CN111343566B

CN111343566B - Positioning method, positioning device and storage medium

Info

Publication number: CN111343566B
Application number: CN201811556281.3A
Authority: CN
Inventors: 黄帅; 陈勃
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingbangda Trade Co Ltd; Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2018-12-19
Filing date: 2018-12-19
Publication date: 2023-04-07
Anticipated expiration: 2038-12-19
Also published as: CN111343566A

Abstract

The application provides a positioning method, a positioning device and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining first position information of a target object in an unmanned cabin, obtaining second position information of a mobile terminal at present, wherein the target object is an abnormal Automatic Guided Vehicle (AGV) device or a problem location code, and determining a moving route according to the first position information and the second position information, wherein the moving route is used for indicating the mobile terminal to move from a position indicated by the second position information to a position indicated by a first position. The technical scheme can quickly position the target object in the unmanned bin, and has low positioning cost and high precision.

Description

Positioning method, positioning device and storage medium

Technical Field

The present application relates to the field of communications technologies, and in particular, to a positioning method, an apparatus, and a storage medium.

Background

Along with the technical promotion of robots and automation equipment, the application of big data technology, artificial intelligence and operation research related algorithms, unmanned warehouses are produced. Ground codes for guiding Automatic Guided Vehicles (AGV) equipment to run are regularly adhered in the unmanned storehouse, so that a plurality of AGV equipment in the unmanned storehouse can accurately walk and stop at a specified place according to the indication of the ground codes, and a series of operation functions such as transferring, carrying and the like are completed.

In the prior art, when the AGV equipment or the ground code works abnormally, a maintenance worker can search the abnormal equipment or the ground code in the unmanned bin based on the position of the abnormal AGV equipment or the ground code with the problem.

However, the space of the unmanned storehouse is large, the ground code is distributed in the whole unmanned area, the appearance is basically consistent, the positioning of the ground code is difficult, the appearance of the AGV equipment is basically consistent due to the rule of the road reference object in the unmanned storehouse, the equipment number is pasted on the side surface of the equipment, and when a plurality of AGV equipment are gathered together, the AGV equipment is not easy to identify, so that the searching of abnormal AGV equipment is difficult.

In conclusion, the problems that the abnormal AGV equipment and/or the problem codes are difficult to locate and the searching efficiency is low exist in the prior art.

Disclosure of Invention

The application provides a positioning method, a positioning device and a storage medium, which are used for solving the problems that abnormal AGV equipment and/or problem codes are difficult to position and the searching efficiency is low in the prior art.

A positioning method provided in a first aspect of the present application includes:

acquiring first position information of a target object in an unmanned bin, wherein the target object is an abnormal Automatic Guided Vehicle (AGV) device or a problem location code;

acquiring second position information of the mobile terminal at present;

and determining a moving route according to the first position information and the second position information, wherein the moving route is used for indicating the mobile terminal to move from the position indicated by the second position information to the position indicated by the first position information.

In a possible design of the first aspect, if the target object is an abnormal AGV, the acquiring first position information of the target object in an unmanned bin includes:

receiving current position information reported by all AGV devices in the unmanned storehouse, wherein the current position information reported by each AGV device is determined by scanning currently covered ground codes;

acquiring the identification of the abnormal AGV equipment input by a user;

and determining first position information of the abnormal AGV equipment according to the identification of the abnormal AGV equipment.

In the above possible design of the first aspect, if the abnormal AGV device has the operation capability, the method further includes:

carrying out reverse processing on the running direction of the moving route to obtain a reverse moving route;

and sending the reverse moving route to the abnormal AGV equipment so that the abnormal AGV equipment moves from the position indicated by the first position information to the position indicated by the second position information based on the reverse moving route.

In another possible design of the first aspect, if the target object is a problem location code, the obtaining first location information of the target object in the unmanned bin includes:

receiving position information and running information reported by all AGV devices in a first device set in the unmanned storehouse and error information reported by all AGV devices in a second device set, wherein the AGV devices in the first device set are all AGV devices running in the unmanned storehouse, and the AGV devices in the second device set are AGV devices passing through the problem location codes in the first device set;

and determining problem location codes in the unmanned warehouse and first position information of each problem location code according to position information and running information reported by all AGV devices in the first device set within a preset time period and error information reported by all AGV devices in the second device set within the preset time period.

In still another possible design of the first aspect, the obtaining second location information where the mobile terminal is currently located includes:

and acquiring the second position information determined by the mobile terminal through scanning the location code of the position where the mobile terminal is located.

In the above possible design of the first aspect, the method further includes:

the method comprises the steps of obtaining shelf information which is within a preset distance range from a mobile terminal, wherein the shelf information is used for assisting in indicating second position information where the mobile terminal is located;

the determining a moving route according to the first location information and the second location information includes:

and determining the moving route according to the first position information, the second position information and the shelf information.

In yet another possible design of the first aspect, a plurality of ground codes are pasted on the ground of the unmanned bin according to a preset rule, and each ground code is used for indicating one piece of position information;

each ground code includes: each two-dimensional code of the ground code is used for marking the same position information of the unmanned storehouse.

A second aspect of the present application provides a positioning apparatus, comprising: the system comprises an object position acquisition module, a terminal position acquisition module and a route determination module;

the object position acquisition module is used for acquiring first position information of a target object in the unmanned bin, wherein the target object is an abnormal Automatic Guided Vehicle (AGV) device or a problem location code;

the terminal position acquisition module is used for acquiring second position information of the mobile terminal at present;

the route determining module is configured to determine a moving route according to the first location information and the second location information, where the moving route is used to instruct the mobile terminal to move from a location indicated by the second location information to a location indicated by the first location information.

