CN110793514B - Position measuring method and position measuring device - Google Patents
Position measuring method and position measuring device Download PDFInfo
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- CN110793514B CN110793514B CN201810872568.0A CN201810872568A CN110793514B CN 110793514 B CN110793514 B CN 110793514B CN 201810872568 A CN201810872568 A CN 201810872568A CN 110793514 B CN110793514 B CN 110793514B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/14—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by recording the course traversed by the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The embodiment of the invention provides a position measurement system and a position measurement method of a walking device, wherein the position measurement system comprises a speed measurement device, a position correction device and a processing device; the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane; the processing device is connected with the speed measuring device and is used for determining initial measurement position data of the walking device according to the movement speeds in the first direction and the second direction; the position correction device is used for detecting actual measurement position data of the walking device and sending the actual measurement position data to the processing device; the processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data.
Description
Technical Field
The invention relates to the field of logistics, in particular to a position measurement method and device for a travelling device.
Background
At present, with the fire explosion of online shopping, the daily order quantity of a logistics walking area is huge. In order to save picking time and improve automation, the industry utilizes a travelling device (e.g., an automatic navigation cart) to acquire packages on shelves in a logistics travelling area and transport the packages to a designated location. Based on this, the automatic navigation cart in the walking area needs to achieve an accurately positioned target.
At present, the positioning method of the warehouse automatic navigation trolley comprises the following four steps:
1. electromagnetic navigation: electromagnetic navigation is one of more traditional navigation modes, and is realized by burying a metal wire on a driving path of an automatic navigation trolley, loading a guide frequency on the metal wire and identifying the guide frequency. The electromagnetic navigation has the advantages that the guide wire is hidden and is not easy to pollute and damage, the guide principle is simple and reliable, the control communication is convenient, the acousto-optic navigation is free from interference, and the investment cost is much lower than that of the laser navigation; electromagnetic navigation suffers from the disadvantage that changing or expanding the path is cumbersome and the laying of the guide wire is relatively difficult.
2. Tape navigation: the magnetic tape navigation technology is similar to electromagnetic navigation, and is different in that magnetic tape is attached to the road surface instead of burying metal wires under the ground, and guidance is realized through magnetic tape induction signals. The magnetic tape navigation has the advantages that the automatic navigation trolley is accurate in positioning, the magnetic tape navigation flexibility is better, the path change or expansion is easier, the magnetic tape laying is relatively simple, the guiding principle is simple and reliable, the control communication is convenient, the acousto-optic interference is avoided, and the investment cost is much lower than that of the laser navigation; the magnetic tape navigation has the disadvantage that the magnetic tape needs to be maintained and the damaged magnetic tape needs to be replaced in time, but the magnetic tape replacement is simple and convenient and has lower cost.
3. Visual navigation: paint with large contrast with the ground color or color bands with large contrast are painted on the running path of the automatic navigation trolley, a picture shooting sensor is installed on the automatic navigation trolley to compare continuously shot pictures with stored pictures, offset signals are output to a driving control system, and the driving direction of the automatic navigation trolley is corrected by the control system through calculation, so that the navigation of the automatic navigation trolley is realized. The visual navigation has the advantages that the automatic navigation trolley is accurate in positioning, good in visual navigation flexibility, easy in changing or expanding the path, relatively simple in path paving, simple and reliable in guiding principle, convenient to control communication, free of interference on sound and light, low in investment cost compared with laser navigation, and more expensive than magnetic tape navigation; the visual navigation has the disadvantage that the path also needs maintenance, but the maintenance is simpler and more convenient and the cost is lower.
4. Laser navigation: a reflecting plate with accurate position is arranged around the running path of the automatic navigation trolley, and the automatic navigation trolley determines the current position and direction of the automatic navigation trolley by emitting laser beams and collecting the laser beams reflected by the reflecting plate. The laser navigation has the advantages that the automatic navigation trolley is accurate in positioning, and other positioning facilities are not needed on the ground; the driving path can be flexibly changed; the laser navigation has the defects that the control is complex, the investment cost of the laser technology is high, no obstacle can be arranged between the reflecting sheet and the laser sensor of the automatic navigation trolley, and the laser navigation device is not suitable for occasions with logistic influence in the air.
