WO2019015678A1 - 定位方法、装置和***、定位***布设方法、存储介质 - Google Patents
定位方法、装置和***、定位***布设方法、存储介质 Download PDFInfo
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- WO2019015678A1 WO2019015678A1 PCT/CN2018/096496 CN2018096496W WO2019015678A1 WO 2019015678 A1 WO2019015678 A1 WO 2019015678A1 CN 2018096496 W CN2018096496 W CN 2018096496W WO 2019015678 A1 WO2019015678 A1 WO 2019015678A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0295—Proximity-based methods, e.g. position inferred from reception of particular signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10366—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves the interrogation device being adapted for miscellaneous applications
Definitions
- the present disclosure relates to positioning techniques, such as a positioning method, apparatus and system, positioning system routing method, and computer readable storage medium.
- Positioning technology is widely used in a wide range of applications.
- Related positioning technologies include Global Navigation Satellite System (GNSS), radio multipoint ranging, camera, Wireless Fidelity (Wifi) positioning, and Automated Guided Vehicle (AGV).
- GNSS Global Navigation Satellite System
- Wi Wireless Fidelity
- AGV Automated Guided Vehicle
- AGV is mainly used in automated production lines, and other positioning technologies are basically applied to indoor navigation. Due to technical reasons, the positioning method in the related art has insufficient positioning accuracy and limits the application.
- the present application provides a positioning method, device and system, positioning system routing method and computer readable storage medium to improve positioning accuracy.
- the embodiment of the present application provides a positioning system deployment method, including:
- a plurality of labels are disposed in the to-be-positioned area according to a preset positioning precision, and each of the plurality of labels carries label information, where the label information corresponds to location information of a location where each label is located.
- An embodiment of the present application provides a positioning system, including:
- a plurality of labels arranged according to preset positioning accuracy, the labels carrying label information, and the label information corresponds to position information of a position where the label is located.
- At least one embodiment of the present application provides a positioning method, which is applied to a system including a plurality of labels arranged in a location to be located according to a preset positioning accuracy, the label carrying label information, where the label information corresponds to a location of the label Information, including:
- the location collection device reads the first tag information on the label that is not longer than the preset location accuracy by the location collection device;
- the location collection device determines first location information of the location collection device according to the first label information.
- At least one embodiment of the present application provides a positioning method, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to preset positioning accuracy, wherein the label carries label information, and the label information corresponds to a location of the label.
- Location information including:
- the location monitoring device receives the first label information sent by the location collection device, where the first label information is label information on the label that does not exceed the preset positioning precision by the location collection device;
- the location monitoring device determines first location information of the location collection device according to the first label information.
- At least one embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to preset positioning precision, each of the labels carrying label information, where the label information corresponds to the label Location location information, including:
- the tag reading module is configured to read the first tag information on the tag that does not exceed the preset positioning accuracy by the location acquiring device.
- At least one embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to preset positioning precision, each of the labels carrying label information, where the label information corresponds to the label Location information of the location, the positioning device includes: a memory, a processor, and a tag reading module, wherein:
- the memory stores a positioning program
- the processor is configured to, when reading the performing the positioning program stored in the memory, perform the following operation: sending an instruction to the tag reading module, indicating that the tag reading module reads the distance from the location collecting device does not exceed Receiving, by the first label information on the label with the preset positioning accuracy, the first label information returned by the label reading module;
- the tag reading module is configured to read, according to an instruction of the processor, first tag information on a tag that does not exceed the preset positioning accuracy by the location acquiring device, and the first tag is Information is sent to the processor.
- At least one embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to preset positioning accuracy, wherein the label carries label information, and the label information corresponds to a position of the label.
- Location information the positioning device includes: a second communication module and a location resolution module, wherein:
- the second communication module is configured to receive the first label information sent by the location collection device, and send the information to the location resolution module, where the first label information is a distance from the location collection device that does not exceed a preset positioning accuracy. Label information on the label;
- the location resolution module is configured to determine first location information of the location collection device according to the first label information.
- At least one embodiment of the present application provides a positioning apparatus, which is applied to a system including a plurality of labels disposed in a to-be-positioned area according to a preset positioning accuracy, the label carrying label information, where the label information corresponds to a position of the label Information
- the positioning device includes: a memory and a processor, the memory storing a program, when the program is read and executed by the processor, performing the following operations:
- the location collection device Receiving, by the location collection device, the first label information, where the first label information is label information on a label whose distance from the location collection device does not exceed a preset positioning precision;
- the location collection device Receiving, by the location collection device, the first label information, where the first label information is label information on a label whose distance from the location collection device does not exceed a preset positioning precision;
- the label is arranged according to the preset positioning precision, and the label is read for positioning, and the positioning precision is the same as the labeling precision of the label, thereby improving the positioning accuracy.
- FIG. 1 is a schematic diagram of the overall structure provided by an embodiment of the present application.
- FIG. 2 is a flowchart of a positioning method according to an embodiment of the present application.
- FIG. 3 is a flowchart of a positioning method according to an embodiment of the present application.
- FIG. 4 is a block diagram of a positioning device (position acquisition device side) according to an embodiment of the present application.
- FIG. 5 is a block diagram of a positioning device (position acquisition device side) according to an embodiment of the present application.
- Figure 6 is a block diagram of a positioning device (position monitoring device side) according to an embodiment of the present application.
- Figure 7 is a block diagram of a positioning device (position monitoring device side) according to an embodiment of the present application.
- FIG. 8 is a block diagram of a positioning system according to an embodiment of the present application.
- FIG. 9 is a block diagram of a positioning system according to an embodiment of the present application.
- GNSS Global System for Mobile Communications
- the method of radio multi-point ranging requires high-precision synchronization, and it is necessary to construct and maintain a base station, and radio waves have multipath, block, etc. It is also impossible to achieve full coverage; the camera has a blocking blind zone, and at the same time, the position of the object can only be determined by the camera, and the object cannot be known to its position.
- the AGV used in industry now uses the laying of magnetic strip tracks, laying optical tracks, optically identifying laser markings, and optically identifying two-dimensional code information and solving the parallax deformation to make the AGV not deviate from the predetermined orbit.
- it is mainly for the application of the predetermined track, and there are disadvantages such as blocking blind spots and complicated visual recognition.
- a label having unique identification is introduced, including but not limited to a radio frequency identification (RFID) tag, a magnetic stripe tag, and an optical tag, according to preset positioning accuracy. Labels are placed such that at least one label exists within each preset positioning accuracy range in the area that needs to be positioned. By reading the tag information, the tag information or the tag information is directly converted to obtain its own precise position.
- RFID radio frequency identification
- the tag information or the tag information is directly converted to obtain its own precise position.
- An embodiment of the present application provides a positioning system deployment method, including:
- a plurality of labels are disposed in the to-be-positioned area according to a preset positioning precision, and each of the plurality of labels carries label information, where the label information corresponds to location information of a location where each label is located.
- the area to be located may refer to an active area of the location collection device, and the location collection setting is located in the area.
- the arranging the plurality of labels according to the preset positioning accuracy in the to-be-positioned area includes: arranging a plurality of labels in the area to be located, so that at least one label exists at any position of the area to be located, and the distance from the position is not greater than Preset positioning accuracy, or at least one label in the range of the radius of the preset positioning accuracy as the center of the point to be positioned.
- the layout method provided by the embodiment has the same labeling precision and positioning accuracy. When positioning based on the label, the positioning accuracy achieved is the same as the labeling precision of the label, that is, the positioning precision is improved by improving the labeling precision of the label.
- a layout method is that a coordinate system can be formed by using a label, and each label represents a point in the coordinate system, and the precision of the coordinate system is a preset positioning precision.
- the preset positioning accuracy is 1 cm
- a label is placed every 1 cm in the horizontal and vertical directions.