In a possible design of the second aspect, if the target object is an abnormal AGV, the object position obtaining module includes: the device comprises a first receiving unit, an identification obtaining unit and a first determining unit;

the first receiving unit is used for receiving current position information reported by all AGV devices in the unmanned storehouse, and the current position information reported by each AGV device is determined by scanning currently covered ground codes;

the identification acquisition unit is used for acquiring the identification of the abnormal AGV equipment input by a user;

the first determining unit is used for determining first position information of the abnormal AGV equipment according to the identification of the abnormal AGV equipment.

In the above possible design of the second aspect, if the abnormal AGV equipment has the operation capability, the apparatus further includes: the device comprises a processing module and a sending module;

the processing module is used for carrying out reverse processing on the running direction of the moving route to obtain a reverse moving route;

the sending module is used for sending the reverse moving route to the abnormal AGV equipment so that the abnormal AGV equipment can move from the position indicated by the first position information to the position indicated by the second position information based on the reverse moving route.

In another possible design of the second aspect, if the target object is a problem location code, the object location obtaining module includes: a second receiving unit and a second determining unit;

the second receiving unit is used for receiving position information and running information reported by all AGV devices in a first device set in the unmanned storehouse and error information reported by all AGV devices in a second device set, wherein the AGV devices in the first device set are all AGV devices running in the unmanned storehouse, and the AGV devices in the second device set are AGV devices passing through the problem location code in the first device set;

and the second determining unit is used for determining the problem location codes in the unmanned warehouse and the first position information of each problem location code according to the position information and the running information reported by all the AGV devices in the first device set within a preset time period and the error information reported by all the AGV devices in the second device set within the preset time period.

In still another possible design of the second aspect, the terminal location obtaining module is specifically configured to obtain the second location information determined by scanning a location code of a location where the mobile terminal is located.

In the above possible design of the second aspect, the apparatus further includes: a shelf information module;

the shelf information module is used for acquiring shelf information within a preset distance range from the mobile terminal, and the shelf information is used for assisting in indicating second position information of the mobile terminal;

correspondingly, the route determination module is specifically configured to determine the moving route according to the first location information, the second location information, and the shelf information.

In another possible design of the second aspect, a plurality of ground codes are pasted on the ground of the unmanned cabin according to a preset rule, and each ground code is used for indicating one piece of position information;

According to the positioning method, the positioning device and the storage medium provided by the embodiment of the application, the mobile terminal obtains first position information of a target object in an unmanned bin, the target object is abnormal AGV equipment or a problem address code, second position information where the mobile terminal is located at present is obtained, and finally a moving route for indicating the mobile terminal to move from a position marked by the second position information to a position marked by a first position is determined according to the first position information and the second position information. According to the technical scheme, the position information (or the position of the problem place code) of the abnormal AGV equipment in the unmanned storehouse and the position information of the mobile terminal can be positioned, the positioning cost is low, the precision is high, the worker can quickly find the abnormal AGV equipment or the problem place code, and the problems that the abnormal AGV equipment and/or the problem place code are difficult to position and the searching efficiency is low in the prior art are solved.

Drawings

Fig. 1 is a schematic view of an application scenario of a positioning method according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a first embodiment of a positioning method according to an embodiment of the present application;

FIG. 3 is a schematic view of a unmanned bin floor displayed on an interface of a mobile terminal;

fig. 4 is a schematic flowchart of a second embodiment of a positioning method according to an embodiment of the present application;

fig. 5 is a schematic flowchart of a third embodiment of a positioning method according to the present application;

fig. 6 is a schematic flowchart of a fourth embodiment of positioning information provided in the present application;

fig. 7 is a schematic flowchart of a fifth embodiment of positioning information provided in the present application;

fig. 8 is a schematic structural diagram of a first positioning apparatus according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of a second positioning apparatus according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a third embodiment of a positioning device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a fourth embodiment of a positioning device according to the present application;

fig. 12 is a schematic structural diagram of a fifth embodiment of a positioning device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

In the following, some terms in the embodiments of the present application are explained to facilitate understanding by those skilled in the art:

AGV：

an Automated Guided Vehicle (AGV) is an intelligent robot applied to the field of warehouse logistics automation, and is a transport vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, and having safety protection and various transfer functions.

And (3) ground code:

in this embodiment, the ground code represents a two-dimensional code pasted on the ground of the unmanned cabin, a coordinate system applied by the AGV device, and an AGV running route runs strictly according to the ground code, so that the ground code can mark any position information in the unmanned cabin, that is, the position information where the AGV device is located.

Unmanned storehouse:

the unmanned warehouse is a highly automated and intelligent warehouse, and the unmanned operation of logistics operation processes from warehousing, shelving, picking, replenishment, packaging, inspection, delivery and the like of goods is realized.

Fig. 1 is a schematic view of an application scenario of a positioning method according to an embodiment of the present application. As shown in fig. 1, the application scenario of the present embodiment is an unmanned warehouse 10, a plurality of AGV devices 11 (tens of AGV devices or even hundreds of AGV devices) with the same appearance run in the unmanned warehouse 10, and a plurality of ground codes 12 are regularly adhered to the ground of the unmanned warehouse 10, and actually, the ground codes extend over the ground of the unmanned warehouse and the appearance of the ground codes is substantially the same.