Therefore, the navigation method proposed by the prior art is not beneficial to route change, or has high initialization cost and maintenance cost. The existing laser navigation method has strong flexibility, but is seriously dependent on a reflecting plate, and is not suitable for operation in complex environments; and the automatic navigation cart needs to be equipped with a laser device capable of emitting and collecting laser beams, resulting in high cost.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiment of the invention provides a position measuring method and a position correcting device of a walking device, which are used for measuring the position of the walking device in a walking area.
In order to solve the above problems, an embodiment of the present invention provides a position measurement system of a walking device, including a speed measurement device, a position correction device, and a processing device;
the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;
the processing device is connected with the speed measuring device and is used for determining initial measurement position data of the walking device according to the movement speeds in the first direction and the second direction;
The position correction device is used for detecting actual measurement position data of the walking device and sending the actual measurement position data to the processing device;
the processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data.
The embodiment of the invention also provides a position measurement method of the walking device, which comprises the following steps:
acquiring an initial position of a walking device;
respectively obtaining the movement speeds of the running gear in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;
determining initial measurement position data of the walking device by utilizing the initial position and the movement speeds in the first direction and the second direction;
and correcting the initial measurement position data by using the actual measurement position data.
An embodiment of the present application further discloses a terminal device, including:
one or more processors; and
one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the terminal device to perform the method described above.
One embodiment of the present application also discloses one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause a terminal device to perform the above-described method.
According to the above, the position measuring method and the position measuring device according to the embodiments of the present invention can calculate the initial measurement position of the traveling device through the speed measured by the speed measuring device, and correct the position of the traveling device in a manner with higher accuracy, for example, in a manner of measuring probe light, so as to eliminate accumulated errors, thereby realizing accurate positioning of the traveling device with lower cost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a position measurement system in the X-Z plane.
Fig. 2 shows a schematic view of a running gear provided with a speed measuring device in the X-Y plane.
Fig. 3 is a block diagram showing a speed detecting apparatus according to a first embodiment of the present invention.
FIG. 4 is a perspective view of the position measurement system in the Y-Z plane.
Fig. 5 is a flowchart of a position measuring method according to a second embodiment of the present invention.
Fig. 6 is a flowchart showing the sub-steps involved in step S104 in fig. 5.
Fig. 7 schematically shows a block diagram of a terminal device for performing the method according to the invention.
Fig. 8 schematically shows a memory unit for holding or carrying program code for implementing the method according to the invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application are within the scope of the protection of the present application.
The core concept of the invention is to provide a position measurement system, which utilizes the speed measured by a speed measurement device to determine the initial measurement position of a traveling device, utilizes high-precision positioning to determine the actual measurement position, corrects the error caused by positioning by measuring the speed by the speed measurement device by the actual measurement position with higher precision, improves the detection precision and reduces the detection cost.
The following is a detailed description of various embodiments.
First embodiment
FIG. 1 is a block diagram of a position measurement system according to an embodiment of the present invention. The position measurement system is installed in a travel area (e.g., in a warehouse) as shown in fig. 1, and includes a speed measurement device 10, a position correction device 20, and a processing device.
The speed measuring device 10 is provided on a traveling device a in a traveling area, for example, an automatic guided vehicle (automatic navigated vehicle, AGV) and can travel in the traveling area. The walking area is, for example, a warehouse.
Fig. 2 shows a schematic view of running gear a provided with a speed measuring device 10 in the X-Y plane. As shown in fig. 2, a speed measuring device 10 is provided on the running gear a for acquiring the speed of the running gear a. The speed measuring device 10 may include a first direction speed detecting unit and a second direction speed detecting unit. Wherein the first direction and the second direction are for example two straight lines intersecting in the same plane, which represent two different directions in the same plane. In one embodiment, the first direction is, for example, an X coordinate axis direction in a plane, and the second direction is, for example, a Y coordinate axis direction in a plane.
Fig. 3 is a schematic diagram of a first direction speed detecting unit 11a (for example, an X-axis speed detecting unit, i.e., an X-axis speed sensor) and a second direction speed detecting unit 11b (for example, a Y-axis speed detecting unit, i.e., a Y-axis speed sensor) included in the speed measuring apparatus 10 in fig. 1. Wherein the first direction speed detecting unit 11a and the second direction speed detecting unit 11b are also connected to the first processing unit 31. The first processing unit 31 is configured to determine initial measurement position data of the running gear according to the speeds of the running gear a on the X axis and the Y axis sensed by the speed measuring device 10.
