CN110335001B - Express delivery piece positioning and guiding system and method - Google Patents
Express delivery piece positioning and guiding system and method Download PDFInfo
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- CN110335001B CN110335001B CN201910729472.3A CN201910729472A CN110335001B CN 110335001 B CN110335001 B CN 110335001B CN 201910729472 A CN201910729472 A CN 201910729472A CN 110335001 B CN110335001 B CN 110335001B
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Abstract
The invention discloses an express item positioning and guiding system and method, wherein the express item positioning and guiding system comprises a signal transmitting device, a signal receiving device and a steering engine cradle head laser indicator, and the express item positioning and guiding method is used for placing an express item on a goods shelf; placing a signal transmitting device right in front of an express item to be positioned, so that an ultrasonic transmitter and a radio frequency transmitting module respectively transmit signals; the signal receiving device collects the signal of the radio frequency transmitting module, and takes the time point of receiving the radio frequency signal as the time point … … of sending out the ultrasonic wave by the ultrasonic transmitter. The method omits the steps of classifying, sorting and the like of messy express delivery in the warehouse-in stage, does not need staff to help to find express delivery in the express delivery taking stage, can greatly improve the warehouse-in speed and the express delivery taking efficiency, lightens the labor intensity of the staff and improves the express delivery service quality.
Description
Technical Field
The invention relates to the technical field of express delivery terminal distribution systems, in particular to an express delivery piece positioning and guiding system and method.
Background
At present, the express post at the delivery end of the express delivery piece needs to perform the following operations in the stage of express delivery warehouse-in:
firstly, sorting and sorting disordered express packages by workers, and arranging the express packages according to a piece taking sequence;
secondly, the staff is required to place the express packages on the goods shelves corresponding to the picking codes;
and thirdly, finishing warehousing by using the bar code on the package of the bar code scanner.
Obviously, the express delivery warehouse entry mode has complex procedures, lower express delivery entrance efficiency and high labor intensity of staff.
When a customer fetches an express, the following operations are required:
the first step, a person needing to be fetched reports a 'picking code';
and secondly, a worker is required to search the corresponding express on the goods shelf through the pick-up code.
The customer is unfamiliar with the goods shelf in the picking mode, so that the picking mode needs staff to assist in completion, the labor cost of the express post station is obviously increased, the picking efficiency is low, and the customer dissatisfaction is easily caused.
Disclosure of Invention
In view of the above, the invention provides a system and a method for positioning and guiding express items, which are used for solving the technical problems of low express delivery warehouse entry speed and low express item picking efficiency of the existing express post.
The invention relates to a express item positioning and guiding system, which comprises a signal transmitting device, a signal receiving device arranged on the side surface of the goods loading side of a cuboid goods shelf and a steering engine cradle head laser indicator,
the signal transmitting device comprises a first single chip microcomputer, an ultrasonic sensor connected with the first single chip microcomputer, a radio frequency transmitting module connected with the first single chip microcomputer and a first power supply connected with the first single chip microcomputer;
the signal receiving device comprises a second single chip microcomputer, at least three ultrasonic sensors connected with the second single chip microcomputer and arranged on the side face of the goods shelf, a radio frequency receiving module connected with the second single chip microcomputer, a digital temperature sensor connected with the second single chip microcomputer, a second power supply connected with the second single chip microcomputer, a switch connected with the second single chip microcomputer and a computer connected with the second single chip microcomputer;
the steering engine cradle head laser indicator comprises a steering engine cradle head, a laser transmitter and a third power supply, wherein the steering engine cradle head comprises a first steering engine arranged on a goods shelf or between adjacent goods shelves and a second steering engine arranged on an output shaft of the first steering engine, the laser transmitter is arranged on the second steering engine, the output shaft of the first steering engine is vertical to the output shaft of the second steering engine, the third power supply is used for respectively supplying power to the steering engine cradle head and the laser transmitter, and a signal output end of the second single chip microcomputer is connected with signal input ends of the first steering engine and the second steering engine respectively;
each set of signal receiving device corresponds to one set of steering engine cradle head laser indicator.
Further, the express delivery piece positioning and guiding system further comprises a bar code scanner connected with the first singlechip.
