on the bar code and / or two-dimensional code, and then the position information and / or speed limit information corresponding to the ID number is obtained based on the ID number. When obtaining the corresponding first information based on the second information, the corresponding relationship between the second information and the first information may be a one-to-one relationship or a many-to-one relationship.

[0083] The position information in any of the above embodiments may include regional position information.

[0084] In one embodiment, the information code is set on the travel route at the entrance of each area. Once entering a certain area, the information code corresponding to the area can be recognized at the entrance of the area, and then the current area where one is located can be recognized.

[0085] The applicant found in the research that if the information code directly records the location information, when the location information is the area location and the area division needs to change, at least some of the information codes need to be reset, increasing the material cost and labor cost.

[0086] In view of this, in one embodiment, each area corresponds to its own information code. In one embodiment, each area can correspond to an information code with a unique number, or can correspond to multiple numbered information codes. For example, there are information codes with 6 numbers and three area locations, and each area location corresponds to two numbered information codes. It is also possible that one area corresponds to one numbered information code, and in the other two areas, one area corresponds to two numbered information codes and the other area corresponds to three numbered information codes. The specific situation is set based on actual needs.

[0087] In this way, when the divided areas change, only the corresponding information codes need to be re-divided and corresponding to the re-divided corresponding areas, saving material and labor costs.

[0088] Based on the traveling object of any of the above embodiments, since the information code is set on the traveling route of the traveling object, and in any traveling position state of the traveling object on the traveling route, the reader can at least read one information code expressing complete information. Even if the relative position between the reader and the information code deviates, or the angle of the reader changes, it can be ensured to a greater extent that the reader can recognize the information code, so as to ensure to a greater extent the recognition of the first information corresponding to the current position of the traveling object, and improve the robustness of obtaining the first information required by the current traveling object.

[0089] Corresponding to the specific position of the arranged information code, for the reader on the traveling object, it can include one or several of the first setting method, the second setting method and the third setting method, and can read two-dimensional codes and / or barcodes. Among them, the first setting method includes: the reader is set at the first position of the traveling object and the window for reading the information code faces down to obtain the information code set on the road surface. For the first setting method, for example, the reader can be set at the bottom of the traveling object with the reading window facing down, or can be set on the side of the traveling object with the reading window facing down, or can be set in front of the traveling object with the reading window facing down. Those skilled in the art can flexibly set the specific position where the first position is located as long as the reading window of the reader faces down.

[0090] The second setting method includes: the code reader is set at the second position of the moving object and the window for reading the information code faces upward to obtain the information code set on the top surface of the upper space of the road surface. For the second setting method, for example, the code reader can be set on the top of the moving object with the reading window facing upward, or can be set on the side of the moving object with the reading window facing upward, or can be set in front of the moving object with the reading window facing upward. Those skilled in the art can flexibly set the specific position of the second position based on requirements, as long as the reading window of the code reader faces upward.

[0091] The third setting method includes: the code reader is set at the third position of the moving object and the window for reading the information code faces at least one of the left and right sides of the moving object to obtain the information code set on the corresponding side wall of the space where the moving object is located. For the third setting method, for example, the code reader can be set on at least one of the left and right sides of the moving object with the reading window facing the outside of the at least one side, or can be set in front of the moving object and facing the outside of the at least one side. When the code reader is set on the left and right sides of the moving object, two code readers are correspondingly set. The reading window of one code reader faces the outside of one side of the moving object, and the reading window of the other code reader faces the outside of the other side of the moving object. Those skilled in the art can flexibly set the specific position of the third position based on requirements, as long as the reading window of the code reader faces the side wall of the surrounding environment.

[0092] In some embodiments, if the arranged information code is a bar code, the code reader can include any one or several of a photodiode code reader, an image code reader, and a laser code reader. If the arranged information code is a two-dimensional code, the code reader includes an image code reader. In one embodiment, the image code reader includes a camera code reader.

[0093] The above uses specific examples to elaborate on the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the technical field to which the present invention belongs, according to the idea of the present invention, several simple deductions, deformations or substitutions can also be made.

Claims

1. An information code arrangement structure, wherein the information code records information for a code reader to read, and is characterized in that, The information code is set on the travel route of the moving object, and at any travel position state of the moving object on the travel route, the code reader can read at least one information code expressing complete information.

2. The information code arrangement structure according to claim 1, wherein The information code includes a bar code. The information code set on the travel route of the moving object includes: The bar code completely covers the projection of the movement track of the code reader in the first direction, and the length direction of the bar line forming the bar code is parallel to the first direction.

3. The information code arrangement structure according to claim 1, wherein The information code includes a plurality of two-dimensional codes. The plurality of two-dimensional codes form at least one one-dimensional array. Among any two adjacent two-dimensional codes in the one-dimensional array, including a first two-dimensional code and a second two-dimensional code, the edge of the first two-dimensional code far from the second two-dimensional code is used as the first edge, and the edge of the second two-dimensional code far from the first two-dimensional code is used as the second edge. The distance between the first edge and the second edge is less than or equal to the edge distance of the coverage area of the code reading window of the code reader. The information code set on the travel route of the moving object includes: The space between the two edges far from the two-dimensional codes at both ends of the one-dimensional array completely covers the projection of the movement track of the code reader in the first direction.

4. The information code arrangement structure according to claim 2 or 3, characterized in that The first direction includes a direction perpendicular to the central axis of the road surface and / or a direction perpendicular to the side surface of the moving object.

5. The information code arrangement structure according to claim 4, characterized in that The first direction includes a direction perpendicular to the central axis of the road surface. The information code partially or completely covers the road surface width of the travel route, including: The information code is set on the road surface, and the information code set on the road surface partially or completely covers the road surface width of the travel route. And / or The information code is set on the top surface of the upper space of the road surface, and the projection of the set information code partially or completely covers the road surface width of the travel route.

6. The information code arrangement structure according to claim 5, characterized in that, The information code partially or completely covers the road surface width of the travel route, including: The information code includes a bar code. In the case of partial coverage, the positions of the left end and the right end of the bar code cover the position of the left edge of the code reader when traveling on the leftmost side to the position of the right edge when traveling on the rightmost side during the travel of the moving object. And / or The information code includes a two-dimensional code. In the case of partial coverage, the space between the left edge of the left end two-dimensional code and the right edge of the right end two-dimensional code covers the position of the left edge of the code reader when traveling on the leftmost side to the position of the right edge when traveling on the rightmost side during the travel of the moving object.

7. A moving object, characterized in that, A code reader is provided on the moving object. The code reader is configured to identify the information code on the travel route of the moving object. The layout structure of the information code adopts the information code layout structure described in any one of claims 1 to 6; the information recorded by the information code includes a corresponding first information.

8. The moving object according to claim 7, wherein, The information recorded by the information code includes a corresponding first information, including: The information recorded by the information code includes the first information; Or The information recorded by the information code includes a second information, and the second information corresponds to the first information.

9. The moving object according to claim 7 or 8, characterized in that, The first information includes position information and / or velocity information; in the case where the information recorded in the information code includes second information, the second information includes unique coding information.

10. The moving object according to claim 7 or 8, wherein the information code is arranged on the travel route at the entrance of each area.

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