In one embodiment, as shown in connection with fig. 2, the initial position of running gear a may be obtained first. The initial position (StartPosition) of the running gear a is acquired by the first processing unit 31, for example, in an X-Y coordinate system x ，StartPosition y )。
During running of running gear a, at time t, first direction speed detecting unit 11a acquires speed Vx of running gear a in the X-axis direction at the current time, and second direction speed detecting unit 11b acquires speed Vy of running gear a in the Y-axis direction at the current time, and sends to first processing unit 31. The position of the travel device a at the time t is calculated by the first processing unit 31 from the initial position and the speed.
In one embodiment, the first processing unit 31 integrates the speeds Vx and Vy, and calculates, by means of integration, the position of the running gear a at the time t, with the following formula:
it should be noted that the above-mentioned first processing unit 31 may be provided on the traveling device a, or may be provided separately from the speed measuring device 10 and connected by a wired or wireless manner, for example, in a server in a traveling area, or the function of the first processing unit 31 may be implemented by the server, which is not particularly limited herein.
The processing device comprises, in addition to the first processing unit 31, a second processing unit 32 and a third processing unit 33. In the embodiment shown in fig. 1, the second processing unit 32 is arranged on the position correction device 20, but in other embodiments the second processing unit 32 may be arranged in other positions, for example in combination with or connected to the first processing unit 31, or the functions of the second processing unit 32 may be implemented by a server in the walking area.
In one embodiment, position correction device 20 determines the precise position of running gear A by means of laser measurements. As shown in fig. 1, the position correction device 20 includes a probe optical transceiver 21. The second processing unit 32 of the processing means may be provided together with the probe optical transceiver 21.
The probe optical transceiver 21 is configured to emit laser light 21a at a certain angle and receive the reflected laser light. As shown in fig. 3, in a specific embodiment, the above-mentioned probe light transceiver 21 includes a probe light emitting unit for emitting the laser light 21a and a probe light receiving unit for receiving the laser light reflected from the running gear a.
The second processing unit 32 is configured to obtain, after the probe optical transceiver 21 receives the reflected laser beam, an included angle between the emitted laser beam 21a and a designated plane, and determine accurate position data of the traveling device a as measured position data.
Fig. 1 shows a projection of the position measurement system in the X-Z plane. FIG. 4 is a perspective view of the position measurement system in the Y-Z plane. As shown in fig. 1 and 4, in each position, the axis direction of the probe optical transceiver 21 (i.e., the direction of laser projection) makes a specific angle with both the Y-Z plane and the X-Z plane. For example, as shown in fig. 1, the vertical dashed line indicates the Y-Z plane, and the angle α between the direction of projection of the laser light 21a and the Y-Z plane is known. Therefore, when the probe optical transceiver 21 detects the traveling device a, the second processing unit 32 can calculate the distance of the traveling device a in the X-axis direction by the angle α between the direction in which the laser light 21a is projected and the Y-Z plane and the height h at which the probe optical transceiver 21 is installed, as follows:
distance x ＝h×tanα
After that, the coordinate position of the travel device a can be calculated again from the X-axis coordinate X1 of the installation position of the probe light transceiver 21.
Similarly, as shown in fig. 4, the vertical dotted line indicates the X-Z plane, and the angle β between the direction of projection of the laser light 21a and the X-Z plane is known. Therefore, when the probe optical transceiver 21 detects the traveling device a, the traveling distance of the traveling device a in the Y-axis direction can be calculated by the angle β between the direction projected by the laser light 21a and the X-Z plane at this time and the height h at which the probe optical transceiver 21 is installed, with the following calculation formula:
distance y ＝h×tanβ
after that, the coordinate position of the travel device a can be calculated again from the Y-axis coordinate Y1 of the installation position of the probe optical transceiver 21.
When the coordinate positions of the traveling device at the coordinate axes of the X-axis and the Y-axis at this time are determined, the accurate position data where the traveling device a is located may be determined by calculation by the second processing unit 32. The second processing unit 32 may not only calculate the accurate position data of the walking device a, but also pre-store the X-axis coordinate X1, the Y-axis coordinate Y1, and the height h of the installation of the probe optical transceiver 21 of the installation position of the probe optical transceiver 21. In addition, the second processing unit 32 may also acquire the angle α between the current probe optical transceiver 21 and the Y-Z plane and the angle β between the current probe optical transceiver 21 and the X-Z plane, and perform calculation.