The express delivery piece positioning and guiding method comprises the following steps:
1) Placing the express item to be positioned on a goods shelf, pressing a switch of a signal receiving device opposite to the current goods shelf, and waking up the signal receiving device;
2) Placing a signal transmitting device in front of an express item to be positioned, then scanning a bar code on the express item by using a bar code scanner to finish an express storage, and after the express storage, controlling an ultrasonic transmitter and a radio frequency transmitting module of the signal transmitting device by using a second singlechip to respectively transmit an ultrasonic signal and a radio frequency signal;
3) When the radio frequency receiving module of the signal receiving device receives radio frequency signals, the second singlechip records the time point of receiving the radio frequency signals as the time point of sending out ultrasonic waves by the signal sending device; when each ultrasonic sensor of the signal receiving device receives an ultrasonic signal, the second singlechip records the time point of each ultrasonic sensor receiving the ultrasonic signal respectively;
4, setting an express item to be positioned at an M point, setting a steering engine cradle head at an H point, setting the left lower corner of one side of a cuboid goods shelf facing the steering engine cradle head as an O point, setting a y axis on one side of the goods shelf facing the steering engine cradle head along the height direction of the goods shelf, setting a coordinate x axis on one side of the goods shelf facing the steering engine cradle head along the length direction of the goods shelf, and setting a coordinate z axis on one side of the goods shelf facing the steering engine cradle head along the width direction of the goods shelf; the output shaft of the first steering engine is perpendicular to the xoz plane, the output shaft of the second steering engine is parallel to the xoz plane, and in the state that the rotation angles of the output shafts of the first steering engine and the second steering engine return to zero, the laser emitted by the laser emitter is parallel to the x axis;
the second singlechip calculates the time between the time point when each ultrasonic sensor of the signal receiving device receives the ultrasonic signal and the time point when the signal transmitting device transmits the ultrasonic waveDifference DeltaT between i I is E (1, N), N is the number of ultrasonic sensors in the signal receiving device;
and calculate the distance d from M point to each ultrasonic sensor of the signal receiving device i Wherein C is the propagation velocity of ultrasonic wave in air, T is the current temperature value measured by a digital temperature sensor,
C＝331.6+0.6T
d i ＝ΔT i *C，i∈(1，N)；
5) The second singlechip is used for measuring distance data d from the M points to each ultrasonic sensor of the signal receiving device i Preliminary screening is carried out, and the screening value is less than d min Or greater than d max Is regarded as invalid value to be rejected, d min ，d max Is the physical limit of the space distance between the express item and the ultrasonic sensor in the signal receiving device;
6) N distance data remain after preliminary screening, wherein each distance data has an ultrasonic sensor in a signal receiving device corresponding to the distance data, three of the corresponding n sensors are taken as a group of positioning base points and shareCalculating the space coordinates of the express items under the positioning base points of various combinations respectively by different combination modes, deleting the m positioning base point combinations with infinite solutions and without solutions as calculation results, and finally obtaining +.>Target points of the positions where the express items are possibly located;
7) Extracting extreme values of the horizontal coordinate, the vertical coordinate and the vertical coordinate in all target point coordinates, namely x min 、x max 、y min 、y max 、z min 、z max Consider the distribution area of the target points as a length x max -x min Width of y max -y min High z max -z min Is a rectangular parallelepiped; uniformly dividing the rectangular parallelepiped intoLength->Width->High->Counting the number T of target points in each sub-cuboid space, selecting the sub-cuboid with the largest number of target points, and solving the mean value coordinates +.>The mean value coordinate is used as the final space coordinate of the express item;
8) The final space coordinate of the express delivery piece is converted into a steering engine rotation angle through coordinate conversion:
the spatial coordinate of the point M relative to the steering engine holder laser indexing point H (a, b, c) is M H (x H ，y H ，z H ) Wherein
x H ＝x-a
y H ＝y-b
z H ＝z-c
Under the condition that the steering engine cradle head laser indicator is placed forward, the second steering engine is positioned above the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
under the condition that the steering engine cradle head laser indicator is reversely hung, the second steering engine is positioned below the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
9) The second singlechip uploads the final space coordinates of the express delivery piece, the first steering engine and second steering engine corner data corresponding to the final space coordinates of the express delivery piece and the serial numbers of the signal receiving devices to a database;
10 When the express delivery is taken, the taking code is input into the computer, the computer inquires the space coordinates corresponding to the express delivery, the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery and the numbers of the signal receiving devices according to the taking code, and sends the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery to the signal receiving devices corresponding to the numbers.
