CN116793339A - Vehicle positioning method, device, equipment and storage medium - Google Patents
Vehicle positioning method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN116793339A CN116793339A CN202311096558.XA CN202311096558A CN116793339A CN 116793339 A CN116793339 A CN 116793339A CN 202311096558 A CN202311096558 A CN 202311096558A CN 116793339 A CN116793339 A CN 116793339A
- Authority
- CN
- China
- Prior art keywords
- magnetic
- magnetic stripe
- information
- vehicle
- array
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 65
- 230000006698 induction Effects 0.000 claims description 24
- 238000003491 array Methods 0.000 claims description 9
- 230000001939 inductive effect Effects 0.000 claims description 2
- 230000000875 corresponding effect Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 7
- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 108091026890 Coding region Proteins 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000003490 calendering Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 229920003051 synthetic elastomer Polymers 0.000 description 1
- 239000005061 synthetic rubber Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of positioning and discloses a vehicle positioning method, a device, equipment and a storage medium, wherein when a vehicle to be positioned moves to a preset working area, magnetic pole information and width information among magnetic stripes of each magnetic stripe in a magnetic stripe array are obtained by sensing a magnetic field generated by the magnetic stripe array which is arranged in the preset working area in advance; encoding magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array; and positioning the vehicle to be positioned based on the encoded information. The existing indoor operation vehicle positioning method is high in implementation cost and low in result accuracy due to the fact that base stations are required to be arranged, and the magnetic pole information and the inter-magnetic-stripe width information of each magnetic stripe in the preset magnetic stripe array are sensed to encode, so that encoding information corresponding to the magnetic stripe array is obtained, and accurate positioning of a working area of the operation vehicle is achieved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a vehicle positioning method, device, equipment, and storage medium.
Background
With the application of informatization in logistics and storage, the position of the working area where the working vehicle is located needs to be acquired in real time, and whether the working area error occurs or not is monitored, so that the indoor position of the working vehicle such as a forklift needs to be positioned. In order to realize efficient management of goods receiving and dispatching and other businesses, a warehouse is generally divided into a plurality of operation areas such as a goods receiving area, a goods dispatching area and the like according to business processes, and different kinds and batches of goods are stacked in different areas. Work vehicles such as forklifts, trailers and the like need to stack goods in a designated area or take away goods in the designated area, traditional work relies on the area identification (such as characters, numbers and the like printed on the ground) of a work area manually identified by a work vehicle driver or an operator to identify the area, and the existing indoor work vehicle positioning method realizes vehicle positioning by arranging base stations, so that the implementation cost is high and the result accuracy is low.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a vehicle positioning method, a device, equipment and a storage medium, and aims to solve the technical problems that a base station is required to be arranged in the existing working vehicle positioning method to realize vehicle positioning, the implementation cost is high and the accuracy of a positioning result is low.
To achieve the above object, the present invention provides a vehicle positioning method comprising the steps of:
when a vehicle to be positioned moves to a preset working area, magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array are obtained by sensing a magnetic field generated by the magnetic stripe array which is arranged in the preset working area in advance;
encoding magnetic pole information of each magnetic stripe in the magnetic stripe array and width information among the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array;
and positioning the vehicle to be positioned based on the coded information.
Optionally, when the vehicle to be positioned moves to a preset working area, the step of obtaining the magnetic pole information and the inter-magnetic stripe width information of each magnetic stripe in the magnetic stripe array by sensing a magnetic field generated by the magnetic stripe array pre-laid in the preset working area includes:
when a vehicle to be positioned moves to a preset working area, magnetic pole information of each magnetic stripe in the magnetic stripe array is obtained by sensing a magnetic field generated by a magnetic stripe array which is arranged in the preset working area in advance, and magnetic stripe sensing time when a magnetic inductor passes through each magnetic stripe in the magnetic stripe array is recorded;
and determining the width information among the magnetic stripes according to the magnetic stripe induction moment.
Optionally, the step of encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the width information between the magnetic stripes according to a preset encoding rule to obtain encoded information corresponding to the magnetic stripe array includes:
performing magnetic stripe polarity marking on magnetic pole information of each magnetic stripe in the magnetic stripe array to obtain a polarity mark, wherein the polarity mark comprises a first mark character for marking the S pole of the magnetic stripe and a second mark character for marking the N pole of the magnetic stripe;
based on the width information among the magnetic stripes, marking the width among the adjacent magnetic stripes in the magnetic stripe array to obtain a width mark;
determining a magnetic stripe induction sequence according to magnetic stripe induction moments of all magnetic stripes in the magnetic stripe array;
and encoding the polarity marks and the width marks according to the magnetic stripe induction sequence to obtain encoding information corresponding to the magnetic stripe array.