- the tag includes at least one of the following: an RFID tag, a magnetic stripe tag, or an optical tag.
- an RFID tag for example, an RFID tag, a magnetic stripe tag, or an optical tag.
- the present application is not limited thereto, and other tags that can carry information and are recognized may also be used.
- the label can be laid out in one of the following ways:
- the plurality of labels are implanted in advance before the objects to be laid are laid, and the objects are laid, for example, after the labels are implanted into the floor prefabricated blocks, and then the floor prefabricated blocks are laid.
- the object to be laid may be the ground or the surface of the object accessible by the other location collection device.
- a protective layer may be laid over the plurality of labels.
- the protective layer may not be laid, or if the label is pre-implanted, the protective layer may not be laid.
- the tag information includes location information of a location where the tag is located, and the location information may be an encoded location information, and the information may be decoded to obtain location information.
- the location information may be non-encoded location information, and the location information may be obtained by directly reading the tag information.
- the location information may include location conversion information of the location of the tag, and the location information is obtained by searching the database according to the location conversion information.
- the location information can be actual geographic location information or custom logical location information.
- An embodiment of the present application provides a positioning system, as shown in FIG. 1, including:
- a plurality of tags 10 are disposed in the to-be-positioned area according to a preset positioning precision.
- Each of the tags 10 carries tag information, and the tag information corresponds to location information of a location where the tag is located.
- the system can also include a protective layer over the label 10.
- the labeling manner shown in FIG. 1 is only an example, and the label may be disposed in other manners as needed, which is not limited in this application.
- the positioning system can include a position acquisition device 20 and a position monitoring device 30.
- the location acquisition device may be a mobile terminal or a variety of devices such as an industrial automatic robot.
- the location collecting device 20 reads the tag information on the tag, and performs location information according to the tag information to transmit the location information to the location monitoring device 30.
- the location collection device 20 transmits the tag information to the location monitoring device 30, which is located by the location monitoring device 30 based on the tag information.
- the following describes the implementation of positioning by the location acquisition device.
- An embodiment of the present application provides a positioning method applied to a positioning system including a plurality of labels arranged according to preset positioning precision, each of the labels carrying label information, and each of the label information corresponds to a position of the label Information, as shown in FIG. 2, the positioning method includes steps 201-202.
- step 201 the location collection device reads the first tag information on the first tag that is not longer than the preset location accuracy by the location collection device;
- step 202 the location collection device determines first location information of the location collection device according to the first label information.
- the position collecting device can read the label information. If there are multiple tags, the location acquisition device only needs to read one tag.
- the location acquisition device can be configured such that the location acquisition device only reads tags within a certain range of distances (eg, preset positioning accuracy). Taking an RFID tag as an example, the intensity of the RF signal can be controlled so that only tags within the preset positioning accuracy range are read.
- the determining, by the location collection device, the first location information of the location collection device according to the first label information includes:
- the location collection device directly determines the first location information of the location collection device according to the first label information, where the first label information includes location information of a location where the first label is located;
- the location collection device queries the database according to the first label information, and obtains location information corresponding to the first label information from the database as the first location information of the location collection device.
- the method further includes:
- the position collecting device When the position collecting device is stationary, reading the second tag information on the label in the forward direction of the position collecting device that is longer than the preset positioning accuracy, according to the second label
- the information determines the second location information, and determines a moving direction of the location collection device according to the first location information and the second location information.
- the first location information and the second location information form a direction vector such that the direction of movement of the location acquisition device can be determined.
- two card readers for reading tags
- the first tag information read by one card reader is used to determine the position of the position collecting device
- the second read tag information is used to determine the position.
- the direction of the acquisition device Of course, it is also possible to use a card reader that performs two operations to obtain first tag information and second tag information.
- the method further includes
- the third tag information on the label that is not longer than the preset location accuracy is read, and the third tag information is determined according to the third tag information.
- the third location information determines a moving direction of the location collecting device according to the first location information and the third location information.
- the first location information and the third location information form a direction vector such that the direction of movement of the location acquisition device can be determined.
- the direction reference pattern can be carried on the optical label, and the direction reference pattern points to the preset direction.
- the method further includes
- the label includes a direction reference pattern, and the direction reference pattern points to a preset direction;
- the first label information is a graphic.
- the direction information of the position collecting device is determined according to the rotation angle of the graphic.
- the direction reference pattern is an arrow, and when the label is placed, the arrow points in the north direction.
- the direction reference pattern in the reference graph points to the north direction, and the pattern acquired by the position acquisition device is compared with the reference pattern (for example, the comparison method may be by rotation or other means) to determine the direction.
- the location collection device sends the first location information of the location collection device to the location monitoring device.
- the above moving direction can also be sent to the position monitoring device.
- the present application has at least four advantages as follows.
- This application achieves precise positioning by identifying tags by introducing a method of densely locating and positioning tags, using unique electronic, magnetic, and optical tag information.
- the label introduced in this application can be in a no-power state, and there is no energy consumption when not in use.
- the tags introduced in this application are accurate location information, and no information sharing is required between them. Networking is not required between the laid systems.
- the tag information introduced in this application is exclusive and does not require additional time synchronization.
- positioning is performed by a location monitoring device.
- the embodiment provides a positioning method, which is applied to a positioning system including a plurality of labels arranged in a location to be located according to a preset positioning accuracy, where the label carries label information, and the label information corresponds to a label.
- Location information of the location including steps 301-302.
- the location monitoring device receives the first tag information sent by the location collection device, where the first tag information is tag information on the first tag whose distance from the location collection device does not exceed the preset positioning accuracy.
- step 302 the location monitoring device determines first location information of the location collection device according to the first label information.
- the determining, by the location monitoring device, the first location information of the location collection device according to the first label information includes:
- the location monitoring device directly determines the first location information of the location collection device according to the first label information, where the first label information includes location information of a location where the first label is located;
- the location monitoring device queries the database according to the first tag information, and obtains location information corresponding to the first tag information from the database as the first location information of the location collection device.
- the method further includes:
- the location monitoring device determines second location information according to the second tag information, and determines a moving direction of the location collection device according to the first location information and the second location information.
- the method further includes
- the location monitoring device receives the third tag information sent by the location collection device, where the third tag information is that the location collection device moves from the current location to the third location, and the distance from the location collection device does not exceed The label information on the third label of the preset positioning accuracy;
- the location monitoring device determines third location information according to the third tag information, and determines a moving direction of the location collection device according to the first location information and the third location information.
- An embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to a preset positioning accuracy, and each of the plurality of labels carries label information, and the label information Corresponding to the location information of the location of each label, as shown in FIG. 4, the positioning apparatus includes: a label reading module 401 and a first communication module 402.
- the tag reading module 401 is configured to read the first tag information on the first tag that does not exceed the preset positioning accuracy by the location acquiring device.
- the first communication module 402 is configured to send the first tag information to the location monitoring device.
- the tag reading module 401 is further configured to: when the position collecting device is stationary, reading a second direction in the forward direction of the position collecting device that exceeds the preset positioning accuracy Second label information on the label;
- the first communication module 402 is further configured to send the second tag information to the location monitoring device.
- the tag reading module 401 is further configured to: when the location acquiring device moves from the current location to the third location, read a third tag that does not exceed the preset positioning accuracy by the location acquiring device Third label information;
- the first communication module 402 is further configured to send the third tag information to the location monitoring device.
- An embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to a preset positioning accuracy, and each of the plurality of labels carries label information, and the label information
- the location information corresponding to the location of each of the tags, as shown in FIG. 5, includes a tag reading module 501 and a location resolution module 502.
- the tag reading module 501 is configured to: read the first tag information on the first tag whose distance from the location acquiring device does not exceed the preset positioning accuracy, and send the first tag information to the location resolution module 502.
- the location resolution module 502 is configured to determine first location information of the location collection device according to the first label information.