In practical application, no person is in the unmanned bin 10, and when necessary, a worker can enter the unmanned bin to arrange the shelves and perform corresponding operations. Optionally, the unmanned bin 10 also has a plurality of rows of shelves 13 disposed therein for storing goods.

For example, in the present embodiment, when a certain AGV device or a ground code running in the unmanned bin 10 is abnormal in work, since the unmanned bin is too large, the ground code is spread over the ground of the unmanned bin, and the appearances of the AGV devices are substantially consistent, the difficulty of a worker searching for the abnormal AGV device or the problem ground code in the unmanned bin is large, and the searching cost is high.

For example, in general, warehouses of logistics companies are large, and no clear landmark is located in an unmanned warehouse, so that when the unmanned warehouse is too large, an original unmanned warehouse map is not suitable for reading, and therefore when a worker enters the unmanned warehouse to search for abnormal AGV equipment or a problem location code, the worker needs to carry a computer to enter the unmanned warehouse to search for the abnormal AGV equipment or the problem location code, and the worker can walk and check the abnormal AGV equipment or the problem location code according to the marked position information, and therefore the movement is inconvenient.

Secondly, because the ground codes are regularly adhered to the ground of the unmanned storehouse, the appearances of the ground codes are basically consistent, and the relative rules of the road surface reference objects are obtained, the specific positions of the ground codes in the unmanned storehouse are difficult to determine by workers, so that the relative positions and the directions of the ground codes and abnormal AGV equipment or problem ground codes are difficult to determine, and the abnormal AGV equipment or problem ground codes are difficult to find.

In addition, because the outward appearance of all AGV equipment of operation in unmanned storehouse is unanimous, and the side at AGV equipment is pasted to the equipment number, when many AGV equipment gathers together, is difficult for discerning, causes the degree of difficulty of looking for unusual AGV equipment to increase.

At present, when the device number and the location information of the abnormal device or the location information of the problem location code are known, in order to solve the problem that the difficulty in searching for the abnormal AGV device or the problem location code is high, it may be considered that the location of the abnormal AGV device or the problem location code is identified by using the portability of the mobile terminal and Location Based Service (LBS) attributes, which is convenient for the worker to search for.

Currently, the positioning technology of the mobile terminal mainly has the following four modes:

1. the positioning method is that the mobile terminal uses its own GPS positioning module to send its own position information to a positioning background to realize the positioning of the mobile terminal. The positioning precision is higher, but the precision is about 10 m; if the method is applied to indoor scenes, the accuracy is within several kilometers due to the shielding influence of buildings. Thus, the GPS positioning method is not suitable for positioning an abnormal AGV device or a problem location code in the embodiment of the present application.

2. The positioning method is that the base station and the WiFi hotspot are used for measuring and calculating the distance between the base station and the WiFi hotspot and the mobile terminal to determine the position of the mobile terminal. The positioning mode does not require that the mobile terminal has GPS positioning capability, but the precision depends on the distribution of the base station and the WiFi hotspot and the size of the coverage range to a great extent, and the precision error is about hundreds of meters. Since the embodiment of the application needs to know the accurate position of the abnormal AGV device or the problem location code, the positioning method is not suitable for positioning the abnormal AGV device or the problem location code.

3. Bluetooth positioning is applicable to indoor scenes. The positioning method is used for measuring and calculating the specific position of the mobile terminal by using the strength of signals of a plurality of Bluetooth paved in a receiving indoor scene. The precision can reach 3-5 m. However, the cost of bluetooth positioning is high, early hardware investment and later maintenance are required, and enough bluetooth devices are required to cover the indoor area needing positioning when the bluetooth positioning device is arranged indoors.

4. Geomagnetic positioning is a novel positioning technology, and is also applicable to indoor scenes. Each building's floor and corridor constitutes a unique magnetic field disturbance, and geomagnetic localization techniques use the fluctuation of geomagnetism to locate indoor sites, determine a location by measurement, and generate a map. However, the positioning method needs a special geomagnetic acquisition technology, the acquisition cost is high, and if metal equipment moves indoors, the positioning accuracy is affected due to different positions of the metal equipment.

In summary, for the unmanned cabin scene, no suitable positioning method exists in the prior art, which can quickly position abnormal AGV equipment or problem ground codes and meet the requirements of low positioning cost and high precision.

In view of the above problems, embodiments of the present application provide a positioning method, an apparatus, and a storage medium, where first position information of a target object in an unmanned bin is obtained, where the target object is an AGV device or a problem location code, second position information of a mobile terminal where the mobile terminal is currently located is obtained, and a moving route is determined according to the first position information and the second position information, where the moving route is used to instruct the mobile terminal to move from a position indicated by the second position information to a position indicated by the first position information. According to the technical scheme, the position information (or the position of the problem location code) of the abnormal AGV equipment in the unmanned storehouse and the position information of the mobile terminal can be positioned, the positioning cost is low, the precision is high, and a foundation is laid for workers to quickly find the abnormal AGV equipment or the problem location code.

The technical solution of the present application will be described in detail below with reference to specific examples. It should be noted that the following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 2 is a schematic flowchart of a first embodiment of a positioning method according to an embodiment of the present application. The positioning method can be applied to the mobile terminal and other devices which have interface display and are convenient to carry. As shown in fig. 2, the positioning method may include the steps of:

step 21: first position information of a target object in an unmanned bin is acquired.