Optionally, after the step of encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the width information between magnetic stripes according to a preset encoding rule to obtain the encoded information corresponding to the magnetic stripe array, the method includes:
acquiring a first code character of the code information;
and determining the moving direction of the vehicle to be positioned according to the first code character.
Optionally, the step of locating the vehicle to be located based on the encoded information includes:
inquiring in a preset region coding table based on the coding information, and determining a working region corresponding to the coding information;
the positioning result of the vehicle to be positioned is the operation area, and the preset area coding table stores the corresponding relation between the coding information and the operation area.
Optionally, the magnetic sensors are linear magnetic sensor arrays, and the linear magnetic sensor arrays calculate the width information between magnetic strips by measuring the number of the sensors which do not sense the magnetic strips between two magnetic sensors which sense the magnetic strips currently.
Optionally, the magnetic sensor is a planar lattice magnetic sensor array, when the vehicle to be positioned moves to a preset working area at any angle, the magnetic sensor array is used for performing magnetic induction photographing on the magnetic stripe array, and the magnetic pole information and the width information between the magnetic stripes of each magnetic stripe in the magnetic stripe array are determined based on photographing results.
In addition, in order to achieve the above object, the present invention also proposes a vehicle positioning device comprising:
the induction module is used for obtaining magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array by inducing a magnetic field generated by the magnetic stripe array which is arranged in advance in a preset working area when a vehicle to be positioned moves to the preset working area;
the encoding module is used for encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the width information between the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array;
and the positioning module is used for positioning the vehicle to be positioned based on the coding information.
In addition, to achieve the above object, the present invention also proposes a vehicle positioning apparatus comprising: a magnetic sensor, a memory, a processor, and a vehicle positioning program stored on the memory and executable on the processor, the vehicle positioning program configured to implement the steps of the vehicle positioning method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a vehicle positioning program which, when executed by a processor, implements the steps of the vehicle positioning method as described above.
The invention discloses a vehicle positioning method, a device, equipment and a storage medium, wherein when a vehicle to be positioned moves to a preset working area, magnetic pole information and inter-magnetic stripe width information of each magnetic stripe in a magnetic stripe array are obtained by sensing a magnetic field generated by the magnetic stripe array which is arranged in the preset working area in advance; encoding magnetic pole information of each magnetic stripe in the magnetic stripe array and width information among the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array; and positioning the vehicle to be positioned based on the coded information. Compared with the existing working vehicle positioning method, the method has the advantages that the implementation cost is high and the result accuracy is low because the base station is required to be arranged, and because the magnetic pole information and the inter-magnetic-stripe width information of each magnetic stripe in the preset magnetic stripe array are sensed and encoded, the encoding information corresponding to the magnetic stripe array is obtained, and the accurate positioning of the working area of the working vehicle is realized.
Drawings
FIG. 1 is a schematic diagram of a vehicle positioning device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a vehicle positioning method according to the present invention;
FIG. 3 is a flow chart of a second embodiment of the vehicle positioning method of the present invention;
FIG. 4 is a schematic layout view of a magnetic stripe array in a first embodiment of a vehicle positioning method according to the present invention;
FIG. 5 is a graph of the sensed data of a single magnetic sensor passing over a magnetic stripe array in a vehicle positioning method of the present invention;
FIG. 6 is a schematic diagram of a magnetic sensor obtaining width information between magnetic stripes in a vehicle positioning method according to the present invention;
FIG. 7 is a schematic diagram of a linear magnetic sensor array for calculating the width between magnetic strips according to the vehicle positioning method of the present invention;
FIG. 8 is a schematic diagram of a planar lattice magnetic sensor array induction magnetic stripe array for a vehicle positioning method of the present invention;
fig. 9 is a block diagram showing the construction of a first embodiment of the vehicle positioning device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle positioning device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle positioning apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a magnetic sensor 1006. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (Wi-Fi) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above. The magnetic sensor 1006 may be a device that converts magnetic signals into electrical signals. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is not limiting of the vehicle locating apparatus and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a vehicle positioning program may be included in the memory 1005 as one type of storage medium.
In the vehicle positioning device shown in fig. 1, a magnetic sensor 1006 is mainly used for sensing a magnetic field generated by a magnetic stripe array pre-arranged in a preset working area, obtaining magnetic pole information and width information between magnetic stripes of each magnetic stripe in the magnetic stripe array, and transmitting a sensing signal to a processor 1001; the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the product market value differential measurement device of the present invention may be disposed in a vehicle positioning device, where the vehicle positioning device invokes a vehicle positioning program stored in the memory 1005 through the processor 1001, and executes the vehicle positioning method provided by the embodiment of the present invention.