- the first communication module 503 can be further configured to send the first location information of the location collection device to the location monitoring device.
- the determining, by the location resolution module 502, the first location information of the location collection device according to the first label information includes:
- the location resolution module directly determines the first location information of the location collection device according to the first label information, where the first label information includes location information of a location where the first label is located;
- the location resolution module 502 queries the database according to the first tag information, and obtains location information corresponding to the first tag information from the database as the first location information of the location collection device.
- the tag reading module 501 is further configured to: when the position collecting device is stationary, reading a second direction in the forward direction of the position collecting device that exceeds the preset positioning accuracy Second label information on the label;
- the location resolution module 502 is further configured to determine second location information according to the second tag information, and determine a moving direction of the location collection device according to the first location information and the second location information.
- the tag reading module 501 is further configured to: when the location acquiring device moves from the current location to the third location, read the third tag on the third label that does not exceed the preset positioning accuracy by the location acquiring device. Third label information;
- the location resolution module 502 is further configured to determine third location information according to the third tag information, and determine a moving direction of the location collection device according to the first location information and the third location information.
- the location display module 504 is further configured to display first location information of the location collection device, or first location information and a moving direction.
- the embodiment provides a positioning device, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to a preset positioning accuracy, and each of the plurality of labels carries label information, where the label information corresponds to As shown in FIG. 6, the location information of each location of the label includes: a second communication module 601 and a location resolution module 602.
- the second communication module 601 is configured to receive the first label information sent by the location collection device, and send the information to the location resolution module 602, where the distance between the first label information and the location collection device does not exceed a preset location.
- the label information on the first label of precision is configured to receive the first label information sent by the location collection device, and send the information to the location resolution module 602, where the distance between the first label information and the location collection device does not exceed a preset location.
- the location resolution module 602 is configured to determine first location information of the location collection device according to the first label information.
- the determining, by the location resolution module 602, the first location information of the location collection device according to the first label information includes:
- the first tag information is a location information
- the location resolution module directly determines the first location information of the location collection device according to the first tag information.
- the location parsing module queries the database according to the first label information, and obtains location information corresponding to the first label information from the database as the first location information of the location collection device.
- the second communication module 601 is further configured to receive, by the location collection device, a second label that is in a forward direction of the location collection device and a distance from the location collection device exceeds the preset positioning accuracy.
- the second tag information, the second tag information is sent to the location resolution module;
- the location resolution module 602 is further configured to determine second location information according to the second tag information, and determine a moving direction of the location collection device according to the first location information and the second location information.
- the second communication module 601 is further configured to: after receiving the position collecting device moving from the current position to the third position, the read distance from the position collecting device does not exceed the preset positioning accuracy
- the third tag information on the third tag sends the third tag information to the location resolution module:
- the location resolution module 602 is further configured to determine third location information according to the third tag information, and determine a moving direction of the location collection device according to the first location information and the third location information.
- the positioning device may further include a position display module 603 configured to display the first position information of the position collecting device or display the first position information and the moving direction of the position collecting device.
- the positioning device may only include the second communication module 701 and the location display module 702, and the second communication module 701 receives the first location information sent by the location collection device, or The first position information and the moving direction, the position display module 702 displays the received information, that is, displays the first position information of the position collecting device, or displays the first position information and the moving direction of the position collecting device.
- a positioning system is provided. As shown in FIG. 8, the system includes a location collection device 801 and a location monitoring device 802.
- the location collection device 801 includes a tag reading module 401 and a first communication module 402.
- the location monitoring device 802 includes a second communication module, a location resolution module, and a location display module. Positioning is performed by location monitoring device 802.
- each module please refer to the foregoing embodiment, and details are not described herein again.
- a positioning system is provided. As shown in FIG. 9, the system includes a location collection device 901 and a location monitoring device 902.
- the location collection device 901 includes a tag reading module 501, a location resolution module 502, and a
- a communication module 503 can further include a location display module 504, and the location monitoring device 902 includes a second communication module 701 and a location display module 702.
- the positioning is performed by the location collection device 901.
- each module refer to the foregoing embodiment, and details are not described herein again.
- the embodiment of the present application lays an RFID tag on the ground, and the laying interval can be determined according to preset positioning accuracy.
- the laying interval can be up to the centimeter level.
- This embodiment provides a positioning method, including: steps 801-805.
- step 801 a tag coordinate system is established.
- a record relation database of RFID tags and location information is created.
- the location information can also be read and associated by RFID.
- the RFID tag is customized to create location information in the RFID tag.
- step 802 a network or film of RFID tags is laid on the site to be positioned, or an RFID tag array is placed by manual or machine deployment.
- step 803 a ground protection layer is laid over the array of deployed RFID tags.
- Step 804 the location collection device reads the tag information of the RFID tag on the ground to complete its own positioning.
- the database is queried according to the tag information, and the corresponding location information is obtained; or the coordinate information in the RFID tag information is directly read.
- the method further includes: the position collecting device continues to move, obtaining a new position according to the method of step 804, and obtaining a moving direction of the position collecting device according to the vectors of the two positions.
- the location collection device acquires two adjacent location information (position information of the location where the location collection device is located, and location of the label information of the label that is located in the forward direction of the location acquisition device and located outside the preset positioning accuracy. Information), a direction vector information can be obtained, thereby obtaining the moving direction of the position collecting device.
- a direction card reader can be added to read the tag information carried by the tag in the forward direction of the location acquisition device and located outside the preset positioning accuracy.
- the moving direction of the position collecting device may be acquired by the direction locating device, and the directional positioning device is configured to collect the vector of the two positions before and after the moving of the position collecting device to determine the moving direction of the position collecting device. .
- the direction can also be obtained by the earth's magnetic field, and the label can be laid with reference to the direction of the magnetic field.
- the image recognition technology may be applied to identify the direction by extracting the information feature of the image. For example, when the optical label is used, the information on the ground where the label is located is simultaneously scanned, and the position collection device is determined according to the direction information indicated on the ground. Direction information.
- Step 805 The location collection device sends the location information to the location monitoring device, so that the location monitoring device can obtain the location information of each location collection device in the system.
- the location information may be location information, and may also include location information and direction of movement.
- Embodiments of the present application incorporate an RFID tag in the floorboard.
- This embodiment provides a positioning method, including: steps 901-905.
- step 901 the tag coordinate system is created with reference to step 801.
- Step 902 implanting an RFID tag array during the floor prefabrication process.
- step 903 a floor prefabricated block containing positioning information is laid.
- step 904 the location collection device reads the tag information of the RFID tag on the floor to complete its own positioning.
- the positioning refers to step 804.
- Step 905 The location collection device sends the location information to the location monitoring device, so that the location monitoring device can obtain the location information of each location collection device in the system.
- the location information may be location information, and may also include location information and direction of movement.
- Embodiments of the present application place optical labels or two-dimensional code labels on the ground by pre-printing or post-printing, or by mounting.
- This embodiment provides a positioning method, including: step 1001, step 1002, step 1003, step 1004, and step 1005.
- step 1001 a label coordinate system is created.
- a record relation database of optical tags and locations is created.
- the optical tag is read and associated with the location information.
- the custom optical tag contains location information and direction information.
- step 1002 a label film printed with a coordinate information two-dimensional code label or other optical information is laid on the ground.
- a two-dimensional code label or other optical information label is directly recorded on the ground by a method of on-site printing.
- optical information labels such as texture features, which are naturally formed by the process during the surface processing and laying process, may also be used.
- step 1003 a ground protective layer is laid over the array of optical labels that are placed.
- this step can be omitted.
- step 1004 the location collection device reads the tag information on the optical tag on the ground to complete the positioning.
- the database is queried according to the tag information to obtain corresponding location information; or, the location information in the optical tag is directly read.
- the information read by the optical tag and the database is relatively rotated.