The target object is an abnormal automatic guided vehicle AGV device or a problem location code.

It can be understood that, in the unmanned cabin scene, a plurality of ground codes are pasted on the ground of the unmanned cabin according to preset rules, each ground code is used for marking one piece of position information, that is, before the unmanned cabin is put into use, a worker can enter the unmanned cabin to carry out field measurement and draw a map according to the layout of the unmanned cabin and each ground code, so that the position of each ground code in the map is completely recorded.

For example, the unmanned cabin in this embodiment may be in a local area network, and all the devices in the unmanned cabin are in the coverage area of the local area network, so that the devices may communicate with each other through network transmission of the local area network.

Optionally, the embodiment may be described with a mobile terminal as an execution subject. Optionally, when knowing that abnormal AGV equipment or a problem location code occurs in the unmanned bin, the worker may use the abnormal AGV equipment or the problem location code as a target object for positioning, and obtain first position information of the target object in the unmanned bin.

For example, since each AGV device running in the unmanned warehouse reports its location information and basic information during running when passing a location code, the first location information of the target object in the unmanned warehouse can be determined by analyzing the location information reported by all AGV devices and the basic information during running.

Illustratively, fig. 3 is a schematic view of a dry floor displayed on an interface of a mobile terminal. As shown in fig. 3, a plurality of ground codes are regularly adhered to the ground of the unmanned warehouse, each ground code uniquely identifies a position in the unmanned warehouse, and the mobile terminal can determine the position information of the target object and the mobile terminal by using the characteristic that the ground code identifies a piece of position information and the characteristic that the AGV device reports its own information, for example, the position a in the schematic diagram shown in fig. 3.

It should be noted that, for the specific implementation step of the step 21, reference may be made to the following description in the embodiment shown in fig. 4 or the embodiment shown in fig. 6, and details are not described here again.

Step 22: and acquiring second position information of the mobile terminal at present.

For example, in this embodiment, when a user enters an unmanned cabin with a mobile terminal, the mobile terminal may first determine second location information where the mobile terminal is located, and then determine, by combining with the first location information of the target object, a relative location between the mobile terminal and the target object, and finally determine a path between a location indicated by the first location information and a location indicated by the second location information.

In this embodiment, as a possible implementation manner, the step 22 may be implemented by:

and acquiring second position information determined by scanning the location code of the position where the mobile terminal is located.

For example, in this embodiment, in order to determine the specific location to which the mobile terminal belongs, the mobile terminal may first determine a location code of the location where the mobile terminal is located, and then scan the location information indicated by the location code, so as to determine the second location information where the mobile terminal is located.

For example, as shown in fig. 3, the location indicated by the second location information where the mobile terminal is located is, for example, location B.

Step 23: and determining a moving route according to the first position information and the second position information.

The moving route is used for indicating the mobile terminal to move from the position marked by the second position information to the position marked by the first position information.

Optionally, in this embodiment, when the mobile terminal acquires the first position information of the target object in the unmanned cabin and the second position information of the mobile terminal, multiple paths between the position indicated by the first position information and the position indicated by the second position information may be calculated, and then an optimal path, that is, a moving route along which the mobile terminal moves from the position indicated by the first position information to the position indicated by the second position information, may be determined according to the length of each path.

For example, in the schematic diagram shown in fig. 3, the moving route may be a route S.

Optionally, as an example, if the mobile terminal has a moving capability and a navigation module is arranged in the mobile terminal, after the mobile terminal determines the moving route, the mobile terminal may move from the position indicated by the second position information to the position indicated by the first position information according to the moving route, so that the target object may be found only by following the moving track of the mobile terminal.

Optionally, as another example, if the mobile terminal is a terminal without a moving capability, such as a mobile phone, the mobile terminal may display the moving route on the display screen, so that the worker may move from the position indicated by the second location information to the position indicated by the first location information according to the moving route to find the target object.

For example, in this embodiment, the worker may view first location information such as coordinates where the target object is located through a display interface of the mobile terminal, and the worker may also scan a ground code where the mobile terminal is located to determine second location information such as the coordinates where the mobile terminal is located, so as to help the worker roughly determine how to walk in the unmanned cabin to quickly find the target object.

According to the positioning method provided by the embodiment of the application, the mobile terminal obtains first position information of a target object in the unmanned cabin, the target object is abnormal AGV equipment or a problem location code, second position information where the mobile terminal is located at present is obtained, and finally a moving route used for indicating the mobile terminal to move from the position marked by the second position information to the position marked by the first position information is determined according to the first position information and the second position information. According to the technical scheme, the position information (or the position of the problem location code) of the abnormal AGV equipment in the unmanned storehouse and the position information of the mobile terminal can be positioned, the positioning cost is low, the precision is high, and a foundation is laid for workers to quickly find the abnormal AGV equipment or the problem location code.

Exemplarily, on the basis of the above embodiments, fig. 4 is a schematic flow chart of a second embodiment of the positioning method provided in the embodiment of the present application. As shown in fig. 4, in this embodiment, if the target object is an abnormal AGV device, the step 21 (obtaining the first position information of the target object in the unmanned bin) may be implemented by:

step 41: and receiving current position information reported by all AGV equipment in the unmanned storehouse.

The current position information reported by each AGV device is determined by scanning the currently covered ground code by each AGV device.