An embodiment of the invention provides a vehicle positioning method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the vehicle positioning method of the invention.
In this embodiment, the vehicle positioning method includes the steps of:
step S10: when a vehicle to be positioned moves to a preset working area, magnetic pole information and width information among magnetic stripes in the magnetic stripe array are obtained by sensing a magnetic field generated by the magnetic stripe array which is arranged in the preset working area in advance.
It should be noted that, the method of the present embodiment may be applied to a scenario where a vehicle needs to be located in an area, and the execution subject of the method of the present embodiment may be a vehicle locating device having a magnetic induction function, a data processing function, a network communication function, and a program running function, such as the vehicle locating device described above, or a vehicle on which the locating device is mounted. The present embodiment and the following embodiments will be specifically described herein with reference to the above-described vehicle positioning apparatus (hereinafter referred to as apparatus).
It is to be understood that the above-mentioned preset working area may be a vehicle working area, such as a raw material area, a finished product area, a repair area, etc., which is divided according to the type, specification, and lot of the stored goods in the goods warehouse management, or may be a working area, such as a goods stacking area, a goods to-be-classified area, etc., which is divided according to the type of the operation performed on the goods by the working vehicle.
It should be noted that, the magnetic stripe array pre-laid in the preset working area may be a plurality of magnetic stripes adhered to the ground around the working area, referring to fig. 4, fig. 4 is a schematic layout diagram of the magnetic stripe array in the first embodiment of the vehicle positioning method of the present invention. When a vehicle to be positioned enters or exits a preset working area, magnetic fields generated by a plurality of magnetic strips which are arranged in the current working area in advance are sensed through a magnetic sensor arranged on the vehicle. The magnetic strip in this embodiment may be a strip-shaped magnet made by compounding adhesive ferrite powder with synthetic rubber and calendaring.
It should be understood that the magnetic pole information of the magnetic strip described above may be information characterizing the polarity of two magnetic poles in the magnet, namely a south pole (S-pole) and a north pole (N-pole). The width information between magnetic stripes can be information representing the distance between adjacent magnetic stripes, and when the distance exceeds a preset threshold value, the distance between the magnetic stripes can be judged to be 'wide'; when the distance does not exceed a preset threshold value, the magnetic stripe pitch can be judged to be narrow.
Step S20: and encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the width information between the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array.
It should be noted that the preset encoding rule may be a binary code formed according to the difference of the polarities of the magnetic stripes in the magnetic stripe array and the distance ("wide" and "narrow") between the width information of the magnetic stripes. For example, when two magnetic strips are laid, four magnetic pole coding information of '00', '01', '10', and '11' and width information between the two magnetic strips of '0' and '1' can be obtained, and the four magnetic pole coding information and the width information between the two magnetic strips are arranged and combined to obtain coding information corresponding to the two magnetic strips.
It should be understood that the encoded information may be encoded and combined by the obtained magnetic pole information and the width information between magnetic stripes according to a preset predetermined sequence.
In a specific implementation, the device converts magnetic pole information and width information between magnetic stripes sensed in the magnetic stripe array into binary codes or other preset character coding sequences arranged according to a preset specified sequence according to a preset coding rule.
Step S30: and positioning the vehicle to be positioned based on the coded information.
It should be understood that for different preset working areas, magnetic stripe arrays of different magnetic stripe combinations can be laid out in advance according to the polarities of the magnetic stripes and the widths between the magnetic stripes, and the position information of the areas laid out by the magnetic stripe arrays can be input into the equipment in advance and correlated with the coding information corresponding to the magnetic stripe arrays. Therefore, when the vehicle to be positioned moves to a certain preset working area, the corresponding coding information can be determined in the mode, and then the position information related to the coding information is determined according to the coding information, so that the vehicle to be positioned can be accurately positioned.
When a vehicle to be positioned moves to a preset working area, a magnetic field generated by a magnetic stripe array which is arranged in the preset working area in advance is induced, and magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array are obtained; encoding magnetic pole information of each magnetic stripe in the magnetic stripe array and width information among the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array; and positioning the vehicle to be positioned based on the coded information. Compared with the existing working vehicle positioning method, the method has the advantages that the implementation cost is high and the result accuracy is low because the base station is required to be arranged, and because the magnetic pole information and the inter-magnetic-stripe width information of each magnetic stripe in the preset magnetic stripe array are sensed and encoded, the encoding information corresponding to the magnetic stripe array is obtained, and the working area accurate positioning of the working vehicle is realized.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of a vehicle positioning method according to the present invention.