- the obtaining direction information may be, for example, a direction reference pattern of the optical label when the optical label is made, for example, printing an arrow pointing forward (the front, rear, left and right directions may be determined), and acquiring the information of the optical label, obtaining a graphic, and passing the image Processing software, rotating graphics (clockwise or counterclockwise), when the direction of the arrow coincides, the direction information of the position acquisition device can be calculated according to the rotation angle of the graphic.
- the direction information may also be obtained by reading a plurality of optical information tags (the method is the same as in the eighth embodiment).
- the location collection device sends the location information to the location monitoring device, so that the location monitoring device can obtain the location information of each location acquisition device in the system.
- the location information may be location information, and may also include location information and direction of movement.
- Embodiments of the present application pre-set the label information by writing in a pre-written magnetic strip label or by laying a label floor with magnetic recording characteristics.
- step 1101 a label coordinate system is created.
- a record relationship database of magnetic strip labels and locations is created.
- the magnetic strip label is read and the position information is associated.
- the magnetic stripe label is customized and the magnetic stripe information carried in the magnetic stripe label contains location information.
- step 1102 a magnetic strip label film is laid on the ground.
- step 1103 a ground protective layer is laid over the array of the magnetic strip labels placed.
- this step may be omitted if the tag strength is sufficient.
- the location collection device reads the label information (magnetic stripe information in this embodiment) of the magnetic stripe label on the ground to complete the positioning.
- the magnetic stripe information is compared to the database, the positioning is completed, or the position information in the magnetic stripe information is directly read, and the positioning is completed.
- the direction information may also be obtained by reading a plurality of magnetic strip labels (the method is the same as step 804).
- Step 1105 The location collection device sends the location information to the location monitoring device, so that the location monitoring device can obtain the location information of each location collection device in the system.
- the location information may be location information, and may also include location information and direction of movement.
- Embodiments of the present application pass preset coordinate tag information on an industrial building or mall floor, or lay a floor with tag information including a magnetic stripe label, an RFID surface, and an optical tag, etc., which are uniquely identifiable.
- step 1201 a tag coordinate system is created.
- a record relation database of tags and locations is created.
- the label is read and associated with the location information.
- the tag is customized and the tag information contains location information.
- step 1202 a label film is laid on each floor of the building to be positioned.
- the information tag is laid directly on the ground by a method of on-site printing.
- step 1203 a ground protective layer is laid over the array of the placed labels.
- this step may be omitted if the tag strength is sufficient.
- step 1204 the location collection device reads the label information carried by the label on the ground to complete its own positioning.
- the location information is obtained by comparing the read tag information with a database.
- the coordinate information in the tag information is directly read.
- the direction information may also be obtained by reading a plurality of tags (the method is the same as step 804).
- the location collection device sends the location information to the location monitoring device, so that the location monitoring device can obtain the location information of each location acquisition device in the system.
- the location information may be location information, and may also include location information and direction of movement.
- An embodiment of the present application provides a positioning apparatus, which is applied to a positioning system including a plurality of labels disposed in a to-be-positioned area according to a preset positioning accuracy, each of the labels carrying label information, where the label information corresponds to a position of the label Location information, the positioning device includes: a memory, a processor.
- the memory stores a positioning program
- the processor is configured to read and execute the memory stored positioning program, the positioning program, when executed by the processor, performing the operation of: reading a label that is not more than the preset positioning accuracy from the position collecting device First label information; determining first location information of the location collection device according to the first label information.