For example, in this embodiment, the ground of the unmanned warehouse is covered with ground codes, and in general, many AGV devices in the unmanned warehouse are in operation, in order to ensure that all AGV devices in the unmanned warehouse can work normally and cooperatively and facilitate monitoring and management by a worker, each AGV device scans the ground code covered by the AGV device to determine the current position information of the AGV device when passing over one ground code, and uploads the determined current position information to the control console or the mobile terminal, so that the mobile terminal in the unmanned warehouse receives the current position information reported by all AGV devices.

Step 42: and acquiring the identification of the abnormal AGV equipment input by the user.

Optionally, the monitoring station is used for monitoring running conditions of all the monitored AGV devices and analyzing information reported by all the AGV devices, so that a worker can know whether abnormal AGV devices exist or not and identifications of the abnormal AGV devices, and therefore the worker can input the identifications of the abnormal AGV devices on an interface of the mobile terminal and can obtain the identifications of the abnormal AGV devices through the mobile terminal.

Step 43: and determining the first position information of the abnormal AGV according to the identifier of the abnormal AGV.

For example, the mobile terminal may determine the first location information of the abnormal AGV device according to the current location information reported by all AGV devices and the identifier of the abnormal AGV device, and the first location information may be marked by a map displayed by the mobile terminal, so that a worker can visually observe the first location information.

For example, all AGV devices operate strictly according to the mark of the ground code, and the motion state can be reported in real time, so that the mobile terminal can acquire the relevant information of each AGV device in real time, and the mobile terminal can support to check the current position (the ground position) of any AGV device in real time and update the current position once per second.

Optionally, it is assumed that 200 AGV devices run in the unmanned warehouse, and the AGV devices are numbered according to the sequence of 1 to 200, that is, each AGV device corresponds to one identifier. For example, when the worker finds that the AGV device with the serial number of 28 is abnormal through analysis of the monitoring station, that is, the identifier of the abnormal AGV device is 28, at this time, the mobile terminal may obtain the first position information, which is input by the worker (user), of the abnormal AGV device with the identifier of 28.

According to the positioning method provided by the embodiment of the application, if the target object is abnormal AGV equipment, the mobile terminal can determine the first position information of the abnormal AGV equipment according to the identification of the abnormal AGV equipment, wherein the first position information is input by a user, and the identification of the abnormal AGV equipment is obtained by receiving the current position information reported by all the AGV equipment in the unmanned storehouse. According to the technical scheme, the position information of the abnormal AGV equipment can be accurately determined, and the implementation scheme is simple and easy to implement.

Exemplarily, in this embodiment, fig. 5 is a schematic flowchart of a third embodiment of a positioning method provided in the present application. As shown in fig. 5, in this embodiment, if the abnormal AGV device has the operation capability, the positioning method may further include the following steps:

step 51: and carrying out reverse processing on the running direction of the moving route to obtain a reverse moving route.

For example, in some cases, although the abnormal AGV device works abnormally, the abnormal AGV device still has a running capability, and in order to find the abnormal AGV device more accurately, the mobile terminal may reverse the running direction of the obtained moving route to obtain a reverse moving route, that is, the starting position of the original moving route is the position indicated by the second position information, the ending position is the position indicated by the first position information, the starting position of the reverse moving route is the position indicated by the first position information, and the ending position is the position indicated by the second position information.

Step 52: and sending the reverse moving route to the abnormal AGV equipment so that the abnormal AGV equipment moves from the position indicated by the first position information to the position indicated by the second position information based on the reverse moving route.

For example, in this embodiment, after obtaining the reverse moving route, the mobile terminal may send the reverse moving route to an abnormal AGV device with operation capability through network transmission, so that the abnormal AGV device searches for the mobile terminal along the reverse moving route, that is, moves from a position indicated by first position information where the abnormal AGV device is located to a position indicated by second position information where the mobile terminal is located, so as to wait for a worker to overhaul.

It should be noted that, in practical applications, if an abnormal AGV device can also detect its current fault status by itself, for example, if it is faulty but still operable, the abnormal AGV device may operate to a specific area along a specific route from the faulty position according to the indication of the system or the stored operation route, so as to facilitate the repair of the worker. It is understood that the specific area may be a specially marked area in the unmanned bin, and normally, the AGV device that normally operates will not operate in the specific area, and only the AGV device that has an abnormal operating state will operate in the specific area.

According to the positioning method provided by the embodiment of the application, if the abnormal AGV equipment has the operation capacity, the mobile terminal can further perform reverse processing on the operation direction of the moving route to obtain the reverse moving route, and the reverse moving route is sent to the abnormal AGV equipment, so that the abnormal AGV equipment moves from the position indicated by the first position information to the position indicated by the second position information based on the reverse moving route. According to the technical scheme, the abnormal AGV equipment can be quickly found by utilizing the running capacity of the abnormal AGV equipment and moving to the position marked by the second position according to the specific route, so that the abnormal AGV equipment can be quickly overhauled in time.

For example, on the basis of the foregoing embodiments, fig. 6 is a schematic flow chart of a fourth embodiment of the positioning information provided in the embodiment of the present application. As shown in fig. 6, if the target object is a problem address code, the step 21 (obtaining the first position information of the target object in the unmanned bin) may be implemented by:

step 61: and receiving the position information and the operation information reported by all the AGV devices in the first device set and the error information reported by all the AGV devices in the second device set in the unmanned storehouse.