In an embodiment, the position correction device 20 may further include a driving device 22, and the driving device 22 is used for driving the probe optical transceiver 21 to rotate. At each time, the driving device 22 drives the probe light transceiver 21 to rotate by a specific angle, and scans the walking area. The driving means 22 may be controlled by the second processing unit 32 to rotate to a specific angle alpha, beta. When scanning to running gear a at the position of angle β with respect to the X-Z plane and angle α with respect to the Y-Z plane, the second processing unit 32 may read the angles α and β and calculate the accurate position data of running gear a in combination with the foregoing parameters.
The second processing unit 32 may be generally located on the position correction device 20 as described above, or may be separately located from the probe optical transceiver 21 of the position correction device 20 and connected by wired or wireless means, in which case the second processing unit 32 is connected to the probe optical transceiver 21 by wired or wireless means.
The first processing unit 31 collects the speed data obtained by the speed measuring device 10 of the travelling device a and calculates initial measurement position data of the travelling device a; the second processing unit 32 collects the angles α and β at which the position correction device 20 is located when the position of the running gear a is detected, calculates measured position data in combination with the known parameters x1, y1 and h, and the third processing unit 33 corrects the initial measured position data calculated by the velocity using the measured position data.
In an embodiment, the processing device may be a server. The server stores position data of the plurality of traveling devices A, and the position data is used for combining with a plan view of the traveling area to determine positions of the plurality of traveling devices A in the traveling area. In an embodiment, the position correction device 20 scans the walking area at specific time intervals, and after each walking device a is scanned, the second processing unit 32 of the processing device calculates the accurate position of the walking device a, that is, the measured position data, for updating the initial measured position data. Therefore, the position correction device 20 can acquire the position data of the plurality of traveling devices a by one scan, and update the positions of the plurality of traveling devices a in the processing device by correcting the initial measurement position data calculated by the velocity.
In an embodiment, each running gear a also has a unique identification ID. When traveling device a is scanned by probe light transceiver 21 of position correction device 20, second processing unit 32 may recognize the unique identification ID of traveling device a, and thus, the corrected position data of traveling device a may be associated with the identification ID of traveling device. In another embodiment, the running gear a may also be provided with a transmitting module for transmitting the ID of the running gear.
The position measurement system of the running gear provided by the first embodiment of the invention combines the method of positioning by using the speed and other high-precision position measurement, and obtains the absolute position of the running gear by intermittently executing the high-precision position measurement, thereby cleaning the accumulated error of realizing position calculation by determining the speed positioning by the speed measurement device. In particular, for the environment of a plurality of running devices, the position measurement mode can reduce the cost of acquiring the position of the running device, reduce the investment of equipment and improve the detection accuracy.
In a specific embodiment, the initial measurement position may be obtained by calculating a velocity integral, and the high-precision position measurement method may be a detection method for positioning by laser. Compared with the existing scheme of equipping each traveling device with a laser detection system, the position measurement method provided by the invention does not need a large amount of equipment investment, and a plurality of traveling devices can share one set of detection system, so that the cost is reduced and the equipment investment is reduced on the basis of ensuring the positioning accuracy.
Second embodiment
A second embodiment of the present invention proposes a position measurement method, as shown in fig. 5, which includes the following steps:
S101, acquiring an initial position of a walking device;
in this step, the execution subject, for example, the first processing unit 31 provided on the running gear a shown in fig. 1, can obtain the initial position (StartPosition) of the running gear a x ，StartPosition y ). The initial position may be a square scanned by a laserThe method can be obtained by calculation, or a plurality of starting points marked with positions are arranged in the walking area, and the position coordinates of the starting point where the walking device A is currently positioned are automatically given by a sensor every time the walking device A walks to one of the starting points.