- a computer readable storage medium storing at least one program executable by at least one processor to:
- the positioning method described in the foregoing embodiment is implemented. Therefore, after the program is executed by the processor, refer to the related description in the positioning method.
- the embodiment provides a positioning device applied to a system including a plurality of labels arranged in a location to be located according to a preset positioning accuracy.
- Each of the tags carries tag information, and the tag information corresponds to location information of a location where the tag is located,
- the positioning device includes: a memory and a processor, the memory stores a program, and the program is read by the processor When taking execution, do the following:
- the location collection device Receiving, by the location collection device, the first label information, where the first label information is label information on a label whose distance from the location collection device does not exceed a preset positioning precision;
- An embodiment of the present application further provides a computer readable storage medium storing at least one program executable by at least one processor to implement the positioning method. For example, implement the following steps:
- the location collection device Receiving, by the location collection device, the first label information, where the first label information is label information on a label whose distance from the location collection device does not exceed a preset positioning precision;
- the computer storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk, and the like, which can store program codes. .
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Abstract
公开了一种定位方法、装置和***,定位***布设方法和计算机可读存储介质。在待定位区域按照预设定位精度布设多个标签,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息。位置采集设备读取与所述位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
Description
本申请要求在2017年07月21日提交中国专利局、申请号为201710602284.5的中国专利申请的优先权,该申请的全部内容通过引用结合在本申请中。
本公开涉及定位技术,例如一种定位方法、装置和***,定位***布设方法和计算机可读存储介质。
定位技术应用领域很广,实现多样化。相关的定位技术包括全球卫星导航***(Global Navigation Satellite System,GNSS)、无线电多点测距、摄像头、无线保真(Wireless Fidelity,Wifi)定位、自动引导运输车(Automated Guided Vehicle,AGV)等。其中,AGV主要应用于自动化生产线,其他定位技术基本应用于室内导航。由于技术原因,相关技术中的定位方法,定位精度不足而使应用受限。
发明内容
本申请提供了一种定位方法、装置和***、定位***布设方法和计算机可读存储介质,提高定位精度。
本申请实施例提供了一种定位***布设方法,包括:
在待定位区域按照预设定位精度布设多个标签,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息。
本申请实施例提供一种定位***,包括:
按照预设定位精度布设的多个标签,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息。
本申请至少一实施例提供一种定位方法,应用于包含在待定位区域按照预设定位精度布设的多个标签的***,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,包括:
位置采集设备读取与所述位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;
所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位 置信息。
本申请至少一实施例提供一种定位方法,应用于包括在待定位区域按照预设定位精度布设的多个标签的定位***,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,包括:
位置监视设备接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;
所述位置监视设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本申请至少一实施例提供一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,每个所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,包括:
标签读取模块,设置为,读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息。
本申请至少一实施例提供一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,每个所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,所述定位装置包括:存储器、处理器和标签读取模块,其中:
所述存储器存储有定位程序;
所述处理器设置为,读取执行所述存储器存储的所述定位程序时,执行以下操作:向标签读取模块发送指令,指示所述标签读取模块读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息,接收所述标签读取模块返回的所述第一标签信息;
所述标签读取模块设置为,根据所述处理器的指令,读取与所述位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息,将所述第一标签信息发送给所述处理器。
本申请至少一实施例提供一种定位装置,应用于包括在待定位区域按照预设定位精度布设的多个标签的定位***,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,所述定位装置包括:第二通讯模块和位置解析模块,其中:
所述第二通讯模块设置为,接收位置采集设备发送的第一标签信息,发送给所述位置解析模块,所述第一标签信息为与所述位置采集设备的距离不超过 预设定位精度的标签上的标签信息;
所述位置解析模块设置为,根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本申请至少一实施例提供一种定位装置,应用于包括在待定位区域按照预设定位精度布设的多个标签的***,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,所述定位装置包括:存储器和处理器,所述存储器存储有程序,所述程序在被所述处理器读取执行时,执行以下操作:
接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本申请至少一实施例提供一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序可被至少一个处理器执行,以实现以下步骤:
向标签读取模块发送指令,指示所述标签读取模块读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;
接收所述标签读取模块返回的所述第一标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本申请至少一实施例提供一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序可被至少一个处理器执行,以实现以下步骤:
接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
与相关技术相比,本申请中,按照预设定位精度布设标签,读取标签进行定位,定位精度与标签的布设精度一样,提高了定位精度。
本申请的其它特征和优点将在随后的说明书中阐述,或者通过实施本申请而了解。本申请的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图概述
图1是本申请一实施例提供的总体结构示意图;
图2是本申请一实施例提供的定位方法流程图;
图3是本申请一实施例提供的定位方法流程图;
图4是本申请一实施例提供的定位装置框图(位置采集设备侧);
图5是本申请一实施例提供的定位装置框图(位置采集设备侧);
图6是本申请一实施例提供的定位装置框图(位置监视设备侧);
图7是本申请一实施例提供的定位装置框图(位置监视设备侧);
图8是本申请一实施例提供的定位***框图;
图9是本申请一实施例提供的定位***框图。
在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机***中执行。并且,虽然在流程图中示出了逻辑顺序,但是在某些情况下,可以以不同于此处的顺序执行所示出或描述的步骤。
在相关定位技术中,GNSS在室内没有信号,也很难提供精度高于3m的定位;无线电多点测距的方法需要高精度的同步,需要建设和维护基站,无线电波存在多径、阻挡等,也不能实现完全覆盖;摄像头存在阻挡盲区,同时只能通过摄像头确定物***置,无法让物体知道自己的位置。