The invention has the beneficial effects that:
according to the express delivery positioning and guiding system and method, in the express delivery warehouse-in stage, the disordered express delivery is not required to be classified and arranged according to the order of the picking-up codes, a worker can directly place the express delivery on a goods shelf, then the worker places a signal transmitting device in close contact with the right front of the express delivery, then a bar code scanner is used for scanning the bar code on the express delivery to warehouse-in, when a second singlechip receives scanning signals, the second singlechip controls the signal transmitting device to transmit ultrasonic signals and radio frequency signals, and a signal receiving device processes the obtained data such as time when each ultrasonic receiver receives the ultrasonic signals, finally obtains coordinates of the express delivery, and realizes positioning of the express delivery. When a piece is fetched, the computer finds the coordinates of the express piece, the corner data of the steering engine holder and the serial numbers of the signal receiving devices in the database according to the express piece fetching code, and then the second singlechip controls the steering engine holder to rotate by a corresponding angle according to the coordinate data of the express piece and the corner data of the steering engine holder, so that laser emitted by the laser emitter is directed to the express piece, and a customer can find own express according to the laser guidance.
Because the steps of classifying, sorting and the like for messy express delivery are omitted in the warehouse-in stage, staff is not required to help to find the express delivery in the express delivery taking stage, and customers can find the express delivery by themselves according to laser guidance, the express delivery positioning and guiding system and method can greatly improve the express delivery warehouse-in speed and the express delivery taking efficiency, lighten the labor intensity of the staff and improve the express delivery service quality.
Drawings
Fig. 1 is a schematic structural diagram of an express delivery positioning and guiding system in an embodiment;
FIG. 2 is a block diagram of a signal transmitting device;
fig. 3 is a block diagram of a signal receiving apparatus;
FIG. 4 is a schematic diagram of spatial coordinates of an express delivery;
fig. 5 is a schematic diagram of connection between the steering engine holder and the laser transmitter.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in the figure, the express delivery piece positioning and guiding system in the embodiment comprises a signal transmitting device, a signal receiving device arranged on the side face of the goods loading side of the cuboid goods shelf and a steering engine cradle head laser indicator.
The signal transmitting device comprises a first single chip microcomputer 1, an ultrasonic sensor 2 connected with the first single chip microcomputer, a radio frequency transmitting module 3 connected with the first single chip microcomputer, and a first power supply 4 connected with the first single chip microcomputer. In the embodiment, the ultrasonic sensor is an ultrasonic sensor with the model of AJ-SR04K, and the radio frequency transmitting module is a 433m super-regenerative transmitting module; of course, in different embodiments, the ultrasonic sensor and the radio frequency transmitting module may take other forms.
The signal receiving device comprises a second single chip microcomputer 5, at least three ultrasonic sensors 6 connected with the second single chip microcomputer and arranged on the side face of the goods shelf, a radio frequency receiving module 7 connected with the second single chip microcomputer, a digital temperature sensor 8 connected with the second single chip microcomputer, a second power supply 9 connected with the second single chip microcomputer, a switch 10 connected with the second single chip microcomputer and a computer 11 connected with the second single chip microcomputer. The digital temperature sensor in this embodiment is a digital temperature and humidity sensor of the model DHT-11, although other models of digital temperature sensors may be used in different embodiments.
The steering engine cloud platform laser indicator includes steering engine cloud platform 12, laser emitter 13 and third power 14, steering engine cloud platform is including setting up on the goods shelves or setting up the first steering engine 121 between adjacent goods shelves and setting up the epaxial second steering engine 122 of first steering engine output, the output shaft of first steering engine 121 and the output shaft of second steering engine 122 pass through first support 123 in this embodiment and connect, the output shaft of first steering engine and the output shaft of second steering engine are perpendicular, laser emitter passes through second support 124 to be set up on the second steering engine, the third power is to steering engine cloud platform and laser emitter power supply respectively, the signal output part of second singlechip is connected with the signal input part of first steering engine and second steering engine respectively.