Based on the above-mentioned first embodiment, in order to obtain accurate inter-magnetic stripe width information, in this embodiment, the information amount of the magnetic stripe arrangement identifier may be increased by encoding the inter-magnetic stripe width information, and correspondingly, the step S10 includes:
step S11: when a vehicle to be positioned moves to a preset working area, magnetic pole information of each magnetic stripe in the magnetic stripe array is obtained by sensing a magnetic field generated by a magnetic stripe array which is arranged in the preset working area in advance, and magnetic stripe sensing time when a magnetic inductor passes through each magnetic stripe in the magnetic stripe array is recorded.
It should be noted that, magnetic stripe information obtained when a single magnetic sensor passes over a magnetic stripe is orderly, referring to fig. 5, fig. 5 is a graph of induction data of a single magnetic sensor (magnetic sensor) passing over a magnetic stripe array in the vehicle positioning method according to the present invention, when the single magnetic sensor (i.e. magnetic sensor) passes through a magnetic stripe array pre-arranged in a preset working area according to a certain movement direction, a change of magnetic field intensity generated by induction of the magnetic stripe array with time is recorded, when a magnetic pole of the magnetic stripe is positive (N pole), the induced magnetic field intensity is positive, and when a magnetic pole of the magnetic stripe is negative (S pole).
It is understood that the magnetic stripe sensing time may be a time when the magnetic field intensity of the magnetic field generated by the magnetic stripe array is sensed to be the maximum (maximum or minimum).
Step S12: and determining the width information among the magnetic stripes according to the magnetic stripe induction moment.
It should be noted that, in this embodiment, specific information may be identified by using the inter-magnetic-stripe width information, for example, a "wide" identifier 1, a "narrow" identifier 0, and three magnetic stripes may be expanded to express 5-bit encoded information, that is, each magnetic stripe forms 3-bit encoded information, and at the same time, the inter-magnetic-stripe width between two magnetic stripes forms 2-bit encoded information.
In a specific implementation, a process that a vehicle to be positioned passes through a magnetic stripe array pre-arranged in a working area is regarded as uniform motion, referring to fig. 6, fig. 6 is a schematic diagram of obtaining inter-magnetic-stripe width information by a magnetic sensor according to the vehicle positioning method of the present invention, when the magnetic sensor passes through the magnetic stripe array, a time difference T between adjacent magnetic stripes is obtained by recording magnetic stripe sensing time, for example, t=0.7 seconds and t=0.3 seconds, the time difference value is used as an inter-magnetic-stripe width information value, when the inter-magnetic-stripe width information value is greater than or equal to a preset threshold value, the corresponding inter-magnetic-stripe width is marked as "wide", when the inter-magnetic-stripe width information value is less than the preset threshold value, the corresponding inter-magnetic-stripe width is marked as "narrow", for example, when the inter-magnetic-stripe width information value is 0.7 is greater than the preset threshold value 0.5.
Further, in order to implement the conversion of magnetic stripe information into encoded information by defining the encoding rule, in this embodiment, the step S20 includes:
step S21: and carrying out magnetic stripe polarity marking on the magnetic pole information of each magnetic stripe in the magnetic stripe array to obtain a polarity mark, wherein the polarity mark comprises a first mark character for marking the S pole of the magnetic stripe and a second mark character for marking the N pole of the magnetic stripe.
The magnetic strips show two types of magnetic poles, namely an N pole and an S pole, and the magnetic pole information of each magnetic strip can be converted into coded information by setting a magnetic strip mark coded bit of 1 and a magnetic strip mark coded bit of 0, wherein the surface magnetism of the magnetic strip is the N pole.
Step S22: and marking the width between adjacent magnetic stripes in the magnetic stripe array based on the width information between the magnetic stripes to obtain a width mark.
It should be noted that the width between magnetic strips in the magnetic strip arrays may be represented by both "wide" and "narrow", and the width information between magnetic strips in each magnetic strip array may be converted into encoded information by setting the "wide" magnetic strip spacing flag encoding bit "1" in the width between magnetic strips and the "wide" magnetic strip spacing flag encoding bit "0" in the width between magnetic strips.
Step S23: and determining the magnetic stripe induction sequence according to the magnetic stripe induction time of each magnetic stripe in the magnetic stripe array.
Step S24: and encoding the polarity marks and the width marks according to the magnetic stripe induction sequence to obtain encoding information corresponding to the magnetic stripe array.