S102, acquiring a first direction movement speed of a walking device in a first direction and a second direction movement speed of the walking device in a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;
in this step, the aforementioned execution subject, for example, the first processing unit 31 provided on the running gear a shown in fig. 1, can obtain the movement speeds of the running gear a in the first direction and the second direction which are non-parallel in the plane by the speed measuring device 10 described in the first embodiment. For example, with the ground of the walking area as the X-Y axis coordinate plane, the X-axis direction as the first direction, and the Y axis non-parallel to the X-axis as the second direction, the speed measuring device 10 may sense the speed components in the first direction and the second direction, i.e., and send the speed components to the first processing unit 31.
As shown in fig. 3, the speed measuring device 10 includes a first direction speed detecting unit 11a and a second direction speed detecting unit 11b. The above-described two-direction sensors can detect the first-direction movement velocity Vx and the second-direction movement velocity Vy, respectively, and transmit to the first processing unit 31 connected thereto.
S103, determining initial measurement position data of the walking device by using the initial position, the first direction movement speed and the second direction movement speed;
in this step, the execution body, for example, the first processing unit 31 may process the obtained first direction movement velocity Vx and second direction movement velocity Vy, for example, perform an integral operation, in combination with the initial position (StartPosition) x ，StartPosition y ) And determining initial measurement position data of the walking device A.
It is noted that after the first direction movement speed and the second direction movement speed are obtained, the present invention may also calculate the initial measurement position data of the travel device a in other manners. For example, when the running gear a is doing uniform linear motion, the position of the running gear a in the first direction and the second direction may be determined according to the mode of s=v×t in combination with the running time of the running gear, and the initial measurement position data of the running gear a may be determined in combination with the initial position.
S104, correcting the initial measurement position data by using the actual measurement position data.
In this step, the current position data of traveling device a can be corrected using the measured position data with higher accuracy.
For example, when the walking device A walks to a certain point, a sensor is triggered, and the sensor returns a sensing signal to the processing device, so that the processing device knows that the walking device A has arrived at a certain specific position (sensing position) x ，SensorPosition y ) The position of this point is used to determine initial measurement position data of the traveling device, and the position of the traveling device a is updated in the processing device to correct the position of the traveling device a calculated by the velocity.
For another example, as described in the first embodiment, the accurate position of the traveling device a may be calculated by using the probe optical transceiver 21 and the second processing unit 32 of the processing device.
As described in connection with the first embodiment, the probe optical transceiver 21 is configured to emit the laser light 21a at an angle and receive the reflected laser light. As shown in fig. 3, in a specific embodiment, the above-mentioned probe light transceiver 21 includes a probe light emitting unit for emitting the laser light 21a and a probe light receiving unit for receiving the laser light reflected from the running gear a.
The second processing unit 32 is configured to determine, after the probe optical transceiver 21 receives the reflected laser beam, accurate position data of the traveling device a according to an included angle between the emitted laser beam 21a and a designated plane, as actual measurement position data.
In an embodiment, as shown in fig. 6, the step S104, that is, the step of correcting the initial measurement position data by using the measured position data, may include the following sub-steps:
s1041, when the walking device is detected by using the detection light, acquiring an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and a position of an emission point of the detection light in a third direction;
in one embodiment, the detection light may be laser light, infrared light, etc., and the present invention is not particularly limited. In the case where the detection light is a laser light, the axial direction of the detection light transceiver 21 is the same as the direction in which the laser light is emitted in the first embodiment, and thus the direction of the detection light transceiver 21 is the direction of the laser light, and the emission point of the detection light is the position where the detection light transceiver 21 is installed at a specified position (for example, a warehouse ceiling).
Therefore, the direction of the laser beam can be controlled by controlling the direction of the probe optical transceiver 21, and the probe optical transceiver 21 is continuously used to scan the warehouse floor at each specific angle to detect whether or not there is a traveling device. The angular interval detected by the probe optical transceiver 21 is, for example, 1 ° or 5 °. For example, the rotation angle of the probe optical transceiver 21 capable of completely scanning the ground of the walking area is known as: the angle α is-45 ° to 45 ° based on the first reference plane (e.g., the aforementioned Y-Z plane), and the angle β is-45 ° to 45 ° based on the second reference plane (e.g., the aforementioned X-Z plane), the scanning angle (e.g., [0, 45] degree) for each combination of α and β can be rotated to this angle and scanned for the probe optical transceiver 21.