而工业使用的AGV,现在使用铺设磁条轨道、铺设光学轨道、光学识别激光标记、以及光学识别二维码信息并通过解算视差变形等方式来让AGV不脱离预定轨道,这些方式在工业现场使用中,主要是针对预定轨道的应用,而且存在阻挡盲区,视觉识别复杂等缺点。
本申请中,在需要定位的***中,引入具备唯一识别性的标签,所述标签包括但不限于射频识别(Radio Frequency Identification,RFID)标签、磁条标签、以及光学标签,按照预设定位精度布设标签,使得在需要定位的区域内,每个预设定位精度范围内至少存在一个标签。通过读取标签信息,直接由标签信息或对标签信息进行转换后得到自身的精确位置。下面通过以下实施例进行说明本申请。
本申请的实施例提供一种定位***布设方法,包括:
在待定位区域按照预设定位精度布设多个标签,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息。
其中,待定位区域可以是指位置采集设备的活动区域,在该区域内对位置 采集设置进行定位。
其中,在待定位区域按照预设定位精度布设多个标签包括:在待定位区域布设多个标签,使得对于待定位区域的任一位置,至少存在一个标签,与该位置的距离不大于所述预设定位精度,或者说,以待定位区域的任一个点为圆心,以预设定位精度为半径的范围内,至少存在一个标签。该实施例提供的布设方法,标签的布设精度和定位精度一样,基于该标签进行定位时,达到的定位精度和标签的布设精度一样,即通过提高标签的布设精度达到提高定位精度的目的。
一种布设方式为,可以用标签形成一个坐标***,每个标签代表该坐标***中的一个点,该坐标***的精度即为预设定位精度。
比如,预设定位精度为1cm时,在水平和竖直方向每隔1cm布设一个标签。
例如,所述标签包括以下至少之一:RFID标签、磁条标签或者光学标签。本申请不限于此,其他可以携带信息并被识别的标签也可以。
例如,可以通过如下方式之一布设所述标签:
在待铺设标签的对象表面铺设包含所述多个标签的网或薄膜;
在待铺设标签的对象表面以标签阵列的方式铺设所述多个标签;
在待铺设标签的对象表面印制所述多个标签,其中,可以在对象被铺设前印制标签,也可以在对象被铺设后印制标签;
预先将所述多个标签植入待铺设标签的对象后再铺设所述对象,比如,将标签植入地板预制块后,再铺设地板预制块。
其中,待铺设标签的对象可以是地面,也可以是其他位置采集设备可达的物体的表面。
例如,为了保护标签,在铺设所述多个标签后,可以在所述多个标签的上方铺设保护层。当然,如果标签本身强度足够,也可以不铺设所述保护层,或者,如果标签是预先植入的,也可以不用铺设所述保护层。
例如,所述标签信息包括所述标签所在位置的位置信息,该位置信息可以是一个编码后的位置信息,对该信息进行解码即可得到位置信息。或者,该位置信息可以为非编码的位置信息,直接读取标签信息就获得位置信息。又或者,该位置信息可以包括所述标签所在位置的位置转换信息,根据该位置转换信息查找数据库得到位置信息。
例如,位置信息可以是实际的地理位置信息,也可以是自定义的逻辑位置 信息。本申请的实施例提供一种定位***,如图1所示,包括:
多个标签10,所述多个标签按照预设定位精度布设在待定位区域中,每个所述标签10携带标签信息,所述标签信息对应该标签所在位置的位置信息。
例如,所述***还可包括:位于所述标签10上方的保护层。
其他细节可参考上述实施例,此处不再赘述。
图1所示的标签布设方式仅为示例,可以根据需要按其他方式布设标签,本申请对此不作限定。
如图1所示,定位***可以包括位置采集设备20和位置监视设备30。该位置采集设备可以是移动终端,也可以是工业上的自动机器人等多种设备。位置采集设备20读取标签上的标签信息,根据标签信息进行定位后将位置信息发送给位置监视设备30。或者,位置采集设备20将标签信息发送给位置监视设备30,由位置监视设备30根据标签信息进行定位。
下面说明一下由位置采集设备进行定位的实现。
本申请的实施例提供一种定位方法,应用于包含按照预设定位精度布设的多个标签的定位***,每个所述标签携带标签信息,每个所述标签信息对应该标签所在位置的位置信息,如图2所示,所述定位方法包括步骤201-202。
在步骤201中,位置采集设备读取与所述位置采集设备的距离不超过所述预设定位精度的第一标签上的第一标签信息;
在步骤202中,所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本实施例中,在任一位置,以该位置为中心,以预设定位精度为半径的区域内至少存在一个标签,位置采集设备读取标签信息即可。如果存在多个标签,位置采集设备只需读取一个标签即可。可以对位置采集设备进行配置,使得位置采集设备只读取一定距离范围(比如,预设定位精度)内的标签。以RFID标签为例,可以控制射频信号的强度,从而只读取预设定位精度范围内的标签。
在本申请的一可选实施例中,所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位置信息包括:
所述位置采集设备直接根据所述第一标签信息确定所述位置采集设备的第一位置信息,所述第一标签信息包括所述第一标签所在位置的位置信息;
或者,所述位置采集设备根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一 位置信息。
在本申请一实施例中,所述方法还包括:
所述位置采集设备静止时,在所述位置采集设备的待前进方向读取与所述位置采集设备的距离超过所述预设定位精度的标签上的第二标签信息,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。在一实施例中,第一位置信息和第二位置信息构成一方向矢量,从而可以确定位置采集设备的移动方向。其中,可以配置两个读卡器(用于读取标签),一个读卡器读取的第一标签信息用来确定位置采集设备的位置,另外一个读取的第二标签信息用于确定位置采集设备的方向。当然,也可以使用一个读卡器,该读卡器进行两次操作获得第一标签信息和第二标签信息。
在本申请一实施例中,所述方法还包括,
所述位置采集设备从当前位置移动到第三位置后,读取与所述位置采集设备的距离不超过所述预设定位精度的标签上的第三标签信息,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和第三位置信息确定所述位置采集设备的移动方向。在一实施例中,第一位置信息和第三位置信息构成一方向矢量,从而可以确定位置采集设备的移动方向。
如果是光学标签,可以在光学标签上携带方向参考图样,且方向参考图样指向预设方向。在本申请的一可选实施例中,所述方法还包括,
所述标签上包括方向参考图样,所述方向参考图样指向预设方向;
所述第一标签信息为图形,旋转所述图形使得所述图形中的方向参考图样与参考图形中的方向参考图样重合时,根据所述图形的旋转角度确定所述位置采集设备的方向信息。
比如,方向参考图样为一箭头,布设标签时,箭头指向正北方向。参考图形中的方向参考图样指向正北方向,将位置采集设备采集到的图形与参考图形进行比较(例如比较方式可以是通过旋转或其他方式)即可确定方向。
在本申请一实施例中,所述位置采集设备将所述位置采集设备的第一位置信息发送给位置监视设备。也可将上述移动方向发送给位置监视设备。
与相关技术相比较,本申请具有如下至少四点优势。
1、本申请通过引入密集布放定位标签的方法,采用具备唯一性的电子、磁性、以及光学等标签信息,通过识别标签实现精确定位。
2、本申请引入的标签可以处于无电源状态,不使用时可以没有能源消耗。
3、本申请引入的标签本身即为精确的位置信息,相互间不需要信息共享,铺设的***间不需要联网。
4、本申请引入的标签信息独享,不需要额外的时间同步。
本申请的实施例中,由位置监视设备进行定位。
如图3所示,本实施例提供一种定位方法,应用于包括在待定位区域按照预设定位精度布设的多个标签的定位***,所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,包括步骤301-302。
在步骤301中,位置监视设备接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的第一标签上的标签信息。
在步骤302中,所述位置监视设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
在本申请一实施例中,所述步骤302中,所述位置监视设备根据所述第一标签信息确定所述位置采集设备的第一位置信息包括:
所述位置监视设备直接根据所述第一标签信息确定所述位置采集设备的第一位置信息,其中所述第一标签信息包括所述第一标签所在位置的位置信息;以及
所述位置监视设备根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一位置信息。
在本申请一实施例中,所述方法还包括:
所述位置监视设备接收所述位置采集设备发送的第二标签信息,所述第二标签信息为位于所述位置采集设备的待前进方向且与所述位置采集设备的距离超过所述预设定位精度的第二标签上的标签信息;
所述位置监视设备根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
在本申请一实施例中,所述方法还包括,
所述位置监视设备接收所述位置采集设备发送的第三标签信息,所述第三标签信息为所述位置采集设备从当前位置移动到第三位置后,与所述位置采集 设备的距离不超过所述预设定位精度的第三标签上的标签信息;
所述位置监视设备根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和所述第三位置信息确定所述位置采集设备的移动方向。
本申请的实施例提供一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,如图4所示,所述定位装置包括:标签读取模块401和第一通讯模块402。
标签读取模块401,设置为,读取与位置采集设备的距离不超过所述预设定位精度的第一标签上的第一标签信息。
第一通讯模块402,设置为,将所述第一标签信息发送给位置监视设备。
在本申请一可选实施例中:
所述标签读取模块401还设置为,当所述位置采集设备静止时,在所述位置采集设备的待前进方向读取与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息;
所述第一通讯模块402还设置为,将所述第二标签信息发送给所述位置监视设备。
在本申请一可选实施例中:
所述标签读取模块401还设置为,当所述位置采集设备从当前位置移动到第三位置时,读取与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息;
所述第一通讯模块402还设置为,将所述第三标签信息发送给所述位置监视设备。
本申请的实施例提供一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,如图5所示,包括:标签读取模块501和位置解析模块502。
标签读取模块501,设置为,读取与位置采集设备的距离不超过所述预设定位精度的第一标签上的第一标签信息,将所述第一标签信息发送给所述位置解析模块502。
位置解析模块502,设置为,根据所述第一标签信息确定所述位置采集设备的第一位置信息。
还可包括第一通讯模块503,设置为,将所述位置采集设备的第一位置信息发送给位置监视设备。
在本申请一实施例中,所述位置解析模块502根据所述第一标签信息确定所述位置采集设备的第一位置信息包括:
所述位置解析模块直接根据所述第一标签信息确定所述位置采集设备的第一位置信息,其中所述第一标签信息包括所述第一标签所在位置的位置信息;以及
所述位置解析模块502根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一位置信息。
在本申请一实施例中:
所述标签读取模块501还设置为,当所述位置采集设备静止时,在所述位置采集设备的待前进方向读取与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息;