It should be noted that, the magnetic stripe information obtained when a single sensor passes over the magnetic stripe is orderly, and the coding result confirmed by combining the specified coding sequence with the magnetic stripe sensing sequence has uniqueness, for example, when 3 magnetic stripes are used as an array, the coding sequence is set as follows: the magnetic pole information of the first magnetic stripe, the magnetic pole information of the second magnetic stripe, the magnetic pole information of the third magnetic stripe, the width information between the magnetic stripes of the first magnetic stripe and the second magnetic stripe, and the width information between the magnetic stripes of the second magnetic stripe and the third magnetic stripe.
Further, the code that identifies only the boundary of the area is not sufficient to identify the area (whether the work vehicle to be localized is inside or outside the area cannot be determined), and needs to be determined by specific logic rules of the background software. For example, when the default working vehicle is outside various functional areas at the beginning, when the magnetic stripe of the area boundary is identified for the first time, the working vehicle is judged to enter the working area corresponding to the magnetic stripe coding information, and when the magnetic stripe of the area boundary is identified again, the working vehicle is judged to leave the working area. In order to enable the working vehicle to determine whether the working vehicle leaves or enters the working area only by means of the read magnetic stripe encoding information, in this embodiment, after the step S20, the method includes:
step S25: and acquiring the first code character of the code information.
Step S26: and determining the moving direction of the vehicle to be positioned according to the first code character.
It should be noted that, the moving direction of the vehicle to be positioned may be divided into two cases, i.e. a condition that the vehicle to be positioned enters the working area and exits the working area.
In a specific implementation, two magnetic strips at the edge of the magnetic strip array are designated as specific magnetic poles, for example, an N-pole magnetic strip (1) is designated as a coded head character, an S-pole magnetic strip is designated as a coded tail character (0), and the direction of the working vehicle passing through the magnetic strips is judged according to whether a magnetic inductor recognizes a 1 or a 0. For example, a plurality of magnetic strips are arranged to form encoded information, when a 1 is identified, the work vehicle is marked to enter the functional area, and when the work vehicle leaves, the first identified magnetic strip information is 0, which represents that the work vehicle leaves the functional area. The work vehicle can recognize not only the code of the area but also whether it enters or leaves the area when passing the magnetic stripe.
Further, after obtaining the encoded information, in order to obtain the vehicle positioning information more quickly, in this embodiment, after step S30, the method includes:
step S31: and inquiring in a preset region coding table based on the coding information, and determining a working region corresponding to the coding information.
Step S32: the positioning result of the vehicle to be positioned is the operation area, and the preset area coding table stores the corresponding relation between the coding information and the operation area.
Note that, the preset area code may store a correspondence between the code information and the operation area, for example 10010 indicates a finished product area and 10110 indicates a raw material area.
Further, the plurality of sensors may be used to measure the distance between two magnetic strips in addition to the repeated verification of the operation vehicle passing the magnetic strips, so that a large error may exist due to the fact that the vehicle to be positioned does not travel uniformly in absolute terms through the magnetic strip array laid in advance in the working area, and the embodiment preferably uses the linear sensor composed of the plurality of magnetic sensors to measure the magnetic strip distance.
As an embodiment, the magnetic sensors may be preferably linear magnetic sensor arrays that calculate the inter-magnetic-stripe width information by measuring the number of sensors that do not sense a magnetic stripe between two magnetic sensors currently sensing the magnetic stripe.
Referring to fig. 7, fig. 7 is a schematic diagram showing a linear magnetic sensor array calculating the width between magnetic strips according to the vehicle positioning method of the present invention, when the whole magnetic strip range is covered by a strip array formed by a plurality of magnetic sensors, when the width between magnetic strips is calculated by measuring the number of the sensors between two magnetic sensors that read the magnetic strips, for example, 3 magnetic sensors (magnetic sensors) that read empty are measured between a magnetic strip (code 1) with positive magnetic property and a magnetic strip (code 0) with negative magnetic property in the figure, the value 3 can be used as the width information between the magnetic strips of the first magnetic strip and the second magnetic strip.
Further, in practice, anomalies may occur with linear magnetic sensor arrays, considering that the work vehicle may not pass perpendicular to the magnetic stripe. As another implementation mode, the magnetic sensor is a planar lattice magnetic sensor array, when the vehicle to be positioned moves to a preset working area at any angle, the magnetic sensor array is used for carrying out magnetic induction photographing on the magnetic stripe array, and the magnetic pole information and the width information between the magnetic stripes of each magnetic stripe in the magnetic stripe array are determined based on photographing results.