After each stay at the scanning angle described above, the probe optical transceiver 21 detects whether or not there is laser light returned from the traveling apparatus a. Upon detection, the angle α between the current probe optical transceiver 21 and the first reference plane (e.g. the aforementioned Y-Z plane), the angle β between the probe optical transceiver 21 and the second reference plane (e.g. the aforementioned X-Z plane), and the position height h of the probe optical transceiver in the third direction can be obtained for subsequent calculation according to the calculation method provided in the first embodiment.
S1042, determining actual measurement position data of the running gear in the first direction and the second direction by utilizing the included angle of the detection light and the first reference plane, the included angle of the detection light and the second reference plane and the position of the emission point of the detection light in the third direction;
in this step, the second processing unit 32 obtains the angle between the current probe optical transceiver 21 and the first and second reference planes, and the height of the probe optical transceiver, calculates the actual position of the traveling device a, and obtains more accurate position information as the measured position data.
S1043, correcting the initial measurement position data by using the measured position data in the first direction and the second direction.
In this step, the above-mentioned measured position data may be uploaded to the processing device, and the third processing unit of the processing device is configured to update the initial measured position data of the traveling device a based on the measured position data, so as to reduce the cumulative error of the position calculated by the velocity.
In an embodiment, the method may further include the following steps:
s105, acquiring the identification ID of the walking device;
each running gear a also has a unique identification ID, and the second processing unit 32 can identify the identification ID of the running gear a when the running gear a is scanned by the probe light transceiver 21 of the position correction device 20, thereby associating the accurate position data of the running gear a with the identification ID of the running gear. Correspondingly, the traveling device a may be provided with a transmission module for transmitting the ID of the traveling device.
S106, associating the identification ID of the running gear with the actually measured position data of the running gear.
In step S106, when the third processing unit 33 receives the identification ID of the running gear a, the identification ID may be associated with the actually measured position data thereof in the processing device, and may be further displayed on the display device of the processing device, so that the operator may learn the position of each running gear a.
It should be noted that, although the first direction, the second direction and the third direction are described by taking three perpendicular coordinate axes of X, Y, Z as an example, it will be appreciated by those skilled in the art that any three directions from the origin of the coordinate system, which lie in a plane, are possible.
As can be seen from the above, the method for measuring the position of the running gear according to the second embodiment of the present invention combines the method for measuring the speed by the speed measuring device to perform positioning and other high-precision position measurement, and obtains the measured position data of the running gear by intermittently performing high-precision position measurement, thereby cleaning the accumulated error of positioning by measuring the speed by the speed measuring device. In particular, for the environment of a plurality of running devices, the position measurement mode can reduce the cost of acquiring the position of the running device, reduce the investment of equipment and improve the detection accuracy.
In a specific embodiment, the initial measurement position may be obtained by calculating a velocity integral, and the high-precision position measurement method may be a detection method for positioning by laser. Compared with the existing scheme of equipping each traveling device with a laser detection system, the position measurement method provided by the invention does not need a large amount of equipment investment, and a plurality of traveling devices can share one set of detection system, so that the cost is reduced and the equipment investment is reduced on the basis of ensuring the positioning accuracy.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
Fig. 7 is a schematic hardware structure of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device may include an input device 90, a processor 91, an output device 92, a memory 93, and at least one communication bus 94. The communication bus 94 is used to enable communication connections between the elements. The memory 93 may comprise a high-speed RAM memory or may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, in which various programs may be stored for performing various processing functions and implementing the method steps of the present embodiment.
Alternatively, the processor 91 may be implemented as, for example, a central processing unit (Central Processing Unit, abbreviated as CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and the processor 91 is coupled to the input device 90 and the output device 92 through wired or wireless connection.
Alternatively, the input device 90 may include a variety of input devices, for example, may include at least one of a user-oriented user interface, a device-oriented device interface, a programmable interface to software, a camera, and a sensor. Optionally, the device interface facing the device may be a wired interface for data transmission between devices, or may be a hardware insertion interface (such as a USB interface, a serial port, etc.) for data transmission between devices; alternatively, the user-oriented user interface may be, for example, a user-oriented control key, a voice input device for receiving voice input, and a touch-sensitive device (e.g., a touch screen, a touch pad, etc. having touch-sensitive functionality) for receiving user touch input by a user; optionally, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, for example, an input pin interface or an input interface of a chip, etc.; optionally, the transceiver may be a radio frequency transceiver chip, a baseband processing chip, a transceiver antenna, etc. with a communication function. An audio input device such as a microphone may receive voice data. The output device 92 may include a display, audio, etc.