The AGV devices in the first equipment set are all the AGV devices running in the unmanned warehouse, and the AGV devices in the second equipment set are the AGV devices passing through the problem address code in the first equipment set.

For example, in this embodiment, each time all AGV devices in the unmanned warehouse pass above one ground code during operation, the AGV devices report not only the position information but also the operation information to the console or the mobile terminal. In addition, if the AGV passes through the problem address, the AGV may additionally report error information.

Optionally, in this embodiment, for convenience of description, a set of all AGV devices in the unmanned warehouse is referred to as a first device set, and a set of all AGV devices passing through the problem location code in the unmanned warehouse is referred to as a second device set. Therefore, all the AGV devices in the first device set generally report their location information and operation information, and the AGV devices in the second device set generally report their location information, operation information and error information at the same time.

For example, in this embodiment, the position information is a position of the AGV in the unmanned cabin, and the operation information includes: corresponding to the information of the running speed, the acceleration, the motion deviation and the like of the equipment, the error information comprises: and information such as code scanning failure, separation from a preset track and the like. The embodiment of the present application does not limit specific contents included in the operation information and the error information, and may further include other information, which is not described herein again.

Step 62: and determining problem location codes in the unmanned bin and first position information of each problem location code according to the position information and the running information reported by all AGV devices in the first device set within a preset time period and the error information reported by all AGV devices in the second device set within the preset time period.

Optionally, in this embodiment, the mobile terminal may determine, by performing statistical analysis on the position information and the operation information reported by all AGV devices in the first device set and the error information reported by all AGV devices in the second device set within a preset time period, the operation information of all AGV devices reporting the error information and the position information when reporting the error information, and determine all problem location codes and the first position information where all problem location codes are located according to the content of the operation information and the specific position indicated by the position information.

For example, for the same location code, if multiple AGV devices report error information at the position indicated by the location code and the types of the error information are consistent, then whether the AGV devices have the same problem at the positions indicated by other location codes is analyzed, and if not, the location code can be determined to be a problem location code. Correspondingly, according to the position information (the position information marked by the previous position code or the current position code) reported by the AGV devices passing through the problem position code, the first position information where the problem position code is located is determined.

According to the positioning information provided by the embodiment of the application, if the target object is a problem location code, the mobile terminal receives position information and operation information reported by all AGV devices in a first device set in the unmanned storehouse and error information reported by all AGV devices in a second device set, and determines the problem location code in the unmanned storehouse and first position information where each problem location code is located according to the position information and operation information reported by all AGV devices in the first device set in a preset time period and the error information reported by all AGV devices in the second device set in the preset time period. According to the technical scheme, the problem place code in the unmanned storehouse and the first position information where the problem place code is located can be quickly determined, and the problem place code can be conveniently searched by workers.

For example, on the basis of the foregoing embodiments, fig. 7 is a schematic flow chart of a fifth embodiment of the positioning information provided in the embodiment of the present application. As shown in fig. 7, the positioning method provided in this embodiment may further include the following steps:

step 71: and acquiring shelf information within a preset distance range from the mobile terminal.

Wherein the shelf information is used for assisting in indicating second position information where the mobile terminal is located.

Optionally, in this embodiment, a plurality of shelves for storing goods are deployed in the unmanned bin, each shelf has corresponding basic information, for example, a shelf number, a color, and the like, so that, in order to facilitate a worker to find an abnormal AGV device or a problem location code, after obtaining first position information of a target object in the unmanned bin and second position information of the mobile terminal, the mobile terminal may further obtain shelf information around the mobile terminal (for example, within a preset distance range from the mobile terminal), so as to assist the worker to find the abnormal AGV device or the problem location code.

Accordingly, the step 23 (determining the moving route according to the first position information and the second position information) may be replaced by the following steps:

step 72: the movement route is determined based on the first position information, the second position information, and the shelf information.

For example, in this embodiment, the mobile terminal may determine, according to the acquired first location information of the target object, the second location information where the mobile terminal is located, and the shelf information around the mobile terminal, a moving route along which the mobile terminal or the staff moves from the location indicated by the second location information to the location indicated by the first location information.

It should be noted that the shelf information in this embodiment may indicate the direction information in the unmanned bin, and the direction information is similar to the information in the directions of south, east, west, north, etc., so as to determine the specific running direction of the moving route.

For example, in a scene where a worker searches for a target object, when the mobile terminal obtains and displays shelf information within a preset distance range from the mobile terminal, the display of the shelf information can be used as a reference to assist the worker in judging the direction of a moving route, so that the current facing direction of the mobile terminal is located, and the direction and direction of the mobile terminal moving to the target object are determined.

In addition, in this embodiment, for the equipment numbers posted on the side of the AGV equipment, the size of the equipment numbers can be increased appropriately or the equipment numbers can be displayed in a more striking position so as to improve the searching efficiency.

According to the positioning method provided by the embodiment of the application, after the mobile terminal acquires the first position information of the target object in the unmanned bin and the second position information of the mobile terminal, the mobile terminal can also acquire the shelf information within a preset distance range away from the mobile terminal, so that the mobile terminal determines the moving route according to the first position information, the second position information and the shelf information. The technical scheme adds the characteristic of shelf information when determining the moving route, and can further assist workers to search for target objects, so that the searching efficiency is improved.

Illustratively, in the embodiment, a plurality of ground codes are adhered to the ground of the unmanned bin according to a preset rule, and each ground code is used for indicating one piece of position information.