所述位置解析模块502还设置为,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
在本申请的一可选实施例中:
所述标签读取模块501还设置为,所述位置采集设备从当前位置移动到第三位置时,读取与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息;
所述位置解析模块502还设置为,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和第三位置信息确定所述位置采集设备的移动方向。
在一实施例中,还可包括,位置显示模块504,设置为,显示位置采集设备的第一位置信息,或者,第一位置信息和移动方向。
本实施例提供一种定位装置,应用于包括在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,如图6所示,包括:第二通讯模块601和位置解析模块602。
所述第二通讯模块601设置为,接收位置采集设备发送的第一标签信息,发送给所述位置解析模块602,所述第一标签信息为与所述位置采集设备的距离 不超过预设定位精度的第一标签上的标签信息。
所述位置解析模块602设置为,根据所述第一标签信息确定所述位置采集设备的第一位置信息。
在本申请一实施例中,所述位置解析模块602根据所述第一标签信息确定所述位置采集设备的第一位置信息包括:
所述第一标签信息为一位置信息,所述位置解析模块直接根据所述第一标签信息确定所述位置采集设备的第一位置信息;
或者,所述位置解析模块根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一位置信息。
在本申请一实施例中:
所述第二通讯模块601还设置为,接收所述位置采集设备发送的在所述位置采集设备的待前进方向且与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息,将所述第二标签信息发送给所述位置解析模块;
所述位置解析模块602还设置为,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
在本申请一实施例中:
所述第二通讯模块601还设置为,接收所述位置采集设备在从当前位置移动到第三位置后,所读取的与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息,将所述第三标签信息发送给所述位置解析模块:
所述位置解析模块602还设置为,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和所述第三位置信息确定所述位置采集设备的移动方向。
在本申请一实施例中:
所述定位装置还可包括位置显示模块603,设置为,显示位置采集设备的第一位置信息,或者,显示位置采集设备的第一位置信息和移动方向。
在本申请其他实施例中,如图7所示,该定位装置也可只包括第二通讯模701和位置显示模块702,第二通讯模块701接收位置采集设备发送的第一位置信息,或者,第一位置信息和移动方向,位置显示模块702显示接收到的信息, 即显示位置采集设备的第一位置信息,或者,显示位置采集设备的第一位置信息和移动方向。
在本申请其他实施例中,提供一种定位***,如图8所示,该***包括位置采集设备801和位置监视设备802,位置采集设备801包括标签读取模块401和第一通讯模块402,位置监视设备802包括第二通讯模块、位置解析模块和位置显示模块。由位置监视设备802进行定位。每个模块功能请参考前述实施例,此处不再赘述。
在本申请其他实施例中,提供一种定位***,如图9所示,该***包括位置采集设备901和位置监视设备902,位置采集设备901包括标签读取模块501、位置解析模块502和第一通讯模块503,还可包括位置显示模块504,位置监视设备902包括第二通讯模块701和位置显示模块702。由位置采集设备901进行定位,每个模块功能请参考前述实施例,此处不再赘述。
下面结合附图和实施例对本申请进行进一步说明。
本申请的实施例在地面铺设RFID标签,铺设间隔可以根据预设定位精度决定。比如,铺设间隔可以到厘米级别。
本实施例提供一种定位方法,包括:步骤801-805。
步骤801,建立标签坐标***。
在一实施例中,创建RFID标签和位置信息的记录关系数据库。
在一实施例中,也可以通过RFID读取并关联位置信息完成。
在一实施例中,定制RFID标签,将位置信息制作在RFID标签中。
步骤802,在需要定位的场地上铺设RFID标签的网或者薄膜,或者使用人工、机器布放的方式,放置RFID标签阵列。
步骤803,在布放好的RFID标签阵列上方铺设地面保护层。
步骤804,位置采集设备读取地面上的RFID标签的标签信息,完成自身定位。
在一实施例中,根据标签信息,查询数据库,获得相应位置信息;或者,直接读取RFID标签信息中的坐标信息。
在一实施例中,还可包括:位置采集设备继续移动,根据步骤804的方法获得新的位置,根据前后两个位置的矢量,得到位置采集设备的移动方向。
在一实施例中,位置采集设备通过获取相邻的两个位置信息(位置采集设 备所在位置的位置信息,以及位置采集设备待前进方向且位于预设定位精度外的标签的标签信息对应的位置信息),可以得到一个方向矢量信息,从而获得位置采集设备的移动方向。可以增加一个方向读卡器,读取在位置采集设备的待前进方向且位于预设定位精度外的标签携带的标签信息。
在一实施例中,可以通过方向定位设备获取位置采集设备的移动方向,所述方向定位设备设置为采集的所述位置采集设备移动前后的两个位置的矢量,以确定位置采集设备的移动方向。
在一实施例中,也可以通过地球磁场获得方向(指南针),标签铺设时可参考磁场方向进行。在一实施例中,可以应用图像识别技术,通过提取图像的信息特征识别方向,比如,使用光学标签时,同时扫描标签所在位置的地面上的信息,根据地面上指示的方向信息确定位置采集设备的方向信息。
步骤805,位置采集设备将定位信息发给位置监视设备,从而使得位置监视设备能获取到***中每个位置采集设备的定位信息。定位信息可以是位置信息,也可以包括位置信息和移动方向。
本申请的实施例在地板块中内置RFID标签。
本实施例提供一种定位方法,包括:步骤901-905。
步骤901,参考步骤801创建标签坐标***。
步骤902,在地板预制块制作过程中,植入RFID标签阵列。
步骤903,铺设含有定位信息的地板预制块。
步骤904,位置采集设备读取地板上的RFID标签的标签信息,完成自身定位。例如定位参考步骤804。
步骤905,位置采集设备将定位信息发给位置监视设备,从而使得位置监视设备能获取到***中每个位置采集设备的定位信息。定位信息可以是位置信息,也可以包括位置信息和移动方向。
本申请的实施例在地面上通过预印刷或者后印刷,或贴装的方式,布放光学标签或二维码标签。
本实施例提供一种定位方法,包括:步骤1001、步骤1002、步骤1003、步骤1004和步骤1005。
步骤1001,创建标签坐标***。
在一实施例中,创建光学标签和位置的记录关系数据库。
在一实施例中,也可以通过铺设完成后,读取光学标签并关联位置信息完成。
在一实施例中,定制光学标签,含有位置信息和方向信息。
步骤1002,在地面上铺设印刷有坐标信息二维码标签或其他方式光学信息的标签薄膜。
在一实施例中,通过现场印制的方法,在地面上直接刻录二维码标签或者其他光学信息标签。
在一实施例中,也可使用地面加工、铺设过程中工艺自然形成的光学信息标签,如纹理特征等。
步骤1003,在布放好的光学标签阵列上方铺设地面保护层。
在一实施例中,如地面光学信息标签强度足够,可省略此步。
步骤1004,位置采集设备读取地面上的光学标签上的标签信息,完成定位。
在一实施例中,根据标签信息查询数据库,得到相应的位置信息;或者,直接读取光学标签中的位置信息。
在一实施例中,通过光学标签和数据库读取到的信息相对旋转。获取方向信息例如可以是,在制作光学标签时,明确光学标签的方向参考图样,比如:印制一个箭头指向前(可以确定前后左右方向),采集光学标签的信息后,获得一图形,通过图像处理软件,旋转图形(顺时针或者逆时针),箭头方向重合时,根据图形的旋转角度可以计算出位置采集设备的方向信息。
在一实施例中,也可以通过读取多个光学信息标签,获取方向信息(方法同实施例八)。
步骤1005,位置采集设备将定位信息发给位置监视设备,从而使得位置监视设备能获取到***中每个位置采集设备的定位信息。定位信息可以是位置信息,也可以包括位置信息和移动方向。
本申请的实施例在地板上通过预写入磁条标签,或者铺设带有磁记录特性的标签地板,通过写入方式预置标签信息。
步骤1101,创建标签坐标***。
在一实施例中,创建磁条标签和位置的记录关系数据库。
在一实施例中,也可以通过铺设完成后,读取磁条标签并关联位置信息完成。
在一实施例中,定制磁条标签,磁条标签中携带的磁条信息中含有位置信 息。
步骤1102,在地面上铺设磁条标签薄膜。
步骤1103,在布放好的磁条标签阵列上方铺设地面保护层。
在一实施例中,如标签强度足够,可省略此步。
步骤1104,位置采集设备读取地面上的磁条标签的标签信息(本实施例中为磁条信息),完成定位。
在一实施例中,将磁条信息比对数据库,完成自身定位,或者,直接读取磁条信息中的位置信息,完成自身定位。
在一实施例中,也可以通过读取多个磁条标签,获取方向信息(方法同步骤804)。
步骤1105,位置采集设备将定位信息发给位置监视设备,从而使得位置监视设备能获取到***中每个位置采集设备的定位信息。定位信息可以是位置信息,也可以包括位置信息和移动方向。
本申请的实施例在工业楼宇或者商场地面上通过预置坐标标签信息,或者铺设带有标签信息的地板,标签包括磁条标签、RFID表面、以及光学标签等在内的可以唯一辨识的信息。
步骤1201,创建标签坐标***。
在一实施例中,创建标签和位置的记录关系数据库。
在一实施例中,也可以通过标签铺设完成后,读取标签并关联位置信息完成。
在一实施例中,定制标签,标签信息中含有位置信息。
步骤1202,在需要定位的楼宇的每一层地面上铺设标签薄膜。
在一实施例中,通过现场印制的方法,在地面上直接铺设信息标签。
步骤1203,在布放好的标签阵列上方铺设地面保护层。
在一实施例中,如标签强度足够,可省略此步。
步骤1204,位置采集设备读取地面上的标签携带的标签信息,完成自身定位。
在一实施例中,通过读取的标签信息和数据库比对,获得位置信息。
在一实施例中,直接读取标签信息中的坐标信息。
在一实施例中,也可以通过读取多个标签,获取方向信息(方法同步骤804)。
步骤1205,位置采集设备将定位信息发给位置监视设备,从而使得位置监 视设备能获取到***中每个位置采集设备的定位信息。定位信息可以是位置信息,也可以包括位置信息和移动方向。
本申请的实施例提供一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,每个所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,所述定位装置包括:存储器、处理器。
所述存储器存储有定位程序;
处理器设置为读取并执行所述存储器存储的定位程序,所述定位程序当被所述处理器执行时执行以下操作:读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;根据所述第一标签信息确定所述位置采集设备的第一位置信息。
在本申请的实施例中,还提供一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序可被至少一个处理器执行,以实现以下操作:
读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
在一实施例中,上述程序被执行时,实现上述实施例中所述的定位方法,因此,所述程序被处理器执行后,实现的其他操作请参考定位方法中的相关描述。