In this embodiment, the processor of the terminal device may include functions for executing each module of the data processing apparatus in each device, and specific functions and technical effects may be referred to the above embodiments and are not described herein again.
Fig. 8 is a schematic hardware structure of a terminal device according to another embodiment of the present application. Fig. 8 is a diagram of one particular embodiment of the implementation of fig. 7. As shown in fig. 8, the terminal device of the present embodiment includes a processor 101 and a memory 102.
The processor 101 executes computer program code stored in the memory 102 to implement the position measurement method of fig. 5 to 6 in the above-described embodiment.
The memory 102 is configured to store various types of data to support operations at the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, such as messages, pictures, video, etc. The memory 102 may include a random access memory (random access memory, simply referred to as RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
Optionally, a processor 101 is provided in the processing assembly 100. The terminal device may further include: a communication component 103, a power supply component 104, a multimedia component 105, an audio component 106, an input/output interface 107 and/or a sensor component 108. The components and the like specifically included in the terminal device are set according to actual requirements, which are not limited in this embodiment.
The processing component 100 generally controls the overall operation of the terminal device. The processing assembly 100 may include one or more processors 101 to execute instructions to perform all or part of the steps of the methods of fig. 5-6 described above. Further, the processing component 100 may include one or more modules that facilitate interactions between the processing component 100 and other components. For example, the processing component 100 may include a multimedia module to facilitate interaction between the multimedia component 105 and the processing component 100.
The power supply assembly 104 provides power to the various components of the terminal device. The power components 104 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the terminal devices.
The multimedia component 105 comprises a display screen between the terminal device and the user providing an output interface. In some embodiments, the display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation.
The audio component 106 is configured to output and/or input audio signals. For example, the audio component 106 includes a Microphone (MIC) configured to receive external audio signals when the terminal device is in an operational mode, such as a speech recognition mode. The received audio signals may be further stored in the memory 102 or transmitted via the communication component 103. In some embodiments, the audio component 106 further comprises a speaker for outputting audio signals.
The input/output interface 107 provides an interface between the processing assembly 100 and peripheral interface modules, which may be click wheels, buttons, etc. These buttons may include, but are not limited to: volume button, start button and lock button.
The sensor assembly 108 includes one or more sensors for providing status assessment of various aspects for the terminal device. For example, the sensor assembly 108 may detect the open/closed state of the terminal device, the relative positioning of the assembly, the presence or absence of user contact with the terminal device. The sensor assembly 108 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact, including detecting the distance between the user and the terminal device. In some embodiments, the sensor assembly 108 may also include a camera or the like.
The communication component 103 is configured to facilitate communication between the terminal device and other devices in a wired or wireless manner. The terminal device may access a wireless network based on a communication standard, such as WiFi,2G or 3G, or a combination thereof. In one embodiment, the terminal device may include a SIM card slot, where the SIM card slot is used to insert a SIM card, so that the terminal device may log into a GPRS network, and establish communication with a server through the internet.
From the above, the communication component 103, the audio component 106, the input/output interface 107, and the sensor component 108 in the embodiment of fig. 8 can be implemented as the input device in the embodiment of fig. 7.
The embodiment of the application provides a terminal device, which comprises: one or more processors; and one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the terminal device to perform a method of generating a video summary as described in one or more of the embodiments of the present application.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has described in detail a location measurement method and apparatus provided herein, and specific examples have been presented herein to illustrate the principles and embodiments of the present application, the above examples being provided only to assist in understanding the methods and core ideas of the present application; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (16)
1. The position measuring system of the walking device is characterized by comprising a speed measuring device, a position correcting device and a processing device;
the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;
the processing device is connected with the speed measuring device and is used for determining initial measurement position data of the traveling device according to the movement speeds in the first direction and the second direction and the initial position of the traveling device;
the position correction device is used for detecting actual measurement position data of the walking device and sending the actual measurement position data to the processing device;
The processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data;
the position correction device comprises a detection light transceiver, wherein the detection light transceiver is used for detecting the traveling device through detection light, and acquiring an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and a position of an emission point of the detection light in a third direction when the traveling device is detected; the included angle between the detection light and the first reference plane, the included angle between the detection light and the second reference plane and the position of the emission point of the detection light in the third direction are used for determining the actually measured position data of the walking device;
the first reference plane comprises a plane in which a second direction and a third direction are located at the same time, and the second reference plane comprises a plane in which the first direction and the third direction are located at the same time;
the position correction device also comprises a driving device, a detection device and a control device, wherein the driving device is used for driving the detection light transceiver to emit detection light along a specific angle; the position correction device scans the walking area at specific intervals.