Each set of signal receiving device corresponds to one set of steering engine cradle head laser indicator. As shown in fig. 1, both front and rear sides of the cuboid-shaped goods shelf can be loaded, a set of signal receiving devices are respectively arranged on the front and rear sides of the cuboid-shaped goods shelf, and a second singlechip of each set of signal receiving device is respectively connected with a computer through a serial communication interface.
The first steering engine and the second steering engine in the embodiment adopt DS3230, and of course, in different embodiments, the first steering engine and the second steering engine can also adopt other types of steering engines.
In this embodiment, the first and second singlechips use Arduino Mega, and of course, in different embodiments, the first and second singlechips may also use singlechips of other types, such as STM 32.
As an improvement to the above embodiment, the express delivery positioning and guiding system further includes a bar code scanner 15 connected to the first singlechip.
The express delivery piece positioning and guiding method in the embodiment comprises the following steps:
1) And placing the express items to be positioned on the goods shelves, pressing the switch of the signal receiving device opposite to the current goods shelves, and waking up the signal receiving device.
2) And placing the signal transmitting device in front of the express item to be positioned, then scanning the bar code on the express item by using a bar code scanner to finish the express storage, and after the express storage, controlling an ultrasonic transmitter and a radio frequency transmitting module of the signal transmitting device by using a second singlechip to respectively transmit an ultrasonic signal and a radio frequency signal.
3) When the radio frequency receiving module of the signal receiving device receives radio frequency signals, the second singlechip records the time point of receiving the radio frequency signals as the time point of sending out ultrasonic waves by the signal sending device; when each ultrasonic sensor of the signal receiving device receives ultrasonic signals, the second singlechip records the time point of each ultrasonic sensor receiving the ultrasonic signals respectively.
4) Setting an express item to be positioned at an M point, setting a steering engine cradle head at an H point, setting the left lower corner of one side of a cuboid-shaped goods shelf facing the steering engine cradle head as an O point, setting a y axis on one side of the goods shelf facing the steering engine cradle head along the height direction of the goods shelf, setting a coordinate x axis on one side of the goods shelf facing the steering engine cradle head along the length direction of the goods shelf, and setting a coordinate z axis on one side of the goods shelf facing the steering engine cradle head along the width direction of the goods shelf; the output shaft of the first steering engine is perpendicular to the xoz plane, the output shaft of the second steering engine is parallel to the xoz plane, and in the state that the rotation angles of the output shafts of the first steering engine and the second steering engine return to zero, the laser emitted by the laser emitter is parallel to the x axis;
the second singlechip calculates the time difference delta T between the time point of each ultrasonic sensor of the signal receiving device receiving the ultrasonic signal and the time point of the signal transmitting device transmitting the ultrasonic wave i ，i∈(1, N), N is the number of ultrasonic sensors in the signal receiving device;
and calculate the distance d from M point to each ultrasonic sensor of the signal receiving device i Wherein C is the propagation velocity (unit m/s) of ultrasonic wave in air, T is the current temperature value measured by a temperature sensor,
C＝331.6+0.6T
d i ＝ΔT i *C，i∈(1，N)。
5) The second singlechip is used for measuring distance data d from the M points to each ultrasonic sensor of the signal receiving device i Preliminary screening is carried out, and the screening value is less than d min Or greater than d max Is regarded as invalid value to be rejected, d min ，d max Is the physical limit of the space distance between the express item and the ultrasonic sensor in the signal receiving device.