Optionally, each ground code includes: at least two independent two-dimensional codes, each two-dimensional code of this ground sign indicating number is used for the same positional information in this unmanned storehouse.

For example, referring to the schematic diagram of fig. 3 above, each ground code may include: 16 independent two-dimensional codes form 4 multiplied by 4 arrangement.

In the embodiment, each ground code is formed by at least two independent two-dimensional codes, and each two-dimensional code is used for marking the same position information of the unmanned bin, so that the formed ground code has a large effective scanning range, the problem that the whole ground code is unavailable due to corner abrasion of the ground code is avoided, the probability of occurrence of the problem ground code is reduced, and the maintenance cost is reduced.

In summary, in the unmanned warehouse scene of this embodiment, characteristics such as regular distribution of the ground code, position information characteristics, and portability of the mobile terminal can be used, and current position information of the AGV device and the mobile terminal can be obtained in real time through human-computer interaction and network transmission support, so that a worker can be helped to realize a scene appeal that a worker can quickly find an abnormal AGV device or a problem ground code in the warehouse for overhaul. According to the technical scheme, the position (or the position of the problem area code) of abnormal AGV equipment in the unmanned warehouse and the position of a worker can be quickly positioned, the worker is helped to quickly reach a target object according to the relative position, and the positioning cost is low through an unmanned area map drawn in the warehouse in the early stage.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Fig. 8 is a schematic structural diagram of a first positioning device according to an embodiment of the present application. Optionally, the positioning device may be integrated in the mobile terminal, or may be independent of the mobile terminal and cooperate with the mobile terminal to implement the technical solution of the present application.

Illustratively, as shown in fig. 8, the positioning device may include: an object position acquisition module 81, a terminal position acquisition module 82 and a route determination module 83.

The object position acquiring module 81 is configured to acquire first position information of a target object in an unmanned bin, where the target object is an abnormal automatic guided vehicle AGV device or a problem location code;

the terminal position obtaining module 82 is configured to obtain second position information of the mobile terminal currently located;

the route determining module 83 is configured to determine a moving route according to the first location information and the second location information, where the moving route is used to instruct the mobile terminal to move from the location indicated by the second location information to the location indicated by the first location information.

Exemplarily, on the basis of the above embodiments, as an example, fig. 9 is a schematic structural diagram of a second embodiment of the positioning device provided in the embodiments of the present application. As shown in fig. 9, if the target object is an abnormal AGV, the object position acquiring module 81 may include: a first receiving unit 91, an identification obtaining unit 92 and a first determining unit 93.

The first receiving unit 91 is configured to receive current position information reported by all AGV devices in the unmanned storehouse, where the current position information reported by each AGV device is determined by scanning a currently covered ground code by each AGV device;

the identification obtaining unit 92 is configured to obtain an identification of the abnormal AGV device input by the user;

the first determining unit 93 is configured to determine first position information where the abnormal AGV device is located according to the identifier of the abnormal AGV device.

Exemplarily, on the basis of the above embodiments, fig. 10 is a schematic structural diagram of a third embodiment of the positioning device provided in the embodiment of the present application. As shown in fig. 10, if the abnormal AGV has an operation capability, the apparatus further includes: a processing module 101 and a sending module 102.

The processing module 101 is configured to perform reverse processing on the running direction of the moving route to obtain a reverse moving route;

the sending module 102 is configured to send the reverse moving route to the abnormal AGV device, so that the abnormal AGV device moves from the position indicated by the first position information to the position indicated by the second position information based on the reverse moving route.

For example, on the basis of the above embodiment, as another example, fig. 11 is a schematic structural diagram of a fourth embodiment of the positioning device provided in the embodiment of the present application. As shown in fig. 11, if the target object is a problem address code, the object position acquiring module 81 includes: a second receiving unit 111 and a second determining unit 112.

The second receiving unit 111 is configured to receive position information and operation information reported by all AGV devices in a first device set in the unmanned warehouse and error information reported by all AGV devices in a second device set, where the AGV devices in the first device set are all AGV devices operating in the unmanned warehouse, and the AGV devices in the second device set are AGV devices passing through the problem location code in the first device set;

the second determining unit 112 is configured to determine the problem location codes in the unmanned warehouse and the first location information where each problem location code is located according to the location information and the operation information reported by all AGV devices in the first device set within a preset time period and the error information reported by all AGV devices in the second device set within the preset time period.

For example, in any of the above embodiments, the terminal location obtaining module 82 is specifically configured to obtain the second location information determined by the mobile terminal through scanning a location code of a location where the mobile terminal is located.

Optionally, in any of the above embodiments, the apparatus may further include: and a shelf information module.

The goods shelf information module is used for acquiring goods shelf information which is within a preset distance range from the mobile terminal, and the goods shelf information is used for assisting in indicating second position information of the mobile terminal;

accordingly, the route determining module 83 is specifically configured to determine the moving route according to the first location information, the second location information, and the shelf information.

For example, in the embodiment of the present application, a plurality of ground codes are pasted on the ground of the unmanned bin according to a preset rule, and each ground code is used for indicating one piece of position information;

each ground code comprises: each two-dimensional code of the ground code is used for marking the same position information of the unmanned storehouse.

The apparatus provided in the embodiment of the present application may be used to perform the methods in the embodiments shown in fig. 2 to fig. 7, and the implementation principle and technical effects are similar, which are not described herein again.