It should be noted that, in the embodiment of the invention, the linear magnetic induction array is further improved to be a planar magnetic induction array, no matter what angle the vehicle passes through the magnetic strips, the sensor array covers all the magnetic strips, and the processing unit at the rear end processes the magnetic strips through a specific algorithm similarly to photographing the magnetic strips, so as to obtain the magnetic pole information and the width information between the magnetic strips of each magnetic strip in the magnetic strip array. Referring to fig. 8, fig. 8 is a schematic diagram of a planar lattice magnetic inductor array induction magnetic stripe array according to the vehicle positioning method of the present invention, where magnetic stripes in the magnetic stripe array show two types of magnetic properties, i.e., N-pole and S-pole.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a vehicle positioning program, and the vehicle positioning program realizes the steps of the vehicle positioning method when being executed by a processor.
Referring to fig. 9, fig. 9 is a block diagram showing the construction of a first embodiment of the vehicle positioning device of the present invention.
As shown in fig. 9, a vehicle positioning device according to an embodiment of the present invention includes:
the sensing module 100 is configured to obtain magnetic pole information and inter-magnetic stripe width information of each magnetic stripe in the magnetic stripe array by sensing a magnetic field generated by the magnetic stripe array pre-arranged in the preset working area when the vehicle to be positioned moves to the preset working area.
The encoding module 200 is configured to encode magnetic pole information of each magnetic stripe in the magnetic stripe array and width information between the magnetic stripes according to a preset encoding rule, so as to obtain encoding information corresponding to the magnetic stripe array.
And the positioning module 300 is used for positioning the vehicle to be positioned based on the coded information.
The vehicle positioning device of the embodiment senses a magnetic field generated by a magnetic stripe array which is arranged in advance in a preset working area when a vehicle to be positioned moves to the preset working area, so as to obtain magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array; encoding magnetic pole information of each magnetic stripe in the magnetic stripe array and width information among the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array; and positioning the vehicle to be positioned based on the coded information. Compared with the existing working vehicle positioning method, the method has the advantages that the implementation cost is high and the result accuracy is low because the base station is required to be arranged, and because the magnetic pole information and the inter-magnetic-stripe width information of each magnetic stripe in the preset magnetic stripe array are sensed and encoded, the encoding information corresponding to the magnetic stripe array is obtained, and the working area accurate positioning of the working vehicle is realized.
Other embodiments or specific implementations of the vehicle positioning device of the present invention may refer to the above method embodiments, and are not described herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. read-only memory/random-access memory, magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. A vehicle positioning method, the method being applied to a vehicle positioning system, the method comprising:
when a vehicle to be positioned moves to a preset working area, magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array are obtained by sensing a magnetic field generated by the magnetic stripe array which is arranged in the preset working area in advance;
encoding magnetic pole information of each magnetic stripe in the magnetic stripe array and width information among the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array;
and positioning the vehicle to be positioned based on the coded information.
2. The vehicle positioning method according to claim 1, wherein the step of obtaining the magnetic pole information and the inter-magnetic stripe width information of each magnetic stripe in the magnetic stripe array by sensing a magnetic field generated by the magnetic stripe array laid in advance in the preset working area when the vehicle to be positioned moves to the preset working area comprises:
when a vehicle to be positioned moves to a preset working area, magnetic pole information of each magnetic stripe in the magnetic stripe array is obtained by sensing a magnetic field generated by a magnetic stripe array which is arranged in the preset working area in advance, and magnetic stripe sensing time when a magnetic inductor passes through each magnetic stripe in the magnetic stripe array is recorded;
and determining the width information among the magnetic stripes according to the magnetic stripe induction moment.
3. The vehicle positioning method according to claim 1, wherein the step of encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the inter-magnetic stripe width information according to a preset encoding rule to obtain encoded information corresponding to the magnetic stripe array comprises:
performing magnetic stripe polarity marking on magnetic pole information of each magnetic stripe in the magnetic stripe array to obtain a polarity mark, wherein the polarity mark comprises a first mark character for marking the S pole of the magnetic stripe and a second mark character for marking the N pole of the magnetic stripe;
based on the width information among the magnetic stripes, marking the width among the adjacent magnetic stripes in the magnetic stripe array to obtain a width mark;
determining a magnetic stripe induction sequence according to magnetic stripe induction moments of all magnetic stripes in the magnetic stripe array;
and encoding the polarity marks and the width marks according to the magnetic stripe induction sequence to obtain encoding information corresponding to the magnetic stripe array.
4. The vehicle positioning method according to claim 1, wherein the step of encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the inter-magnetic stripe width information according to a preset encoding rule to obtain the encoded information corresponding to the magnetic stripe array comprises:
acquiring a first code character of the code information;
and determining the moving direction of the vehicle to be positioned according to the first code character.