6) N distance data remain after preliminary screening, wherein each distance data has an ultrasonic sensor in a signal receiving device corresponding to the distance data, three of the corresponding n sensors are taken as a group of positioning base points and shareCalculating the space coordinates (x, y, z) of the express items under the positioning base points of various combinations by different combination modes, taking fig. 4 as an example, calculating the space coordinates of the express items positioned by the ultrasonic sensor of numbers 1,2 and 4, wherein the distances are d respectively 1 、d 2 、d 4 The method comprises the following steps:
(x-x 1 ) 2 +(y-y 1 ) 2 +z 2 ＝d 1 2
(x-x 2 ) 2 +(y-y 2 ) 2 +z 2 ＝d 2 2
(x-x 4 ) 2 +(y-y 4 ) 2 +z 2 ＝d 4 2
solving to obtain
x＝(d 1 2 *y 2 -d 1 2 *y 4 -d 2 2 *y 1 +d 2 2 *y 4 +d 4 2 *y 1 -d 4 2 *y 2 -x 1 2 *y 2 +x 1 2 *y 3 +
x 2 2 *y 1 -x 2 2 *y 4 -x 4 2 *y 1 +x 4 2 *y 2 -y 1 2 *y 2 +y 1 2 *y 3 +y 2 2 *y 1 -y 4 2 *y 1 -y 2 2 *
y 4 +y 4 2 *y 2 )/(2*(x 1 *y 2 -x 2 *y 1 -x 1 *y 4 +x 3 *y 1 +x 2 *y 4 -x 4 *y 2 ))
y＝(d 1 2 *x 2 -d 1 2 *x 4 -d 2 2 *x 1 +d 2 2 *x 4 +d 4 2 *x 1 -d 4 2 *x 2 -x 1 2 *x 2 +
x 1 2 *x 4 +x 2 2 *x 1 -x 4 2 *x 1 +y 2 2 *x 1 -y 4 2 *x 1 -x 2 2 *x 4 +x 4 2 *x 2 -y 1 2 *
x 2 +y 4 2 *x 2 +y 1 2 *x 3 -y 2 2 *x 4 )/(2*(x 1 *y 2 -x 2 *y 1 -x 1 *y 4 +x 3 *y 1 +
x 2 *y 4 -x 4 *y 2 ))
The method for calculating the space coordinates of the express items by other combinations is the same as the method; deleting m positioning base points with calculation results of infinite solutions and no solutions in a combined way to finally obtainTarget points of the positions where the express items may be located.
7) Extracting extreme values of the horizontal coordinate, the vertical coordinate and the vertical coordinate in all target point coordinates, namely x min 、x max 、y min 、y max 、z min 、z max Consider the distribution area of the target points as a length x max -x min Width of y max -y min High z max -z min Is a rectangular parallelepiped; uniformly dividing the rectangular parallelepiped intoLength->Width->High->Counting the number T of target points in each sub-cuboid space, selecting the sub-cuboid with the largest number of target points, and solving the mean value coordinates +.>The mean value coordinate is used as the final space coordinate of the express item;
8) The final space coordinate of the express delivery piece is converted into a steering engine rotation angle through coordinate conversion:
the spatial coordinate of the point M relative to the steering engine holder laser indexing point H (a, b, c) is M H (x H ，y H ，Z H ) Wherein
x H ＝x-a
y H ＝y-b
z H ＝z-c
Under the condition that the steering engine cradle head laser indicator is placed forward, the second steering engine is positioned above the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
under the condition that the steering engine cradle head laser indicator is reversely hung, the second steering engine is positioned below the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
9) And uploading the final space coordinates of the express delivery piece, the first steering engine and second steering engine corner data corresponding to the final space coordinates of the express delivery piece and the serial numbers of the signal receiving devices to a database by the second singlechip.
After the loading of the current goods shelf is completed, the switch of the corresponding signal receiving device is pressed down to enable the corresponding signal receiving device to return to the dormant state again.
10 When the express delivery is taken, the taking code is input into the computer, the computer inquires the space coordinates corresponding to the express delivery, the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery and the numbers of the signal receiving devices according to the taking code, and sends the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery to the signal receiving devices corresponding to the numbers.
After the guide of getting a piece at every time is finished, before the next guide, the second singlechip controls the rotation of the rotating shafts of the first steering engine and the second steering engine to return to zero.