本实施例提供一种定位装置,应用于包括在待定位区域按照预设定位精度布设的多个标签的***。每个所述标签携带标签信息,所述标签信息对应该标签所在位置的位置信息,所述定位装置包括:存储器和处理器,所述存储器存储有程序,所述程序在被所述处理器读取执行时,执行以下操作:
接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
本申请一实施例还提供一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序可被至少一个处理器执行,以实现上述定位方法。比如,实现如下步骤:
接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;
根据所述第一标签信息确定所述位置采集设备的第一位置信息。
所述计算机存储介质包括:U盘、只读存储器(Read-Only Memory,ROM)、随机存取存储器(Random Access Memory,RAM)、移动硬盘、磁碟或者光盘等多种可以存储程序代码的介质。
Claims (33)
- 一种定位***布设方法,包括:在待定位区域按照预设定位精度布设多个标签,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息。
- 如权利要求1所述的方法,其中,所述布设多个标签包括如下之一:在待铺设标签的对象表面铺设包含所述多个标签的网或薄膜;在待铺设标签的对象表面以标签阵列的方式铺设所述多个标签;在所述待铺设标签的对象表面印制所述多个标签;以及预先将所述多个标签植入所述待铺设标签的对象后再铺设所述对象。
- 如权利要求2所述的方法,其中,所述布设多个标签还包括:铺设所述多个标签后,在所述多个标签的上方铺设保护层。
- 如权利要求1至3任一项所述的方法,其中,所述标签信息包括所述每个标签所在位置的位置信息,或者,包括所述每个标签所在位置的位置转换信息。
- 如权利要求1至3任一项所述的方法,其中,所述标签包括以下至少之一:射频识别标签、磁条标签、以及光学标签。
- 一种定位***,包括:多个标签,所述多个标签按照预设定位精度布设在待定位区域中,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息。
- 如权利要求6所述的定位***,其中所述多个标签的布设方式包括以下之一:所述多个标签位于待铺设标签的对象表面的网或薄膜中;所述多个标签以标签阵列的方式铺设在待铺设标签的对象表面;所述多个标签印制在待铺设标签的对象表面;所述标签在待铺设标签的对象被铺设前,植入在所述对象中。
- 如权利要求6或7所述的定位***,其中,所述标签信息包括所述每个标签所在位置的位置信息,或者,包括所述每个标签所在位置的位置转换信息。
- 如权利要求6或7所述的定位***,其中,所述标签包括以下至少之一:射频识别标签、磁条标签、以及光学标签。
- 一种定位方法,应用于包含在待定位区域按照预设定位精度布设的多 个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述方法包括:位置采集设备读取与所述位置采集设备的距离不超过所述预设定位精度的第一标签上的第一标签信息;所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 如权利要求10所述的方法,其中,所述位置采集设备根据所述第一标签信息确定所述位置采集设备的第一位置信息包括以下之一:所述位置采集设备直接根据所述第一标签信息确定所述位置采集设备的第一位置信息,其中所述第一标签信息包括所述第一标签所在位置的位置信息;所述位置采集设备根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一位置信息。
- 如权利要求10所述的方法,还包括:所述位置采集设备静止时,在所述位置采集设备的待前进方向读取与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的待前进方向。
- 如权利要求10所述的方法,还包括:所述位置采集设备从当前位置移动到第三位置后,读取与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和所述第三位置信息确定所述位置采集设备的移动方向。
- 如权利要求10所述的方法,还包括:通过方向定位设备获取所述位置采集设备的移动方向,其中所述方向定位设备设置为采集所述位置采集设备移动前后的两个位置的矢量,以确定位置采集设备的移动方向。
- 如权利要求10所述的方法,其中:所述标签上包括方向参考图样,所述方向参考图样指向预设方向;所述第一标签信息包括图形,所述方法还包括:旋转所述图形使得所述图形中的方向参考图样与参考图形中的方向参考图样重合时,根据所述图形的旋 转角度确定所述位置采集设备的方向信息。
- 如权利要求10至15任一项所述的方法,其中,所述标签包括以下至少之一:射频识别标签、磁条标签、以及光学标签。
- 如权利要求10至15任一项所述的定位方法,还包括:所述位置采集设备将所述第一位置信息发送给位置监视设备。
- 一种定位方法,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述方法包括:位置监视设备接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的第一标签上的标签信息;所述位置监视设备根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 如权利要求18所述的方法,其中,所述位置监视设备根据所述第一标签信息确定所述位置采集设备的第一位置信息包括以下之一:所述位置监视设备直接根据所述第一标签信息确定所述位置采集设备的第一位置信息,其中所述第一标签信息包括所述第一标签所在位置的位置信息;以及所述位置监视设备根据所述第一标签信息,查询数据库,从所述数据库中获取与所述第一标签信息对应的位置信息作为所述位置采集设备的第一位置信息。
- 如权利要求18所述的方法,还包括:所述位置监视设备接收所述位置采集设备发送的第二标签信息,所述第二标签信息为位于所述位置采集设备的待前进方向且与所述位置采集设备的距离超过所述预设定位精度的第二标签上的标签信息;所述位置监视设备根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
- 如权利要求18所述的定位方法,还包括,所述位置监视设备接收所述位置采集设备发送的第三标签信息,所述第三标签信息为当所述位置采集设备从当前位置移动到第三位置后,与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的标签信息;所述位置监视设备根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和所述第三位置信息确定所述位置采集设备的移动方向。
- 如权利要求18至21任一项所述的定位方法,其中,所述标签包括以下至少之一:射频识别标签、磁条标签、以及光学标签。
- 一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述定位装置包括:标签读取模块,设置为,读取与位置采集设备的距离不超过所述预设定位精度的第一标签上的第一标签信息。
- 如权利要求23所述的装置,还包括:位置解析模块,其中:所述标签读取模块还设置为,将所述第一标签信息发送给位置解析模块;所述位置解析模块设置为,根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 如权利要求24所述的定位装置,其中,所述标签读取模块还设置为,当所述位置采集设备静止时,在所述位置采集设备的待前进方向读取与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息;所述位置解析模块还设置为,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
- 如权利要求25所述的定位装置,其中,所述标签读取模块还设置为,在所述位置采集设备从当前位置移动到第三位置时,读取与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息;所述位置解析模块还设置为,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和第三位置信息确定所述位置采集设备的移动方向。
- 一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述定位装置包括:存储器和处理器,其中:所述存储器存储有定位程序;所述处理器设置为读取并执行所述存储器存储的所述定位程序,所述定位程序当被所述处理器执行时执行以下操作:读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的定位***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述定位装置包括通讯模块和位置解析模块,其中:所述通讯模块设置为,接收位置采集设备发送的第一标签信息,发送给所述位置解析模块,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的第一标签上的标签信息;所述位置解析模块设置为,根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 如权利要求28所述的定位装置,其中,所述通讯模块还设置为,接收所述位置采集设备发送的在所述位置采集设备的待前进方向且与所述位置采集设备的距离超过所述预设定位精度的第二标签上的第二标签信息,将所述第二标签信息发送给所述位置解析模块;所述位置解析模块还设置为,根据所述第二标签信息确定第二位置信息,根据所述第一位置信息和所述第二位置信息确定所述位置采集设备的移动方向。
- 如权利要求28所述的定位装置,其中,所述通讯模块还设置为,接收所述位置采集设备在从当前位置移动到第三位置后,所读取的与所述位置采集设备的距离不超过所述预设定位精度的第三标签上的第三标签信息,将所述第三标签信息发送给所述位置解析模块;所述位置解析模块还设置为,根据所述第三标签信息确定第三位置信息,根据所述第一位置信息和所述第三位置信息确定所述位置采集设备的移动方向。
- 一种定位装置,应用于包含在待定位区域按照预设定位精度布设的多个标签的***,所述多个标签中的每个标签携带标签信息,所述标签信息对应所述每个标签所在位置的位置信息,所述定位装置包括:存储器和处理器,所述存储器存储有程序,所述程序在被所述处理器读取并执行时,执行以下操作:接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置 采集设备的距离不超过预设定位精度的标签上的标签信息;根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序被至少一个处理器执行时,实现以下操作:读取与位置采集设备的距离不超过所述预设定位精度的标签上的第一标签信息;根据所述第一标签信息确定所述位置采集设备的第一位置信息。
- 一种计算机可读存储介质,所述计算机可读存储介质存储有至少一个程序,所述至少一个程序被至少一个处理器执行时,实现以下操作:接收位置采集设备发送的第一标签信息,所述第一标签信息为与所述位置采集设备的距离不超过预设定位精度的标签上的标签信息;根据所述第一标签信息确定所述位置采集设备的第一位置信息。
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WO2021237741A1 (zh) * | 2020-05-29 | 2021-12-02 | 深圳市艾比森光电股份有限公司 | 自动连屏***及自动连屏方法 |
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