5. The vehicle positioning method according to claim 1, characterized in that the step of positioning the vehicle to be positioned based on the encoded information includes:
inquiring in a preset region coding table based on the coding information, and determining a working region corresponding to the coding information;
the positioning result of the vehicle to be positioned is the operation area, and the preset area coding table stores the corresponding relation between the coding information and the operation area.
6. The vehicle positioning method of claim 2, wherein the magnetic sensors are linear magnetic sensor arrays that calculate inter-magnetic stripe width information by measuring the number of sensors between two magnetic sensors currently sensing a magnetic stripe that do not sense a magnetic stripe.
7. The vehicle positioning method according to claim 2, wherein the magnetic sensor is a planar lattice magnetic sensor array, and when the vehicle to be positioned moves to a preset working area at any angle, the magnetic sensor array is used for performing magnetic induction photographing on the magnetic stripe array, and the magnetic pole information and the inter-magnetic stripe width information of each magnetic stripe in the magnetic stripe array are determined based on the photographing result.
8. A vehicle positioning device, the device comprising:
the induction module is used for obtaining magnetic pole information and width information among magnetic stripes of each magnetic stripe in the magnetic stripe array by inducing a magnetic field generated by the magnetic stripe array which is arranged in advance in a preset working area when a vehicle to be positioned moves to the preset working area;
the encoding module is used for encoding the magnetic pole information of each magnetic stripe in the magnetic stripe array and the width information between the magnetic stripes according to a preset encoding rule to obtain encoding information corresponding to the magnetic stripe array;
and the positioning module is used for positioning the vehicle to be positioned based on the coding information.
9. A vehicle locating apparatus, the apparatus comprising: a magnetic sensor, a memory, a processor and a vehicle positioning program stored on the memory and executable on the processor, the vehicle positioning program being configured to implement the steps of the vehicle positioning method of any one of claims 1 to 7.
10. A storage medium having stored thereon a vehicle positioning program which, when executed by a processor, implements the steps of the vehicle positioning method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311096558.XA CN116793339B (en) | 2023-08-29 | 2023-08-29 | Vehicle positioning method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311096558.XA CN116793339B (en) | 2023-08-29 | 2023-08-29 | Vehicle positioning method, device, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116793339A true CN116793339A (en) | 2023-09-22 |
| CN116793339B CN116793339B (en) | 2023-11-07 |
Family
ID=88038904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311096558.XA Active CN116793339B (en) | 2023-08-29 | 2023-08-29 | Vehicle positioning method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116793339B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005157982A (en) * | 2003-11-28 | 2005-06-16 | Seiko Epson Corp | Magnetic bar code recognition device, magnetic bar code recognition method, and program |
| CN103196470A (en) * | 2013-04-15 | 2013-07-10 | 山东联友通信科技发展有限公司 | Locating method and locating system based on one-dimensional magnetic coding |
| CN103473589A (en) * | 2013-09-10 | 2013-12-25 | 江苏多维科技有限公司 | Magnetic bar code chip and reading method thereof |
| CN106403931A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Dynamic magnetic landmark positioning method |
| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| WO2017209112A1 (en) * | 2016-06-03 | 2017-12-07 | 愛知製鋼株式会社 | Position capture method and system |
| CN110696878A (en) * | 2019-09-19 | 2020-01-17 | 江西理工大学 | Magnetic code information identification system and method application |
| CN111146986A (en) * | 2019-12-30 | 2020-05-12 | 深圳市越疆科技有限公司 | Position locating method and device of magnetic encoder, electronic equipment and computer readable storage medium |
| CN211346681U (en) * | 2020-02-17 | 2020-08-25 | 江苏多维科技有限公司 | Linear displacement absolute position encoder |
| CN112857405A (en) * | 2021-04-17 | 2021-05-28 | 哈尔滨工业大学 | Moving magnet type absolute position detection device and method |
| CN113405441A (en) * | 2020-03-17 | 2021-09-17 | 巴鲁夫公司 | Absolute position detection system with single-track magnetic code strip |
| CN114383601A (en) * | 2020-10-20 | 2022-04-22 | 罗曦明 | Intelligent automobile positioning system for assisting driving |
| CN217780430U (en) * | 2022-05-25 | 2022-11-11 | 长春盛昊电子有限公司 | Elevator car absolute position detection device |