By adopting the express delivery positioning and guiding system and method in the embodiment, in the express delivery warehousing stage, the disordered express delivery is not required to be classified and arranged according to the order of the picking codes, a worker can directly place the express delivery on a goods shelf, then the worker places the signal transmitting device in close contact with the front of the express delivery, then the bar code scanner is used for scanning the bar code on the express delivery for warehousing, after the express delivery is completed for warehousing, the second singlechip controls the signal transmitting device to transmit ultrasonic signals and radio frequency signals, and the signal receiving device processes the obtained data such as the time when each ultrasonic receiver receives the ultrasonic signals, so that the coordinates of the express delivery are finally obtained, and the positioning of the express delivery is realized. When a piece is fetched, the computer finds the coordinates of the express piece, the corner data of the steering engine holder and the serial numbers of the signal receiving devices in the database according to the express piece fetching code, and then the second singlechip controls the steering engine holder to rotate by a corresponding angle according to the coordinate data of the express piece and the corner data of the steering engine holder, so that laser emitted by the laser emitter is directed to the express piece, and a customer can find own express according to the laser guidance. In specific implementation, the second singlechip is connected with the Ethernet expansion board, and is connected with the database through the Ethernet expansion board.
Because the steps of classifying, sorting and the like for messy express delivery are omitted in the warehouse-in stage, staff is not required to help to find the express delivery in the express delivery taking stage, and customers can find the express delivery by themselves according to laser guidance, the express delivery positioning and guiding system and method can greatly improve the express delivery warehouse-in speed and the express delivery taking efficiency, lighten the labor intensity of the staff and improve the express delivery service quality.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (3)
1. The express delivery piece positioning and guiding method is characterized by comprising the following steps of: the method comprises the following steps:
1) Placing the express item to be positioned on a goods shelf, pressing a switch of a signal receiving device opposite to the current goods shelf, and waking up the signal receiving device; the signal receiving device comprises a second single chip microcomputer, at least three ultrasonic sensors connected with the second single chip microcomputer and arranged on the side face of the goods shelf, a radio frequency receiving module connected with the second single chip microcomputer, a digital temperature sensor connected with the second single chip microcomputer, a second power supply connected with the second single chip microcomputer, a switch connected with the second single chip microcomputer and a computer connected with the second single chip microcomputer;
2) The method comprises the steps that a signal transmitting device is placed right in front of an express item to be positioned, and comprises a first single-chip microcomputer, an ultrasonic transmitter connected with the first single-chip microcomputer, a radio frequency transmitting module connected with the first single-chip microcomputer and a first power supply connected with the first single-chip microcomputer; then, scanning a bar code on the express by using a bar code scanner to finish express warehouse, and after the express warehouse, respectively sending ultrasonic signals and radio frequency signals by using an ultrasonic transmitter and a radio frequency transmitting module of a first singlechip control signal transmitting device;
3) When the radio frequency receiving module of the signal receiving device receives radio frequency signals, the second singlechip records the time point of receiving the radio frequency signals as the time point of sending out ultrasonic waves by the signal sending device; when each ultrasonic sensor of the signal receiving device receives an ultrasonic signal, the second singlechip records the time point of each ultrasonic sensor receiving the ultrasonic signal respectively;
4) Setting an express item to be positioned at an M point, setting a steering engine cradle head at an H point, setting the left lower corner of one side of a cuboid-shaped shelf facing the steering engine cradle head as an O point, setting a y axis on one side of the shelf facing the steering engine cradle head along the height direction of the shelf, setting a coordinate x axis on one side of the shelf facing the steering engine cradle head along the length direction of the shelf, and setting a coordinate z axis on one side of the shelf facing the steering engine cradle head along the width direction of the shelf; the output shaft of the first steering engine is perpendicular to the xoz plane, the output shaft of the second steering engine is parallel to the xoz plane, and in the state that the rotation angles of the output shafts of the first steering engine and the second steering engine return to zero, the laser emitted by the laser emitter is parallel to the x axis;
the second singlechip calculates the time difference delta T between the time point of each ultrasonic sensor of the signal receiving device receiving the ultrasonic signal and the time point of the signal transmitting device transmitting the ultrasonic wave i I is E (1, N), N is the number of ultrasonic sensors in the signal receiving device;