It should be noted that the division of each module of the above apparatus is only a logical division, and all or part of the actual implementation may be integrated into one physical entity or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the determining module may be a processing element separately set up, or may be implemented by being integrated in a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and the function of the determining module is called and executed by a processing element of the apparatus. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when some of the above modules are implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.

Fig. 12 is a schematic structural diagram of a fifth embodiment of a positioning device according to an embodiment of the present application. As shown in fig. 12, the apparatus may include: a processor 121, a memory 122, a communication interface 123 and a system bus 124, where the memory 122 and the communication interface 123 are connected to the processor 121 through the system bus 124 and complete communication therebetween, the memory 122 is used to store computer execution instructions, the communication interface 123 is used to communicate with other devices, and the processor 121 implements the scheme of the mobile terminal in the embodiments shown in fig. 2 and fig. 7 when executing the computer program.

The system bus mentioned in fig. 12 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The memory may comprise Random Access Memory (RAM) and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.

The processor may be a general-purpose processor, including a central processing unit CPU, a Network Processor (NP), and the like; but also a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, discrete gate or transistor logic, discrete hardware components.

Optionally, an embodiment of the present application further provides a storage medium, where instructions are stored in the storage medium, and when the storage medium runs on a computer, the instructions cause the computer to perform the method according to the embodiment shown in fig. 2 to fig. 7.

Optionally, an embodiment of the present application further provides a chip for executing the instruction, where the chip is configured to execute the method in the embodiment shown in fig. 2 to 7.

The embodiment of the present application further provides a program product, where the program product includes a computer program, where the computer program is stored in a storage medium, and the computer program can be read from the storage medium by at least one processor, and when the computer program is executed by the at least one processor, the method of the embodiment shown in fig. 2 to 7 can be implemented.

In the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a alone, A and B together, and B alone, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship; in the formula, the character "/" indicates that the preceding and following related objects are in a relationship of "division". "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items.

It is to be understood that the various numerical references referred to in the embodiments of the present application are merely for convenience of description and distinction and are not intended to limit the scope of the embodiments of the present application.

It should be understood that, in the embodiment of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiment of the present application.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of positioning, comprising:

acquiring first position information of a target object in an unmanned cabin, wherein the target object is an abnormal Automatic Guided Vehicle (AGV) device or a problem location code;

acquiring second position information determined by scanning a location code of a position where the mobile terminal is located;

the method comprises the steps of obtaining goods shelf information which is within a preset distance range from the mobile terminal, wherein the goods shelf information is used for assisting in indicating second position information where the mobile terminal is located;

determining a moving route according to the first position information, the second position information and the shelf information, wherein the moving route is used for indicating the mobile terminal to move from the position indicated by the second position information to the position indicated by the first position information;

if the target object is an abnormal Automatic Guided Vehicle (AGV) device, acquiring first position information of the target object in an unmanned bin, including:

acquiring the identification of the abnormal AGV equipment input by a user;

determining first position information of the abnormal AGV equipment according to the identification of the abnormal AGV equipment;

if the target object is a problem location code, the obtaining first position information of the target object in the unmanned bin includes:

2. The method of claim 1 wherein if the abnormal AGV equipment is operational, the method further comprises:

3. The method according to claim 1, wherein a plurality of ground codes are pasted on the ground of the unmanned storehouse according to a preset rule, and each ground code is used for marking one position information;

4. A positioning device, comprising: the system comprises an object position acquisition module, a terminal position acquisition module and a route determination module;

the system comprises an object position acquisition module, a storage module and a control module, wherein the object position acquisition module is used for acquiring first position information of a target object in an unmanned cabin, and the target object is abnormal Automatic Guided Vehicle (AGV) equipment or a problem location code;

the terminal position acquisition module is used for acquiring second position information determined by the mobile terminal through scanning a ground code of the position where the mobile terminal is located;

the route determining module is configured to determine a moving route according to the first location information and the second location information, where the moving route is used to instruct the mobile terminal to move from a location indicated by the second location information to a location indicated by the first location information;

if the target object is an abnormal Automatic Guided Vehicle (AGV) device, the object position acquisition module comprises: the device comprises a first receiving unit, an identification obtaining unit and a first determining unit;

the first determining unit is used for determining first position information of the abnormal AGV equipment according to the identification of the abnormal AGV equipment;

the device further comprises: a shelf information module;

correspondingly, the route determining module is specifically configured to determine the moving route according to the first location information, the second location information, and the shelf information;

if the target object is a problem location code, the object location obtaining module includes: a second receiving unit and a second determining unit;

the second receiving unit is configured to receive position information and operation information reported by all AGV devices in a first device set in the unmanned warehouse, and error information reported by all AGV devices in a second device set, where the AGV devices in the first device set are all the AGV devices operating in the unmanned warehouse, and the AGV devices in the second device set are the AGV devices passing through the problem address code in the first device set;

the second determining unit is configured to determine the problem location codes in the unmanned warehouse and the first location information where each problem location code is located according to the location information and the operation information reported by all AGV devices in the first device set within a preset time period and the error information reported by all AGV devices in the second device set within the preset time period.

5. The apparatus of claim 4, wherein if said abnormal AGV device is operational, said apparatus further comprises: the device comprises a processing module and a sending module;

6. The device of claim 4, wherein a plurality of ground codes are pasted on the ground of the unmanned storehouse according to a preset rule, and each ground code is used for marking a position message;

7. A positioning device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method according to any of the preceding claims 1-3 when executing the program.

8. A storage medium having stored therein instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-3.