2. The position measurement system of claim 1, wherein the probe light is a laser.
3. The position measurement system of claim 1, wherein the probe optical transceiver comprises a probe optical transmitter and a probe optical receiver.
4. The position measurement system of claim 1, wherein the speed measurement device includes a first direction speed sensor for detecting a speed of movement in the first direction and a second direction speed sensor for detecting a speed of movement in the second direction.
5. The position measurement system of claim 1, wherein the processing device comprises first and second and third processing units;
the first processing unit is connected with the speed measuring device and is used for determining the position data of the walking device in the first direction according to the movement speed in the first direction; determining position data of the walking device in the second direction according to the movement speed in the second direction;
the second processing unit is connected to the detection light transceiver and is used for calculating the actually measured position data according to the included angle between the detection light and the first reference plane, the included angle between the detection light and the second reference plane and the position of the emission point of the detection light in the third direction;
The third processing unit is used for receiving the initial measurement position data and the actual measurement position data and correcting the initial measurement position data according to the actual measurement position data.
6. The position measurement system of claim 5, wherein the third processing unit is further configured to obtain an identification ID of the running gear when the probe light transceiver detects the running gear.
7. The position measurement system of claim 6, wherein the second processing unit is further configured to send an identification ID identifying the running gear to the third processing unit.
8. The position measurement system of claim 6, wherein the first processing unit is further configured to send an identification ID of the running gear to the third processing unit.
9. The position measurement system of claim 5, wherein the first processing unit is disposed on the running gear and the second processing unit is disposed on the probe light transceiver.
10. A method for measuring the position of a traveling device, comprising:
acquiring an initial position of a walking device;
respectively obtaining the movement speeds of the running gear in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;
Determining initial measurement position data of the running gear by utilizing the initial position of the running gear and the movement speeds in the first direction and the second direction;
correcting the initial measurement position data by using the actual measurement position data;
the position correction device comprises a detection light transceiver, wherein the detection light transceiver is used for detecting the traveling device through detection light, and acquiring an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and a position of an emission point of the detection light in a third direction when the traveling device is detected;
determining actual measurement position data of the walking device by utilizing an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and the position of an emission point of the detection light in a third direction;
the first reference plane comprises a plane in which a second direction and a third direction are located at the same time, and the second reference plane comprises a plane in which the first direction and the third direction are located at the same time;
the position correction device also comprises a driving device, a detection device and a control device, wherein the driving device is used for driving the detection light transceiver to emit detection light along a specific angle; the position correction device scans the walking area at specific intervals.
11. The method of claim 10, wherein the step of determining initial position data of the running gear using the initial position and the movement speeds in the first and second directions comprises:
acquiring position data in a first direction and position data in a second direction by utilizing a movement speed in the first direction and a movement speed in the second direction in an integral way;
and determining the initial measurement position data according to the initial position and the position data in the first direction and the second direction.
12. The method of claim 10, wherein the step of correcting the preliminary measured position data using measured position data comprises:
when the walking device is detected by using the detection light, acquiring an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and a position of an emission point of the detection light in a third direction;
determining actual measurement position data of the running gear in the first direction and the second direction by utilizing an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and a position of an emission point of the detection light in a third direction;
And correcting the initial measurement position data by using the measured position data in the first direction and the second direction.
13. The method of claim 12, wherein the first direction, the second direction, and the third direction are each perpendicular directions from a coordinate system origin.
14. The method according to claim 10, wherein the method further comprises:
acquiring an identification ID of the walking device; and
and associating the identification ID of the running gear with the actually measured position data of the running gear.
15. A terminal device, comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the terminal device to perform the method of one or more of claims 10-14.
16. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause a terminal device to perform the method of one or more of claims 10-14.
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