and calculate the distance d from M point to each ultrasonic sensor of the signal receiving device i Wherein C is the propagation velocity of ultrasonic wave in air, T is the current temperature value measured by a digital temperature sensor,
C＝331.6+0.6T
d i ＝ΔT i *C，i∈(1，N)；
5) The second singlechip is used for measuring distance data d from the M points to each ultrasonic sensor of the signal receiving device i Preliminary screening is carried out, and the screening value is less than d min Or greater than d max Is regarded as invalid value to be rejected, d min ，d max Is the physical limit of the space distance between the express item and the ultrasonic sensor in the signal receiving device;
6) N distance data remain after preliminary screening, wherein each distance data has an ultrasonic sensor in a signal receiving device corresponding to the distance data, three of the corresponding n sensors are taken as a group of positioning base points and shareDifferent combination modes are respectively countedCalculating the space coordinates of the express items under the positioning base points of various combinations, deleting the m positioning base point combinations with the calculation results of infinite solutions and no solutions, and finally obtaining +.>Target points of the positions where the express items are possibly located;
7) Extracting extreme values of the horizontal coordinate, the vertical coordinate and the vertical coordinate in all target point coordinates, namely x min 、x max 、y min 、y max 、z min 、z max Consider the distribution area of the target points as a length x max -x min Width of y max -y min High z max -z min Is uniformly divided into rectangular solidThe length is->Width is->High->Counting the number T of target points in each sub-cuboid space, selecting the sub-cuboid with the largest number of target points, and solving the mean value coordinates +.>The mean value coordinate is used as the final space coordinate of the express item;
8) The final space coordinate of the express delivery piece is converted into a steering engine rotation angle through coordinate conversion:
the spatial coordinate of the point M relative to the steering engine holder laser indexing point H (a, b, c) is M H (x H ，y H ，z H )，Wherein x is H ＝x-a
y H ＝y-b
z H ＝z-c
Under the condition that the steering engine cradle head laser indicator is placed forward, the second steering engine is positioned above the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
under the condition that the steering engine cradle head laser indicator is reversely hung, the second steering engine is positioned below the first steering engine, the rotation angle of the first steering engine is alpha, the rotation angle of the second steering engine is beta,
9) The second singlechip uploads the final space coordinates of the express delivery piece, the first steering engine and second steering engine corner data corresponding to the final space coordinates of the express delivery piece and the serial numbers of the signal receiving devices to a database;
10 When the express delivery is taken, the taking code is input into the computer, the computer inquires the space coordinates corresponding to the express delivery, the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery and the numbers of the signal receiving devices according to the taking code, and sends the first steering engine and the second steering engine corner data corresponding to the final space coordinates of the express delivery to the signal receiving devices corresponding to the numbers.
2. An express delivery positioning and guiding system using the express delivery positioning and guiding method of claim 1, which is characterized in that: comprises a signal transmitting device, a signal receiving device arranged on the side surface of the goods loading side of a cuboid goods shelf and a steering engine cradle head laser indicator,
the signal transmitting device comprises a first single chip microcomputer, an ultrasonic transmitter connected with the first single chip microcomputer, a radio frequency transmitting module connected with the first single chip microcomputer and a first power supply connected with the first single chip microcomputer;
the signal receiving device comprises a second single chip microcomputer, at least three ultrasonic sensors connected with the second single chip microcomputer and arranged on the side face of the goods shelf, a radio frequency receiving module connected with the second single chip microcomputer, a digital temperature sensor connected with the second single chip microcomputer, a second power supply connected with the second single chip microcomputer, a switch connected with the second single chip microcomputer and a computer connected with the second single chip microcomputer;
the steering engine cradle head laser indicator comprises a steering engine cradle head, a laser transmitter and a third power supply, wherein the steering engine cradle head comprises a first steering engine arranged on a goods shelf or between adjacent goods shelves and a second steering engine arranged on an output shaft of the first steering engine, the laser transmitter is arranged on the second steering engine, the output shaft of the first steering engine is vertical to the output shaft of the second steering engine, the third power supply is used for respectively supplying power to the steering engine cradle head and the laser transmitter, and a signal output end of the second single chip microcomputer is connected with signal input ends of the first steering engine and the second steering engine respectively;
each set of signal receiving device corresponds to one set of steering engine cradle head laser indicator.
3. The courier positioning guidance system of claim 2, wherein: the system also comprises a bar code scanner connected with the first singlechip.
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