| CN115900775A (en) * | 2021-08-20 | 2023-04-04 | 美的威灵电机技术（上海）有限公司 | Encoder, position compensation method and device thereof, and storage medium |
| CN116295419A (en) * | 2023-03-16 | 2023-06-23 | 上海山源电子科技股份有限公司 | Underground inspection system and underground inspection point identification method |
-
2023
- 2023-08-29 CN CN202311096558.XA patent/CN116793339B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005157982A (en) * | 2003-11-28 | 2005-06-16 | Seiko Epson Corp | Magnetic bar code recognition device, magnetic bar code recognition method, and program |
| CN103196470A (en) * | 2013-04-15 | 2013-07-10 | 山东联友通信科技发展有限公司 | Locating method and locating system based on one-dimensional magnetic coding |
| CN103473589A (en) * | 2013-09-10 | 2013-12-25 | 江苏多维科技有限公司 | Magnetic bar code chip and reading method thereof |
| CN106403931A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Dynamic magnetic landmark positioning method |
| CN106403961A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Combined magnetic landmark positioning method |
| WO2017209112A1 (en) * | 2016-06-03 | 2017-12-07 | 愛知製鋼株式会社 | Position capture method and system |
| CN110696878A (en) * | 2019-09-19 | 2020-01-17 | 江西理工大学 | Magnetic code information identification system and method application |
| CN111146986A (en) * | 2019-12-30 | 2020-05-12 | 深圳市越疆科技有限公司 | Position locating method and device of magnetic encoder, electronic equipment and computer readable storage medium |
| CN211346681U (en) * | 2020-02-17 | 2020-08-25 | 江苏多维科技有限公司 | Linear displacement absolute position encoder |
| CN113405441A (en) * | 2020-03-17 | 2021-09-17 | 巴鲁夫公司 | Absolute position detection system with single-track magnetic code strip |
| CN114383601A (en) * | 2020-10-20 | 2022-04-22 | 罗曦明 | Intelligent automobile positioning system for assisting driving |
| CN112857405A (en) * | 2021-04-17 | 2021-05-28 | 哈尔滨工业大学 | Moving magnet type absolute position detection device and method |
| CN115900775A (en) * | 2021-08-20 | 2023-04-04 | 美的威灵电机技术（上海）有限公司 | Encoder, position compensation method and device thereof, and storage medium |
| CN217780430U (en) * | 2022-05-25 | 2022-11-11 | 长春盛昊电子有限公司 | Elevator car absolute position detection device |
| CN116295419A (en) * | 2023-03-16 | 2023-06-23 | 上海山源电子科技股份有限公司 | Underground inspection system and underground inspection point identification method |
Non-Patent Citations (1)
| Title |
|---|
| 朱琳等: "采用磁传感器的餐厅服务机器人导引控制方法", 计算机工程与科学, no. 05, pages 178 - 172 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116793339B (en) | 2023-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109059922B (en) | Mobile robot positioning method, device and system | |
| JP6022220B2 (en) | Linear position measurement system | |
| CN1878714A (en) | RF ID and low resolution CCD sensor based positioning system | |
| CN105216909A (en) | Self-service orderly stopping system | |
| US20130185950A1 (en) | Separation distance derivation system and thickness gauge | |
| CN116793339B (en) | Vehicle positioning method, device, equipment and storage medium | |
| CN108921253B (en) | Wireless positioning method | |
| CN101180550A (en) | Enhanced mobile location method and system | |
| US11372075B2 (en) | Positioning method, apparatus and system, layout method of positioning system, and storage medium | |
| CN115097851A (en) | Control method of direct drive transmission system and related equipment | |
| CN110473405B (en) | Driving state detection method and device, readable storage medium and electronic equipment | |
| CN108431551B (en) | Object, method for generating an object and method for determining the position of an object | |
| CN103228468B (en) | For reading the method for the data be stored in the electronic machine of tire | |
| CN108398946B (en) | Intelligent tracking accurate positioning device and method | |
| CN112444203B (en) | Vehicle position detection device and method based on barcode strip and vehicle positioning system | |
| KR20050016658A (en) | Method for multi-reading a plurality of id's | |
| CN110503589A (en) | Taking care of books method, apparatus and system based on UWB positioning system | |
| CN101636744A (en) | Contactless transmission element and method of characterizing the same | |
| JP4718928B2 (en) | Method for exploring the location of mobile equipment using PHS | |
| CN109359645B (en) | AGV encoding marker, detection method and computer readable storage medium | |
| WO2023279878A1 (en) | Shared slam map using method and device for vehicle | |
| KR101185678B1 (en) | The method for tracking the position and posture of a vehicle, a material, or a block by averaging coordinates of RFID Tags | |
| CN113405441B (en) | Absolute position detection system with single-track magnetic code strip | |
| CN209373641U (en) | Double frequency RFID intelligent access control system | |
| WO2020138460A1 (en) | Magnetic marker system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |