WO2020199953A1 - Method and system for positioning movable target - Google Patents

Method and system for positioning movable target Download PDF

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Publication number
WO2020199953A1
WO2020199953A1 PCT/CN2020/080635 CN2020080635W WO2020199953A1 WO 2020199953 A1 WO2020199953 A1 WO 2020199953A1 CN 2020080635 W CN2020080635 W CN 2020080635W WO 2020199953 A1 WO2020199953 A1 WO 2020199953A1
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Prior art keywords
module
movable target
position information
processing module
modules
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PCT/CN2020/080635
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French (fr)
Chinese (zh)
Inventor
聂泳忠
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西人马（厦门）科技有限公司
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Publication of WO2020199953A1 publication Critical patent/WO2020199953A1/en

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices

Definitions

  • This application relates to the field of intelligent transportation technology, and in particular to a method and system for positioning a movable target.
  • GPS Global Positioning System
  • Beidou positioning Beidou positioning
  • LBS Location Based Service
  • the embodiments of the present application provide a method and system for positioning a movable target, which can improve positioning accuracy, thereby achieving accurate positioning of a movable target.
  • a method for positioning a movable target is provided, which is applied to a movable target with an identification module installed, and the movable target can move on a fixed surface; the method includes: setting the position module in a preset manner On the fixed surface, the position module pre-stores the corresponding position information on the position module, and the position information includes the relative position information between the position module and the reference point; the movable target passes through the position modules so that the recognition module can identify each The location information is sent to the processing module; the processing module receives the location information sent by the identification module, and determines the location parameters of the movable target based on the location information.
  • the step of arranging the position modules on the fixed surface in a preset manner includes: arranging the position modules in an array in a first direction and a second direction respectively, so that the position modules are formed on the fixed surface.
  • m ⁇ n array where m is a positive integer and n is a positive integer; among them, the position modules adjacent to each other in the first direction are arranged on the fixed surface at intervals of a preset distance, and the first direction is the extension direction of the fixed surface.
  • the moving target moves along the first direction, and the first direction and the second direction are set at a preset angle.
  • the movable target passes through each position module so that the recognition module recognizes each position information and sends it to the processing module before further including a step of adjusting the recognition distance of the recognition module; wherein, adjusting the recognition module
  • the step of identifying distance includes: adjusting the identifying distance L 1 of the identifying module in the second direction and the length L 2 of the position module in the second direction to satisfy: 1 ⁇ L 1 /L 2 ⁇ 2.
  • the processing module receives the position information sent by the identification module and determines the position parameters of the movable target based on the position information.
  • the step includes: the processing module determines the amount of received position information: When the module determines that the number of position information is one, it determines that the position information is the position parameter of the movable target; when the processing module determines that the number of position information is more than two, it selects the position information located at the middle position along the second direction as the position information.
  • the position parameter of the moving target; or, the position parameter of the movable target is obtained by averaging multiple position information.
  • the processing module receives the position information sent by the identification module and determines the position parameters of the movable target based on the position information.
  • the step further includes: the distance determination module calculates and records the position of the movable target For the moving distance between two adjacent position modules, the distance determining module sends the moving distance to the processing module; the processing module adds the received position information on the recognition module and the moving distance to determine the position parameter of the movable object.
  • the location module is a magnetic magnetic encoding unit, and the corresponding identification module reads the location information stored on the magnetic encoding unit through electromagnetic induction; or, the location module is a barcode or a two-dimensional code ,
  • the corresponding recognition module is an image recognition system.
  • a movable target positioning system including: a plurality of position modules, which can be set on a fixed surface in a preset manner, and are configured to store position information corresponding to each position module, and the position information includes position The relative position information between the module and the reference point; the recognition module is set on the movable target and is configured to recognize and send the position information on the position module, the movable target can move on the fixed surface; the processing module, It is configured to receive the position information on the recognition module and determine the position parameter of the movable target based on the position information.
  • the position modules are arrayed in the first direction and the second direction respectively, so that the position modules form an m ⁇ n array on the fixed surface, where m is a positive integer and n is a positive integer; wherein , The adjacent position modules along the first direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the first direction and the second direction are arranged at a preset angle; wherein, the preset angle is At 90°, the recognition distance L 1 of the recognition module in the second direction and the length L 2 of the subunit in the second direction satisfy: 1 ⁇ L 1 /L 2 ⁇ 2.
  • the processing module is specifically configured to determine the amount of received position information, and determine the position parameter of the movable target according to the position information; wherein, when the processing module determines that the position information is If one, the position information is determined to be the position parameter of the movable target; when the processing module determines that the position information is more than two, the position information at the middle position along the second direction is selected as the position parameter of the movable target; or, The multiple position information is averaged to obtain the position parameter of the movable target.
  • a distance determining module configured to calculate and record the moving distance of the movable target between two adjacent position modules; the processing module is also configured to receive The position information on the recognition module and the moving distance are added to determine the position parameters of the movable target.
  • the corresponding position information can be stored in the position module in advance, so that the position module and the corresponding position information can have a corresponding relationship, and the recognition module can identify the data stored in the position module in advance. Position information and send the identified position information to the processing module.
  • the processing module determines the position parameters of the movable target based on the received position information, which can improve the positioning accuracy to a certain extent; and follow the preset method on the fixed surface
  • FIG. 1 shows a schematic flowchart of a method for positioning a movable target provided by an embodiment of the present application
  • FIG. 2 shows a schematic diagram of the relative position relationship between the position module, the recognition module and the movable target provided by the embodiment of the present application;
  • Fig. 3 shows a schematic structural diagram of a movable target positioning system provided by an embodiment of the present application.
  • the movable target positioning method of the embodiment of the present application is applied to a movable target installed with a recognition module, wherein the movable target can be moved on a fixed surface.
  • the mobile target positioning method is described in detail.
  • FIG. 1 shows a schematic flowchart of a method 100 for positioning a movable target according to an embodiment of the present application, and the method includes:
  • S110 Set the position module on the fixed surface in a preset manner, where the position module pre-stores corresponding position information on the position module, and the position information includes relative position information between the position module and the reference point.
  • the position module is set on the fixed surface according to a preset method
  • the position information of the position module can be determined according to the relative position between the position module and the reference point
  • the position information is stored in advance in the position module
  • the position information stored by the position module corresponds to the actual setting position of the position module on the fixed surface, that is, the position information corresponding to each position module is uniquely determined, which is convenient for positioning and identifying the movable target.
  • the reference point can be the starting point of the fixed surface or any position on the fixed surface. It is understood that the reference point can also be set according to the actual needs of the user.
  • the step of arranging the position module on the fixed surface in a preset manner includes: distributing the position modules in an array along a first direction and a second direction respectively, so that the position modules form an m ⁇ n array on the fixed surface, Where m is a positive integer and n is a positive integer; among them, the position modules adjacent to each other in the first direction are arranged on the fixed surface at a preset distance interval, the first direction is the extension direction of the fixed surface, and the movable target is in the fixed The surface moves in a first direction, and the first direction and the second direction are arranged at a preset angle.
  • the recognition module is arranged on a movable target, and the movable target can move on a fixed surface.
  • the movable target is moved in the first direction as an example.
  • the identification module can identify the storage on the corresponding position module
  • the location information is sent to the processing module, and the processing module performs processing based on the received location information and determines the location parameters of the movable target.
  • the movable target passes through each position module, so that the recognition module recognizes each position information and sends it to the processing module.
  • it also includes a step of adjusting the recognition distance of the recognition module.
  • adjusting the recognition The recognition distance step of the module includes: adjusting the recognition distance L 1 of the recognition module along the second direction and the length L 2 of the position module along the second direction to satisfy: 1 ⁇ L 1 /L 2 ⁇ 2, and adjusting the upward phase along the first direction
  • the preset distance between two adjacent position modules is greater than the identification distance of the identification module along the first direction, so as to prevent interference between adjacent position modules.
  • the recognition module can more accurately recognize the corresponding position module, so as to prevent the external structure from causing interference between the recognition module or adjacent recognition modules.
  • the user can appropriately reduce the recognition distance of the recognition module along the first direction according to actual accuracy requirements to improve the positioning accuracy of the movable target.
  • the processing module receives the location information sent by the identification module, and determines the location parameter of the movable target based on the location information.
  • the identification module Since the identification module is adjusted so that the identification distance L 1 along the second direction and the length L 2 of the position module along the second direction satisfy: 1 ⁇ L 1 /L 2 ⁇ 2, and the identification distance of the identification module along the first direction is adjusted It is smaller. Therefore, during the movement of the movable target in the first direction, the identification module will receive the position information of the multiple position modules arrayed in the second direction.
  • the processing module receives the position information sent by the identification module, and the step of determining the position parameter of the movable target based on the position information includes the step of the processing module judging the quantity of received position information.
  • the processing module determines that the position information is the position parameter of the movable target.
  • the processing module determines that the number of position information is more than two, the processing module averages multiple position information to obtain the position parameter of the movable target; or, the processing module selects the position information located at the middle position in the second direction as the position information The position parameter of the movable target.
  • step S130 also includes the distance determining module calculating and recording the moving distance of the movable target between two adjacent position modules, the distance determining module sends the moving distance to the processing module; the processing module sends the received recognition module to the The position information of and the moving distance are added to determine the position parameter of the movable object.
  • the distance determining module calculates and records the moving distance of the movable target between two adjacent position modules in the first direction.
  • the corresponding position information can be stored in the position module in advance, so that the position module and the corresponding position information can have a corresponding relationship, and the recognition module can identify the data stored in the position module in advance. Position information and send the identified position information to the processing module.
  • the processing module determines the position parameters of the movable target based on the received position information, which can improve the positioning accuracy to a certain extent; and the preset distance is along the fixed surface There are multiple position modules at intervals, which can accurately position the fixed target in multiple directions.
  • FIG. 2 shows a schematic diagram of the relative positional relationship between the position module, the recognition module, and the movable target in an embodiment of the present application.
  • the movable target may be a vehicle 230
  • the fixed surface is a road
  • a plurality of position modules 210a, 210b, 210c are arranged on the road in an m ⁇ n array, and are aligned along the first direction.
  • the location module 210a, 210b, 210c at a predetermined distance L 3 is provided on a fixed surface.
  • the preset distance L 3 and the length L 4 of the movable target satisfy: 1 ⁇ L 3 /L 4 ⁇ 2.
  • the vehicle 230 can quickly recognize the position modules 210a, 210b, and 210c during its own driving process, and effectively improve the positioning accuracy of the movable target.
  • the first direction is the extending direction of the road, and the first direction and the second direction are set at a preset angle, and optionally, the preset angle is 90°.
  • the first direction is the X-axis direction
  • the second direction is the Y-axis direction
  • the XOY plane rectangular coordinate system is established with the reference point as the origin, where the reference point is the starting point of the road.
  • each position module 210a, 210b, 210c is pre-stored including corresponding (x 1 , y 1 ), (x 1 , y 2 )..., (x m , y n ) and other location information.
  • the identification module 220 is one and is set at the front of the vehicle.
  • the identification module 220 When the vehicle 230 is driving, the identification module 220 always turns on the identification mode. When the vehicle 230 moves closer to the position modules 210a, 210b, 210c, the position module 210a, When 210b and 210c are within the recognition range of the recognition module 220, the recognition module 220 can recognize the corresponding location information of the location modules 210a, 210b, and 210c and send the location information to the processing module 320, which is based on the received location information The location parameters of the vehicle 230 are determined.
  • the position modules 210a, 210b, and 210c are magnetic encoding units with magnetism, and the corresponding identification module 220 reads the position information stored on the magnetic encoding units in a non-contact manner through electromagnetic induction; or, the position The modules 210a, 210b, and 210c are barcodes or two-dimensional codes, and the corresponding recognition module 220 is an image recognition system.
  • the processing module 320 can be set on a movable target or can be remotely processed.
  • the recognition module 220 transmits The protocol (for example, WIFI or Bluetooth, etc.) sends the identified position information to the processing module 320.
  • the protocol for example, WIFI or Bluetooth, etc.
  • more than two identification modules 220 can also be provided on the vehicle 230.
  • the processing module 320 determines the location parameters of the vehicle 230 according to the signal peak value sent by the identification module 220. For example, the two identification modules 220 identify the location information of each It is sent to the processing module 320, and the processing module 320 first compares the signals sent by the two identification modules 220, and selects the signal with the strong signal strength as the accurate location parameter of the vehicle 230.
  • a distance determination module is provided on the vehicle 230, which can record the moving distance of the current position of the vehicle 230 relative to the previous position module column and send the moving distance to the processing module 320, taking the vehicle 230 traveling in the first direction as For example, when the vehicle 230 travels between two adjacent position module columns, at this time, the distance determination module records the moving distance of the vehicle 230 in the first direction as x 3 , and the last position information received by the processing module 320 is ( x 1 , y 1 ), then the position parameter of the current vehicle 230 determined by the processing module 320 at this time is (x 1 +x 3 , y 1 ).
  • the position processing module 320 is a register.
  • the position module column is composed of multiple positions with the same x coordinate.
  • the modules 210a, 210b, and 210c are formed.
  • the position of the vehicle 230 can be further accurately determined by setting the distance determination module.
  • the position module row includes a plurality of position modules 210a, 210b, 210c arranged in a row along the second direction Y.
  • the method for locating a movable target further includes the processing module 320 sending the determined position parameters of the vehicle 230 to the central processor 310, and the central processor 310 performs the determination of the vehicle 230 based on the position parameters of the current vehicle 230.
  • the central processor 310 can implement road state monitoring and traffic evacuation according to the position parameters of all vehicles 230.
  • the central processor 310 pre-stores all position modules 210a and 210b on the fixed surface. , 210c location information. By uniformly managing and distributing the vehicles 230 running on the road, the vehicles 230 can be managed in an orderly manner, reducing the probability of traffic accidents.
  • the positioning of the movable target through the above technical solutions, compared with the positioning methods such as GPS and LBS in the prior art, improves the positioning accuracy to a certain extent and realizes the precise positioning of the movable target.
  • the above solutions provided by the embodiments of this application can avoid all kinds of interference by directly installing the position modules 210a, 210b, 210c on the road.
  • the position modules 210a, 210b, 210c can be in the form of magnetic encoding units, two-dimensional codes or barcodes, etc.
  • the identification module 220 is installed on any movable target, the non-contact reading of the position information from the position modules 210a, 210b, 210c can be realized, and the "dialogue" between the road and the movable target can be realized.
  • More precise location information can achieve centimeter-level or even millimeter-level positioning accuracy. It has the characteristics of high positioning accuracy, convenient implementation, and low cost, which can escort automatic driving and smart travel.
  • An embodiment of the present application also provides a positioning system for a movable target.
  • FIG. 3 shows a schematic structural diagram of the positioning system for a movable target according to an embodiment of the present application.
  • the positioning system includes a plurality of position modules 210a, 210b, 210c, an identification module 220, and a processing module 320.
  • the plurality of position modules 210a, 210b, 210c can be set on a fixed surface in a preset manner, and are configured to store various positions.
  • the position information includes the relative position information between the position modules 210a, 210b, and 210c and the reference point; the identification module 220 is set on the movable target, and the identification module 220 is configured to identify and Send the position information on the position modules 210a, 210b, 210c, the movable target can move on the fixed surface; the processing module 320 is configured to receive the position information on the recognition module 220 and determine the position of the movable target based on the position information parameter.
  • the recognition module 220 to recognize the position information pre-stored on the position modules 210a, 210b, 210c and processing the processing module 320 to determine the position parameters of the movable target, it is improved to a certain extent.
  • the positioning accuracy can realize the precise positioning of the movable target, and the system structure is simple and easy to realize.
  • the position modules 210a, 210b, and 210c in the embodiment of the present application are magnetic encoding units with magnetism, so that the magnetic encoding unit is less affected by the external environment, and the magnetic encoding unit itself is magnetic and does not require power supply operation. It can effectively reduce the impact of circuit failure on the movable target positioning system.
  • the movable target is the vehicle 230, and the fixed surface is the road.
  • the positioning system provided in the embodiment of the present application is applied to locate the position of the vehicle on the road with the identification module 220 installed.
  • the position modules 210a, 210b, and 210c are arranged in an array along the first direction and the second direction, respectively, so that the position modules 210a, 210b, and 210c form an m ⁇ n array on the fixed surface; Position modules adjacent in one direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the first direction and the second direction are set at a preset angle; wherein the preset angle is 90°,
  • the recognition distance L 1 of the recognition module 220 along the second direction and the length L 2 of the sub-unit along the second direction satisfy: 1 ⁇ L 1 /L 2 ⁇ 2.
  • the processing module 320 is specifically configured to determine the quantity of received position information, and determine the position parameters of the movable target according to the position information; wherein, when the processing module 320 determines that the position information is one , Determine that the position information is the position parameter of the movable target; when the processing module 320 determines that the position information is more than two, select the position information at the middle position along the second direction as the position parameter of the movable target; or Multiple position information averaging processing obtains the position parameter of the movable target.
  • the movable target positioning system provided by the embodiment of the present application further includes a distance determining module configured to calculate and record the moving distance of the movable target between two adjacent position modules 210a, 210b, 210c; processing The module 320 is also configured to add the received position information on the recognition module 220 and the moving distance to determine the position parameter of the movable target.
  • the movable target positioning system includes the recognition module 220 and the processing module 320 of the movable target positioning system as in the previous embodiment, and may also include, for example, a central processor 310 for performing alignment
  • the coordinate parameters of multiple vehicles traveling on the road are processed, wherein the movable target is the vehicle 230 installed with the recognition, and multiple location modules 210a, 210b, 210c are arranged on the road.
  • the movable target is a vehicle 230 equipped with an identification unit
  • the fixed surface is a road
  • the identification module 220 is also provided with identification information of the vehicle.
  • the identification information includes the license plate, model and number information of the vehicle 230 One or a combination of.
  • the location modules 210a, 210b, and 210c are magnetic encoding units, and the identification module 220 installed on the vehicle recognizes the location information pre-stored on the magnetic encoding unit by means of electromagnetic induction.
  • the current road is a two-lane road.
  • a number of position modules 210a, 210b, and 210c with pre-stored position information are arranged in an m ⁇ n array on the road.
  • the processing module 320 determines that the distance between the current vehicle 230 and the road reference point in the first direction is 30 m, and the distance reference point is in the second direction.
  • the distance in the direction is 50m.
  • the processing module 320 determines that the coordinates of the current vehicle from the road reference point are (40, 62.5). ).
  • the processing module 320 selects three location information
  • the position information at the middle position is used as the position parameter of the vehicle 230.
  • the middle position is the middle position along the second direction, that is, the processing module 320 determines that the position parameter of the vehicle is (70, 63), which is optional,
  • the three position information can also be averaged to obtain the corresponding vehicle position information.

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Abstract

A method and a system for positioning a movable target (230). Said method comprises: providing location modules (210a, 210b, 210c) on a fixed surface in a pre-set manner, the location modules (210a, 210b, 210c) pre-storing corresponding location information of the location modules (210a, 210b, 210c), and the location information comprising information about the relative location between the location modules (210a, 210b, 210c) and a reference point (S110); the movable target (230) passing through all the location modules (210a, 210b, 210c), so that an identification module (220) identifies various pieces of location information and sends same to a processing module (320) (S120); and the processing module (320) receiving the location information sent by the identification module (220), and determining the location parameters of the movable target (230) on the basis of the location information (S130). The method and the system can improve the positioning accuracy to some extent, and can achieve accurate positioning of a movable target (230).

Description

可移动目标物定位方法和***Method and system for positioning movable target
相关申请的交叉引用Cross references to related applications
本申请要求享有于2019年03月29日提交的发明名称为“可移动目标物定位方法和***”、申请号为201910251621.X的中国专利申请的优先权，该申请的全部内容通过引用并入本文中。This application claims the priority of the Chinese patent application with the title of "Mobile Target Positioning Method and System" and the application number of 201910251621.X filed on March 29, 2019. The entire content of this application is incorporated by reference. In this article.
技术领域Technical field
本申请涉及智能交通技术领域，尤其涉及一种可移动目标物定位方法和***。This application relates to the field of intelligent transportation technology, and in particular to a method and system for positioning a movable target.
背景技术Background technique
随着社会经济的发展，国内的汽车保有量在长期保持增长，与此同时，交通事故时有发生，道路交通安全成为社会关注热点。为了提高道路交通的安全性，依靠信息化和智能化技术为交通安全保驾护航具有重要意义。With the development of social economy, the number of domestic vehicles has been growing for a long time. At the same time, traffic accidents happen from time to time, and road traffic safety has become a hot spot of social concern. In order to improve the safety of road traffic, it is of great significance to rely on informatization and intelligent technology to protect traffic safety.
在涉及到道路交通安全方面，通过一定的技术手段获取车辆的方位信息和相对位置用以指引车辆的行驶能够有效避免交通事故的发生。In terms of road traffic safety, obtaining the location information and relative position of the vehicle through certain technical means to guide the driving of the vehicle can effectively avoid the occurrence of traffic accidents.
目前主要是依靠全球定位***(Global Positioning System，GPS)定位、北斗定位以及基于位置服务(Location Based Service，LBS)定位等方式对车辆进行定位，但是上述定位方式所能达到的定位精度各有不同，对于对定位精度要求较高的场合，已有的定位方案越来越不能满足实际应用的需求。At present, it mainly relies on Global Positioning System (GPS) positioning, Beidou positioning, and Location Based Service (LBS) positioning to locate vehicles, but the positioning accuracy that can be achieved by the above positioning methods is different. For occasions that require high positioning accuracy, the existing positioning solutions are increasingly unable to meet the needs of practical applications.
发明内容Summary of the invention
本申请实施例提供一种可移动目标物定位方法和***，能够提高定位精度，从而实现对可移动目标物的精确定位。The embodiments of the present application provide a method and system for positioning a movable target, which can improve positioning accuracy, thereby achieving accurate positioning of a movable target.
根据本申请实施例提供一种可移动目标物定位方法，应用于安装有识 别模块的可移动目标物，可移动目标物可在固定面上进行移动；方法包括：将位置模块以预设方式设置在固定面上，其中，位置模块预先存储有位置模块上对应的位置信息，位置信息包括位置模块与基准点之间的相对位置信息；可移动目标物经由各位置模块，以使识别模块识别各位置信息并发送给处理模块；处理模块接收识别模块发送的位置信息，并基于位置信息确定可移动目标物的位置参数。According to an embodiment of the present application, a method for positioning a movable target is provided, which is applied to a movable target with an identification module installed, and the movable target can move on a fixed surface; the method includes: setting the position module in a preset manner On the fixed surface, the position module pre-stores the corresponding position information on the position module, and the position information includes the relative position information between the position module and the reference point; the movable target passes through the position modules so that the recognition module can identify each The location information is sent to the processing module; the processing module receives the location information sent by the identification module, and determines the location parameters of the movable target based on the location information.
根据本申请一方面的实施方式，将位置模块以预设方式设置在固定面上的步骤包括：将位置模块分别沿第一方向和第二方向阵列排布，以使位置模块在固定面上形成m×n阵列，其中，m为正整数，n为正整数；其中，沿第一方向相邻的位置模块以预设距离间隔设置在固定面上，第一方向为固定面的延伸方向，可移动目标物沿第一方向移动，第一方向与第二方向呈预设角度设置。According to an embodiment of an aspect of the present application, the step of arranging the position modules on the fixed surface in a preset manner includes: arranging the position modules in an array in a first direction and a second direction respectively, so that the position modules are formed on the fixed surface. m×n array, where m is a positive integer and n is a positive integer; among them, the position modules adjacent to each other in the first direction are arranged on the fixed surface at intervals of a preset distance, and the first direction is the extension direction of the fixed surface. The moving target moves along the first direction, and the first direction and the second direction are set at a preset angle.
根据本申请一方面前述任一实施方式，可移动目标物经由各位置模块，以使识别模块识别各位置信息并发送给处理模块之前，还包括调整识别模块的识别距离步骤；其中，调整识别模块的识别距离步骤包括：调整识别模块沿第二方向的识别距离L 1与位置模块沿第二方向的长度L 2满足：1≤L 1/L 2≤2。 According to any one of the foregoing embodiments on one aspect of the present application, the movable target passes through each position module so that the recognition module recognizes each position information and sends it to the processing module before further including a step of adjusting the recognition distance of the recognition module; wherein, adjusting the recognition module The step of identifying distance includes: adjusting the identifying distance L 1 of the identifying module in the second direction and the length L 2 of the position module in the second direction to satisfy: 1≤L 1 /L 2 ≤2.
根据本申请一方面前述任一实施方式，处理模块接收识别模块发送的位置信息，并基于位置信息确定可移动目标物的位置参数的步骤包括：处理模块判断接收到的位置信息的数量：当处理模块判断位置信息的数量为一个时，确定位置信息为可移动目标物的位置参数；当处理模块判断位置信息的数量为两个以上时，选取沿第二方向上位于中间位置的位置信息作为可移动目标物的位置参数；或者，将多个位置信息均值处理得到可移动目标物的位置参数。According to any one of the foregoing embodiments of the present application, the processing module receives the position information sent by the identification module and determines the position parameters of the movable target based on the position information. The step includes: the processing module determines the amount of received position information: When the module determines that the number of position information is one, it determines that the position information is the position parameter of the movable target; when the processing module determines that the number of position information is more than two, it selects the position information located at the middle position along the second direction as the position information. The position parameter of the moving target; or, the position parameter of the movable target is obtained by averaging multiple position information.
根据本申请一方面前述任一实施方式，处理模块接收识别模块发送的位置信息，并基于位置信息确定可移动目标物的位置参数的步骤还包括：距离确定模块计算并记录可移动目标物在相邻两个位置模块之间的移动距离，距离确定模块将移动距离发送给处理模块；处理模块将接收到的识别模块上的位置信息和移动距离相加确定可移动物的位置参数。According to any one of the foregoing embodiments of the present application, the processing module receives the position information sent by the identification module and determines the position parameters of the movable target based on the position information. The step further includes: the distance determination module calculates and records the position of the movable target For the moving distance between two adjacent position modules, the distance determining module sends the moving distance to the processing module; the processing module adds the received position information on the recognition module and the moving distance to determine the position parameter of the movable object.
根据本申请一方面前述任一实施方式，位置模块为具有磁性的磁编码单元，对应的识别模块通过电磁感应方式读取磁编码单元上存储的位置信息；或者，位置模块为条形码或二维码，对应的识别模块为图像识别***。According to any one of the foregoing embodiments of the present application, the location module is a magnetic magnetic encoding unit, and the corresponding identification module reads the location information stored on the magnetic encoding unit through electromagnetic induction; or, the location module is a barcode or a two-dimensional code , The corresponding recognition module is an image recognition system.
本申请的另一方面提供一种可移动目标物定位***，包括：多个位置模块，能够以预设方式设置在固定面上，被配置能够存储各个位置模块对应的位置信息，位置信息包括位置模块与基准点之间的相对位置信息；识别模块，设置在可移动目标物上，被配置为识别并发送位置模块上的位置信息，可移动目标物可在固定面上进行移动；处理模块，被配置为接收识别模块上的位置信息并基于位置信息确定可移动目标物的位置参数。Another aspect of the present application provides a movable target positioning system, including: a plurality of position modules, which can be set on a fixed surface in a preset manner, and are configured to store position information corresponding to each position module, and the position information includes position The relative position information between the module and the reference point; the recognition module is set on the movable target and is configured to recognize and send the position information on the position module, the movable target can move on the fixed surface; the processing module, It is configured to receive the position information on the recognition module and determine the position parameter of the movable target based on the position information.
根据本申请另一方面的实施方式，位置模块分别沿第一方向和第二方向阵列，以使位置模块在固定面上形成m×n阵列，其中，m为正整数，n为正整数；其中，沿第一方向的相邻位置模块以预设距离间隔设置在固定面上，第一方向为固定面的延伸方向，第一方向与第二方向呈预设角度设置；其中，预设角度为90°，识别模块沿第二方向的识别距离L 1与子单元沿第二方向的长度L 2满足：1≤L 1/L 2≤2。 According to another embodiment of the present application, the position modules are arrayed in the first direction and the second direction respectively, so that the position modules form an m×n array on the fixed surface, where m is a positive integer and n is a positive integer; wherein , The adjacent position modules along the first direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the first direction and the second direction are arranged at a preset angle; wherein, the preset angle is At 90°, the recognition distance L 1 of the recognition module in the second direction and the length L 2 of the subunit in the second direction satisfy: 1≤L 1 /L 2 ≤2.
根据本申请另一方面前述任一实施方式，处理模块具体被配置为判断接收到的位置信息的数量，并根据位置信息进行确定可移动目标物的位置参数；其中，当处理模块判断位置信息为一个时，确定位置信息为可移动目标物的位置参数；当处理模块判断位置信息为两个以上时，选取沿第二方向上位于中间位置的位置信息作为可移动目标物的位置参数；或者，将多个位置信息均值处理得到可移动目标物的位置参数。According to any one of the foregoing embodiments of another aspect of the present application, the processing module is specifically configured to determine the amount of received position information, and determine the position parameter of the movable target according to the position information; wherein, when the processing module determines that the position information is If one, the position information is determined to be the position parameter of the movable target; when the processing module determines that the position information is more than two, the position information at the middle position along the second direction is selected as the position parameter of the movable target; or, The multiple position information is averaged to obtain the position parameter of the movable target.
根据本申请另一方面前述任一实施方式，进一步包括距离确定模块，被配置为计算并记录可移动目标物在相邻两个位置模块之间的移动距离；处理模块还被配置为将接收到的识别模块上的位置信息和移动距离相加确定可移动目标物的位置参数。According to any one of the foregoing embodiments of another aspect of the present application, further comprising a distance determining module configured to calculate and record the moving distance of the movable target between two adjacent position modules; the processing module is also configured to receive The position information on the recognition module and the moving distance are added to determine the position parameters of the movable target.
本申请实施例提供的可移动目标物定位方法，通过在位置模块上预先存储有相应的位置信息，可以使位置模块与相应的位置信息具有对应关系，通过识别模块识别预先存储在位置模块上的位置信息，并将识别到的位置信息发送给处理模块，处理模块基于接收到的位置信息确定可移动目标物 的位置参数，可以在一定程度上提高定位精度；并且在固定面上沿预设方式设置有多个位置模块，可以多方位、全面的对定目标物进行精确定位。In the method for positioning a movable target provided by the embodiment of the present application, the corresponding position information can be stored in the position module in advance, so that the position module and the corresponding position information can have a corresponding relationship, and the recognition module can identify the data stored in the position module in advance. Position information and send the identified position information to the processing module. The processing module determines the position parameters of the movable target based on the received position information, which can improve the positioning accuracy to a certain extent; and follow the preset method on the fixed surface There are multiple position modules, which can accurately position the target in a multi-directional and comprehensive manner.
附图说明Description of the drawings
下面将对本申请实施例中所需要使用的附图作简单的介绍，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。The following will briefly introduce the drawings that need to be used in the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1示出了本申请实施例提供的可移动目标物定位方法的流程示意图；FIG. 1 shows a schematic flowchart of a method for positioning a movable target provided by an embodiment of the present application;
图2示出了本申请实施例提供的位置模块、识别模块和可移动目标物之间的相对位置关系示意图；FIG. 2 shows a schematic diagram of the relative position relationship between the position module, the recognition module and the movable target provided by the embodiment of the present application;
图3示出了本申请实施例提供的可移动目标物定位***的结构示意图。Fig. 3 shows a schematic structural diagram of a movable target positioning system provided by an embodiment of the present application.
具体实施方式detailed description
下面将详细描述本申请的各个方面的特征和示例性实施例，为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例，对本申请进行进一步详细描述。应理解，此处所描述的具体实施例仅被配置为解释本申请，用于示例性的说明本申请的原理，并不被配置为限定本申请。另外，附图中的机构件不一定是按照比例绘制的。例如，可能对于其他结构件或区域而放大了附图中的一些结构件或区域的尺寸，以帮助对本申请实施例的理解。The features and exemplary embodiments of each aspect of the present application will be described in detail below. In order to make the purpose, technical solutions, and advantages of the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only configured to explain the present application, and are used to exemplify the principles of the present application, and are not configured to limit the present application. In addition, the mechanical components in the drawings are not necessarily drawn to scale. For example, for other structural members or regions, the size of some structural members or regions in the drawings may be enlarged to help the understanding of the embodiments of the present application.
下述描述中出现的方位词均为图中示出的方向，并不是对本申请实施例的具体结构进行限定。在本申请的描述中，需要说明的是，除非另有说明，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可视具体情况理解上述术语在本申请中的具体含义。The orientation words appearing in the following description are all directions shown in the figure, and do not limit the specific structure of the embodiments of the present application. In the description of this application, it should be noted that, unless otherwise specified, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral Ground connection; it can be directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in this application can be understood according to the specific circumstances.
此外术语“包括”、“包含”“具有”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素结构件或组件不仅包括那些要素，而且还包括没有明确列出或固有的属于结构件、组件上的其他机构件。 在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括要素的物品或者设备中还存在另外的相同要素。对于本领域技术人员来说，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请更好的理解。In addition, the terms "include", "include", "have" or any other variations thereof are intended to cover non-exclusive inclusion, so that a series of element structures or components not only include those elements, but also include those that are not explicitly listed or inherent Belongs to structural parts and other mechanical parts on components. If there are no more restrictions, the elements defined by the sentence "including..." do not exclude the existence of other identical elements in the article or equipment that includes the elements. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.
下面将详细描述本申请的各个方面的特征和示例性实施例。此外，下文中所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施例中。The features and exemplary embodiments of various aspects of the present application will be described in detail below. In addition, the features, structures or characteristics described below may be combined in one or more embodiments in any suitable manner.
本申请实施例的可移动目标物定位方法应用于安装有识别模块的可移动目标物，其中可移动目标物可在固定面上进行移动，下面将通过图1至图2对本申请实施例的可移动目标物定位方法进行详细描述。The movable target positioning method of the embodiment of the present application is applied to a movable target installed with a recognition module, wherein the movable target can be moved on a fixed surface. The mobile target positioning method is described in detail.
图1示出了本申请实施例的可移动目标物定位方法100的流程示意图，该方法包括：FIG. 1 shows a schematic flowchart of a method 100 for positioning a movable target according to an embodiment of the present application, and the method includes:
S110，将位置模块以预设方式设置在固定面上，其中，位置模块预先存储有位置模块上对应的位置信息，位置信息包括位置模块与基准点之间的相对位置信息。S110: Set the position module on the fixed surface in a preset manner, where the position module pre-stores corresponding position information on the position module, and the position information includes relative position information between the position module and the reference point.
在本申请的一个实施例中，将位置模块根据预设方式设置在固定面上，根据位置模块与基准点之间的相对位置能够确定位置模块的位置信息，并把位置信息预先存储的位置模块上，此时位置模块存储的位置信息与位置模块实际在固定面上的设置位置一一对应，即，每个位置模块对应的位置信息是唯一确定的，便于对可移动目标物进行定位和识别。其中，基准点可以为固定面的起点位置或固定面上的任意位置，可以理解的是，基准点也可以根据用户的实际需求进行设定。In an embodiment of the present application, the position module is set on the fixed surface according to a preset method, the position information of the position module can be determined according to the relative position between the position module and the reference point, and the position information is stored in advance in the position module Above, at this time, the position information stored by the position module corresponds to the actual setting position of the position module on the fixed surface, that is, the position information corresponding to each position module is uniquely determined, which is convenient for positioning and identifying the movable target. . Wherein, the reference point can be the starting point of the fixed surface or any position on the fixed surface. It is understood that the reference point can also be set according to the actual needs of the user.
具体的，S110，将位置模块以预设方式设置在固定面上的步骤包括：将位置模块分别沿第一方向和第二方向阵列分布，以使位置模块在固定面上形成m×n阵列，其中，m为正整数，n为正整数；其中，沿第一方向相邻的位置模块以预设距离间隔设置在固定面上，第一方向为固定面的延伸方向，可移动目标物在固定面上沿第一方向移动，第一方向与第二方向呈预设角度设置。通过将位置模块以m×n阵列设置在固定面上，能够对 在固定面上行驶的可移动目标物进行多方位的监测和定位，从而提高对可移动目标物的定位精度。Specifically, S110, the step of arranging the position module on the fixed surface in a preset manner includes: distributing the position modules in an array along a first direction and a second direction respectively, so that the position modules form an m×n array on the fixed surface, Where m is a positive integer and n is a positive integer; among them, the position modules adjacent to each other in the first direction are arranged on the fixed surface at a preset distance interval, the first direction is the extension direction of the fixed surface, and the movable target is in the fixed The surface moves in a first direction, and the first direction and the second direction are arranged at a preset angle. By arranging the position module on the fixed surface in an m×n array, it is possible to monitor and locate the movable target on the fixed surface in multiple directions, thereby improving the positioning accuracy of the movable target.
S120，可移动目标物经由各位置模块，以使识别模块识别各位置信息并发送给处理模块。S120: The movable target passes through each position module, so that the recognition module recognizes each position information and sends it to the processing module.
在本申请的一个实施例中，识别模块设置在可移动目标物上，可移动目标物可在固定面上进行移动。本申请中以可移动目标物沿第一方向移动为例进行说明，当可移动目标物在设置有位置模块的固定面上进行移动并经由位置模块时，识别模块能够识别相应位置模块上的存储的位置信息并把位置信息发送给处理模块，处理模块基于接收到的位置信息进行处理并确定可移动目标物的位置参数。In an embodiment of the present application, the recognition module is arranged on a movable target, and the movable target can move on a fixed surface. In this application, the movable target is moved in the first direction as an example. When the movable target moves on the fixed surface provided with the position module and passes through the position module, the identification module can identify the storage on the corresponding position module The location information is sent to the processing module, and the processing module performs processing based on the received location information and determines the location parameters of the movable target.
根据本申请的一个实施例，在S120，可移动目标物经由各位置模块，以使识别模块识别各位置信息并发送给处理模块步骤之前还包括调整识别模块的识别距离步骤，具体的，调整识别模块的识别距离步骤包括：调整识别模块沿第二方向的识别距离L 1与位置模块沿第二方向的长度L 2满足：1≤L 1/L 2≤2，且调整沿第一方向上相邻两个位置模块之间的预设距离大于识别模块沿第一方向的识别距离，防止相邻位置模块之间产生干扰。通过调整识别模块的沿第二方向的识别距离，能够使得识别模块更准确的识别相应的位置模块，以防止外部结构对识别模块或相邻识别模块之间造成干扰。其中，用户可以根据实际精度需求，适当减小识别模块沿第一方向的识别距离以提高对可移动目标物的定位精度。 According to an embodiment of the present application, in S120, the movable target passes through each position module, so that the recognition module recognizes each position information and sends it to the processing module. Before the step, it also includes a step of adjusting the recognition distance of the recognition module. Specifically, adjusting the recognition The recognition distance step of the module includes: adjusting the recognition distance L 1 of the recognition module along the second direction and the length L 2 of the position module along the second direction to satisfy: 1≤L 1 /L 2 ≤2, and adjusting the upward phase along the first direction The preset distance between two adjacent position modules is greater than the identification distance of the identification module along the first direction, so as to prevent interference between adjacent position modules. By adjusting the recognition distance of the recognition module in the second direction, the recognition module can more accurately recognize the corresponding position module, so as to prevent the external structure from causing interference between the recognition module or adjacent recognition modules. Among them, the user can appropriately reduce the recognition distance of the recognition module along the first direction according to actual accuracy requirements to improve the positioning accuracy of the movable target.
S130，处理模块接收识别模块发送的位置信息，并基于位置信息确定可移动目标物的位置参数。S130: The processing module receives the location information sent by the identification module, and determines the location parameter of the movable target based on the location information.
由于将识别模块调整为沿第二方向的识别距离L 1与位置模块沿第二方向的长度L 2满足：1≤L 1/L 2≤2，且调整识别模块沿第一方向上的识别距离较小，因此，在可移动目标物在沿第一方向移动过程中，识别模块会接收到沿第二方向阵列的多个位置模块的位置信息。在本申请实施例中，S130，处理模块接收识别模块发送的位置信息，并基于位置信息确定可移动目标物的位置参数的步骤包括处理模块判断接收到的位置信息的数量的步骤。具体的，当处理模块判断位置信息的数量为一个时，处理模块确定 位置信息为可移动目标物的位置参数。当处理模块判断位置信息的数量为两个以上时，处理模块将多个位置信息做均值处理得到可移动目标物的位置参数；或者，处理模块选取沿第二方向上位于中间位置的位置信息作为可移动目标物的位置参数。 Since the identification module is adjusted so that the identification distance L 1 along the second direction and the length L 2 of the position module along the second direction satisfy: 1≤L 1 /L 2 ≤2, and the identification distance of the identification module along the first direction is adjusted It is smaller. Therefore, during the movement of the movable target in the first direction, the identification module will receive the position information of the multiple position modules arrayed in the second direction. In the embodiment of the present application, S130, the processing module receives the position information sent by the identification module, and the step of determining the position parameter of the movable target based on the position information includes the step of the processing module judging the quantity of received position information. Specifically, when the processing module determines that the number of position information is one, the processing module determines that the position information is the position parameter of the movable target. When the processing module determines that the number of position information is more than two, the processing module averages multiple position information to obtain the position parameter of the movable target; or, the processing module selects the position information located at the middle position in the second direction as the position information The position parameter of the movable target.
进一步的，S130步骤还包括距离确定模块计算并记录可移动目标物在相邻两个位置模块之间的移动距离，距离确定模块将移动距离发送给处理模块；处理模块将接收到的识别模块上的位置信息和移动距离相加确定可移动物的位置参数，其中，距离确定模块计算并记录的是可移动目标物在沿第一方向相邻的两个位置模块之间的移动距离。Further, step S130 also includes the distance determining module calculating and recording the moving distance of the movable target between two adjacent position modules, the distance determining module sends the moving distance to the processing module; the processing module sends the received recognition module to the The position information of and the moving distance are added to determine the position parameter of the movable object. The distance determining module calculates and records the moving distance of the movable target between two adjacent position modules in the first direction.
本申请实施例提供的可移动目标物定位方法，通过在位置模块上预先存储有相应的位置信息，可以使位置模块与相应的位置信息具有对应关系，通过识别模块识别预先存储在位置模块上的位置信息，并将识别到的位置信息发送给处理模块，处理模块基于接收到的位置信息确定可移动目标物的位置参数，可以在一定程度上提高定位精度；并且在固定面上沿预设距离间隔设置有多个位置模块，可以多方位对可以定目标物进行精确定位。In the method for positioning a movable target provided by the embodiment of the present application, the corresponding position information can be stored in the position module in advance, so that the position module and the corresponding position information can have a corresponding relationship, and the recognition module can identify the data stored in the position module in advance. Position information and send the identified position information to the processing module. The processing module determines the position parameters of the movable target based on the received position information, which can improve the positioning accuracy to a certain extent; and the preset distance is along the fixed surface There are multiple position modules at intervals, which can accurately position the fixed target in multiple directions.
以下通过具体的实例，描述本申请实施例的可选的具体处理过程。需要说明的是，本申请的方案并不依赖于具体的算法，在实际应用中，可选用任何已知或未知的硬件、软件、算法、程序或其任意组合等来实现本申请的方案，只要是采用了本申请方案的实质思想，均落入本申请的保护范围。The following describes specific optional processing procedures of the embodiments of the present application through specific examples. It should be noted that the solution of this application does not depend on specific algorithms. In practical applications, any known or unknown hardware, software, algorithm, program or any combination thereof can be used to implement the solution of this application, as long as It adopts the essential ideas of the scheme of this application, and all fall into the protection scope of this application.
作为一个示例，图2示出了本申请实施例的位置模块、识别模块和可移动目标物之间的相对位置关系示意图。As an example, FIG. 2 shows a schematic diagram of the relative positional relationship between the position module, the recognition module, and the movable target in an embodiment of the present application.
如图2所示，在一个实施例中，可移动目标物可以为车辆230，固定面为道路，多个位置模块210a、210b、210c以m×n阵列设置在道路上，沿第一方向相邻的位置模块210a、210b、210c以预设距离L 3间隔设置在固定面上。本申请实施例中，预设距离L 3与可移动目标物的长度L 4满足：1≤L 3/L 4≤2，在第二方向上，相邻两个位置模块210a、210b、210c可以依次无间隙设置或间隔设置，本申请对此不进行限定，只要识别模块220调整为沿第二方向的识别距离L 1与位置模块210a、210b、210c沿第二方 向的长度L 2满足：1≤L 1/L 2≤2即可。通过将预设距离合理设置，能够使车辆230在自身行驶过程中快速识别到位置模块210a、210b、210c，并有效提高可移动目标物的定位精度。具体的，第一方向为道路的延伸方向，且第一方向与第二方向之间以预设角度设置，可选择的，预设角度为90°。 As shown in FIG. 2, in one embodiment, the movable target may be a vehicle 230, the fixed surface is a road, and a plurality of position modules 210a, 210b, 210c are arranged on the road in an m×n array, and are aligned along the first direction. o the location module 210a, 210b, 210c at a predetermined distance L 3 is provided on a fixed surface. In the embodiment of the present application, the preset distance L 3 and the length L 4 of the movable target satisfy: 1≤L 3 /L 4 ≤2. In the second direction, two adjacent position modules 210a, 210b, 210c can Set in sequence without gaps or intervals, this application does not limit this, as long as the recognition module 220 is adjusted so that the recognition distance L 1 along the second direction and the length L 2 of the position modules 210a, 210b, 210c along the second direction satisfy: 1 ≤L 1 /L 2 ≤2. By setting the preset distance reasonably, the vehicle 230 can quickly recognize the position modules 210a, 210b, and 210c during its own driving process, and effectively improve the positioning accuracy of the movable target. Specifically, the first direction is the extending direction of the road, and the first direction and the second direction are set at a preset angle, and optionally, the preset angle is 90°.
具体地，本申请实施例中以第一方向为X轴方向，第二方向为Y轴方向，以基准点为原点建立XOY平面直角坐标系，其中基准点为道路的起点位置。根据每个位置模块210a、210b、210c设置在道路上的位置，各个位置模块210a、210b、210c上预存有包括相应的(x 1，y 1)、(x 1，y 2)…、(x m，y n)等的位置信息。本实施例中，识别模块220为一个且设置在车头位置，当车辆230在行驶过程中，识别模块220始终开启识别模式，当车辆230移动至靠近位置模块210a、210b、210c，位置模块210a、210b、210c处于识别模块220的识别范围内时，识别模块220能够识别到位置模块210a、210b、210c的相应的位置信息并把位置信息发送给处理模块320，处理模块320基于接收到的位置信息确定车辆230的位置参数。 Specifically, in the embodiment of the present application, the first direction is the X-axis direction, the second direction is the Y-axis direction, and the XOY plane rectangular coordinate system is established with the reference point as the origin, where the reference point is the starting point of the road. According to the position of each position module 210a, 210b, 210c set on the road, each position module 210a, 210b, 210c is pre-stored including corresponding (x 1 , y 1 ), (x 1 , y 2 )..., (x m , y n ) and other location information. In this embodiment, the identification module 220 is one and is set at the front of the vehicle. When the vehicle 230 is driving, the identification module 220 always turns on the identification mode. When the vehicle 230 moves closer to the position modules 210a, 210b, 210c, the position module 210a, When 210b and 210c are within the recognition range of the recognition module 220, the recognition module 220 can recognize the corresponding location information of the location modules 210a, 210b, and 210c and send the location information to the processing module 320, which is based on the received location information The location parameters of the vehicle 230 are determined.
在一些可选实施例中，位置模块210a、210b、210c为具有磁性的磁编码单元，对应的识别模块220通过电磁感应方式的非接触方式读取磁编码单元上存储的位置信息；或者，位置模块210a、210b、210c为条形码或二维码，对应的识别模块220为图像识别***，可选择的，处理模块320可以设置在可移动目标物上，也可以进行远程处理，识别模块220通过传输协议(例如，WIFI或蓝牙等)将识别到的位置信息发送至处理模块320。当然，也可以在车辆230上设置两个以上识别模块220，此时，处理模块320根据识别模块220发送的信号峰值确定车辆230的位置参数，例如两个识别模块220将各自识别到的位置信息发送给处理模块320，处理模块320首先对两个识别模块220发送的信号进行对比，选取信号强度大的信号为准确定车辆230的位置参数。In some optional embodiments, the position modules 210a, 210b, and 210c are magnetic encoding units with magnetism, and the corresponding identification module 220 reads the position information stored on the magnetic encoding units in a non-contact manner through electromagnetic induction; or, the position The modules 210a, 210b, and 210c are barcodes or two-dimensional codes, and the corresponding recognition module 220 is an image recognition system. Optionally, the processing module 320 can be set on a movable target or can be remotely processed. The recognition module 220 transmits The protocol (for example, WIFI or Bluetooth, etc.) sends the identified position information to the processing module 320. Of course, more than two identification modules 220 can also be provided on the vehicle 230. At this time, the processing module 320 determines the location parameters of the vehicle 230 according to the signal peak value sent by the identification module 220. For example, the two identification modules 220 identify the location information of each It is sent to the processing module 320, and the processing module 320 first compares the signals sent by the two identification modules 220, and selects the signal with the strong signal strength as the accurate location parameter of the vehicle 230.
进一步的，在车辆230上设置有距离确定模块，可以记录车辆230当前位置相对于上一个位置模块列之间的移动距离并把移动距离发送给处理模块320，以车辆230沿第一方向行驶为例，当车辆230行驶至相邻两个位置模块列之间时，此时，距离确定模块记录车辆230沿第一方向的移动 距离为x 3，处理模块320接收到的上一个位置信息为(x 1，y 1)，则此时处理模块320确定的当前车辆230的位置参数为(x 1+x 3，y 1)。可选择的，位置处理模块320为寄存器。在本申请实施例中，当车辆230行驶至下一个位置模块列时，该距离确定模块记录的数据会自动清空，便于处理模块320进行计算，其中，位置模块列由x坐标相同的多个位置模块210a、210b、210c形成。通过设置距离确定模块可以更进一步准确的确定车辆230的位置。其中，位置模块列包括沿第二方向Y排列成一列的多个位置模块210a、210b、210c。进一步的，本申请实施例提供的可移动目标物的定位方法还包括处理模块320将确定的车辆230的位置参数发送至中心处理器310，中心处理器310基于当前车辆230的位置参数对车辆230进行统一管理和分布，例如，中心处理器310可以根据所有车辆230的位置参数实现道路状态监控、并进行交通疏导管制等，其中，中心处理器310预先存储有固定面上所有位置模块210a、210b、210c的位置信息。通过对行驶在道路上的车辆230进行统一管理和分布，能够将车辆230进行有序管理，减少交通事故发生概率。 Further, a distance determination module is provided on the vehicle 230, which can record the moving distance of the current position of the vehicle 230 relative to the previous position module column and send the moving distance to the processing module 320, taking the vehicle 230 traveling in the first direction as For example, when the vehicle 230 travels between two adjacent position module columns, at this time, the distance determination module records the moving distance of the vehicle 230 in the first direction as x 3 , and the last position information received by the processing module 320 is ( x 1 , y 1 ), then the position parameter of the current vehicle 230 determined by the processing module 320 at this time is (x 1 +x 3 , y 1 ). Optionally, the position processing module 320 is a register. In the embodiment of the present application, when the vehicle 230 drives to the next position module column, the data recorded by the distance determination module will be automatically cleared, which is convenient for the processing module 320 to calculate. The position module column is composed of multiple positions with the same x coordinate. The modules 210a, 210b, and 210c are formed. The position of the vehicle 230 can be further accurately determined by setting the distance determination module. The position module row includes a plurality of position modules 210a, 210b, 210c arranged in a row along the second direction Y. Further, the method for locating a movable target provided by the embodiment of the present application further includes the processing module 320 sending the determined position parameters of the vehicle 230 to the central processor 310, and the central processor 310 performs the determination of the vehicle 230 based on the position parameters of the current vehicle 230. For unified management and distribution, for example, the central processor 310 can implement road state monitoring and traffic evacuation according to the position parameters of all vehicles 230. The central processor 310 pre-stores all position modules 210a and 210b on the fixed surface. , 210c location information. By uniformly managing and distributing the vehicles 230 running on the road, the vehicles 230 can be managed in an orderly manner, reducing the probability of traffic accidents.
通过上述技术方案对可移动目标物进行定位，相比较现有技术中通过GPS、LBS等定位方式，在一定程度上提高了定位精度，实现了可移动目标物的精确定位。The positioning of the movable target through the above technical solutions, compared with the positioning methods such as GPS and LBS in the prior art, improves the positioning accuracy to a certain extent and realizes the precise positioning of the movable target.
本申请实施例提供的上述方案，通过直接在道路上安装位置模块210a、210b、210c，位置模块210a、210b、210c的形式可以为磁编码单元、二维码或条形码等，可以避免各类干扰，且对任何可移动目标物加装识别模块220之后，便可实现非接触式读取来自位置模块210a、210b、210c的位置信息，实现道路与可移动目标物之间的“对话”，获取更精确的位置信息，能够实现厘米级甚至是毫米级定位精度，具有定位精度高、实施方便、成本低廉等特点，可以为自动驾驶、智慧出行保驾护航。The above solutions provided by the embodiments of this application can avoid all kinds of interference by directly installing the position modules 210a, 210b, 210c on the road. The position modules 210a, 210b, 210c can be in the form of magnetic encoding units, two-dimensional codes or barcodes, etc. , And after the identification module 220 is installed on any movable target, the non-contact reading of the position information from the position modules 210a, 210b, 210c can be realized, and the "dialogue" between the road and the movable target can be realized. More precise location information can achieve centimeter-level or even millimeter-level positioning accuracy. It has the characteristics of high positioning accuracy, convenient implementation, and low cost, which can escort automatic driving and smart travel.
本申请实施例还提供一种可移动目标物的定位***，参考图3，图3示出本申请实施例的可移动目标物定位***的结构示意图。该定位***包括多个位置模块210a、210b、210c、识别模块220和处理模块320，其中，多个位置模块210a、210b、210c能够以预设方式设置在固定面上，被配置 能够存储各个位置模块210a、210b、210c对应的位置信息，位置信息包括位置模块210a、210b、210c与基准点之间的相对位置信息；识别模块220设置在可移动目标物上，识别模块220被配置为识别并发送位置模块210a、210b、210c上的位置信息，可移动目标物可在固定面上进行移动；处理模块320被配置为接收识别模块220上的位置信息并基于位置信息确定可移动目标物的位置参数。An embodiment of the present application also provides a positioning system for a movable target. Refer to FIG. 3, which shows a schematic structural diagram of the positioning system for a movable target according to an embodiment of the present application. The positioning system includes a plurality of position modules 210a, 210b, 210c, an identification module 220, and a processing module 320. The plurality of position modules 210a, 210b, 210c can be set on a fixed surface in a preset manner, and are configured to store various positions. The position information corresponding to the modules 210a, 210b, and 210c. The position information includes the relative position information between the position modules 210a, 210b, and 210c and the reference point; the identification module 220 is set on the movable target, and the identification module 220 is configured to identify and Send the position information on the position modules 210a, 210b, 210c, the movable target can move on the fixed surface; the processing module 320 is configured to receive the position information on the recognition module 220 and determine the position of the movable target based on the position information parameter.
利用本申请提供的上述方案，通过利用识别模块220识别预先存储在位置模块210a、210b、210c上的位置信息并经过处理模块320处理进而确定可移动目标物的位置参数，在一定程度上提高了定位精度，实现对可移动目标物的精确定位，而且***结构简单，易于实现。可选择的，本申请实施例中的位置模块210a、210b、210c为具有磁性的磁编码单元，将磁编码单元受外界环境影响较小，且磁编码单元本身具有磁性，不需要进行供电运行，可以有效减少电路故障对可移动目标物定位***的影响。可选择的，可移动目标物为车辆230，固定面为道路，本申请实施例提供的定位***应用于对安装有识别模块220的车辆在道路上的位置进行定位。Utilizing the above-mentioned solution provided by the present application, by using the recognition module 220 to recognize the position information pre-stored on the position modules 210a, 210b, 210c and processing the processing module 320 to determine the position parameters of the movable target, it is improved to a certain extent. The positioning accuracy can realize the precise positioning of the movable target, and the system structure is simple and easy to realize. Optionally, the position modules 210a, 210b, and 210c in the embodiment of the present application are magnetic encoding units with magnetism, so that the magnetic encoding unit is less affected by the external environment, and the magnetic encoding unit itself is magnetic and does not require power supply operation. It can effectively reduce the impact of circuit failure on the movable target positioning system. Optionally, the movable target is the vehicle 230, and the fixed surface is the road. The positioning system provided in the embodiment of the present application is applied to locate the position of the vehicle on the road with the identification module 220 installed.
在一个可选实施例中，位置模块210a、210b、210c分别沿第一方向和第二方向阵列分布，以使位置模块210a、210b、210c在固定面上形成m×n阵列；其中，沿第一方向相邻的位置模块以预设距离间隔设置在固定面上，第一方向为固定面的延伸方向，第一方向与第二方向呈预设角度设置；其中，预设角度为90°，识别模块220沿第二方向的识别距离L 1与子单元沿第二方向的长度L 2满足：1≤L 1/L 2≤2。通过在固定面上阵列设置多个位置模块210a、210b、210c，能够对可移动目标物进行多方位进行准确定位。 In an optional embodiment, the position modules 210a, 210b, and 210c are arranged in an array along the first direction and the second direction, respectively, so that the position modules 210a, 210b, and 210c form an m×n array on the fixed surface; Position modules adjacent in one direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the first direction and the second direction are set at a preset angle; wherein the preset angle is 90°, The recognition distance L 1 of the recognition module 220 along the second direction and the length L 2 of the sub-unit along the second direction satisfy: 1 ≦L 1 /L 2 ≦2. By arranging a plurality of position modules 210a, 210b, and 210c on the fixed surface in an array, the movable target can be accurately positioned in multiple directions.
在一个可选实施例中，处理模块320具体被配置为判断接收到的位置信息的数量，并根据位置信息进行确定可移动目标物的位置参数；其中，当处理模块320判断位置信息为一个时，确定位置信息为可移动目标物的位置参数；当处理模块320判断位置信息为两个以上时，选取沿第二方向上位于中间位置的位置信息作为可移动目标物的位置参数；或者，将多个位置信息均值处理得到可移动目标物的位置参数。In an optional embodiment, the processing module 320 is specifically configured to determine the quantity of received position information, and determine the position parameters of the movable target according to the position information; wherein, when the processing module 320 determines that the position information is one , Determine that the position information is the position parameter of the movable target; when the processing module 320 determines that the position information is more than two, select the position information at the middle position along the second direction as the position parameter of the movable target; or Multiple position information averaging processing obtains the position parameter of the movable target.
进一步的，本申请实施例提供的可移动目标物定位***还包括距离确定模块，被配置为计算并记录可移动目标物在相邻两个位置模块210a、210b、210c之间的移动距离；处理模块320还被配置为将接收到的识别模块220上的位置信息和移动距离相加确定可移动目标物的位置参数。Further, the movable target positioning system provided by the embodiment of the present application further includes a distance determining module configured to calculate and record the moving distance of the movable target between two adjacent position modules 210a, 210b, 210c; processing The module 320 is also configured to add the received position information on the recognition module 220 and the moving distance to determine the position parameter of the movable target.
在一些实施例中，可移动目标物定位***除了包括如前述实施例的可移动目标物定位***的识别模块220和处理模块320之外，还可以包括如中心处理器310，用于对沿着道路行驶的多个车辆的坐标参数进行处理，其中可移动目标物为安装有识别的车辆230，道路上布置有多个位置模块210a、210b、210c。In some embodiments, the movable target positioning system includes the recognition module 220 and the processing module 320 of the movable target positioning system as in the previous embodiment, and may also include, for example, a central processor 310 for performing alignment The coordinate parameters of multiple vehicles traveling on the road are processed, wherein the movable target is the vehicle 230 installed with the recognition, and multiple location modules 210a, 210b, 210c are arranged on the road.
在一些可选实施例中，可移动目标物为安装有识别单元的车辆230，固定面为道路，识别模块220上还设置有车辆的身份信息，身份信息包括车辆230的车牌、车型及编号信息的一种或组合。通过在识别模块220上设置车辆230的身份信息，识别模块220在发送给处理模块320位置信息时同时将身份信息打包发送给处理模块320，便于处理模块320进行对应，便于对车辆230进行准确管理，以及便于后期的交通管制和驾驶车辆的责任制实施。In some optional embodiments, the movable target is a vehicle 230 equipped with an identification unit, the fixed surface is a road, and the identification module 220 is also provided with identification information of the vehicle. The identification information includes the license plate, model and number information of the vehicle 230 One or a combination of. By setting the identification information of the vehicle 230 on the identification module 220, the identification module 220 will package and send the identification information to the processing module 320 when sending the location information to the processing module 320, which is convenient for the processing module 320 to correspond and facilitate the accurate management of the vehicle 230 , And to facilitate the implementation of later traffic control and the responsibility system for driving vehicles.
以下通过具体的实例，描述本申请实施例的可选的具体处理过程。需要说明的是，本申请的方案并不依赖于具体的算法，在实际应用中，可选用任何已知或未知的硬件、软件、算法、程序或其任意组合等来实现本申请的方案，只要是采用了本申请方案的实质思想，均落入本申请的保护范围。The following describes specific optional processing procedures of the embodiments of the present application through specific examples. It should be noted that the solution of this application does not depend on specific algorithms. In practical applications, any known or unknown hardware, software, algorithm, program or any combination thereof can be used to implement the solution of this application, as long as It adopts the essential ideas of the scheme of this application, and all fall into the protection scope of this application.
本申请实施例中，位置模块210a、210b、210c为磁编码单元，安装在车辆上的识别模块220通过电磁感应的方式识别磁编码单元上预存的位置信息。如图2和图3所示，当前的道路为两车道的道路，在道路上以m×n阵列设置有多个预先存储有位置信息的位置模块210a、210b、210c，车辆在道路上沿着道路的延伸方向(第一方向/X方向)行驶，当车辆靠近位置模块210a、210b、210c时，通过识别模块220识别到相应的位置信息。例如当车辆上的识别模块220识别到的位置信息为(30，50)时，则处理模块320确定当前车辆230距离道路基准点之间第一方向上的距离为30m， 距离基准点在第二方向上的距离为50m。例如，当识别模块220识别到的位置信息的数量为两个时，分别为(40，60)、(40，65)，则处理模块320确定当前车辆距离道路基准点的坐标为(40，62.5)。例如，当识别模块220识别到的位置信息的数量为三个及以上时，分别为(70，62)、(70，63)、(70，64)，则处理模块320选取三个位置信息中位于中间位置的位置信息作为车辆230的位置参数，本申请实施例中中间位置为沿第二方向上的中间位置，即处理模块320确定车辆的位置参数为(70，63)，可选择的，也可以将三个位置信息进行均值处理，以得到相应的车辆的位置信息。In the embodiment of the present application, the location modules 210a, 210b, and 210c are magnetic encoding units, and the identification module 220 installed on the vehicle recognizes the location information pre-stored on the magnetic encoding unit by means of electromagnetic induction. As shown in Figures 2 and 3, the current road is a two-lane road. A number of position modules 210a, 210b, and 210c with pre-stored position information are arranged in an m×n array on the road. When the vehicle travels in the extending direction (first direction/X direction) of the road, when the vehicle approaches the location modules 210a, 210b, 210c, the identification module 220 recognizes corresponding location information. For example, when the position information recognized by the recognition module 220 on the vehicle is (30, 50), the processing module 320 determines that the distance between the current vehicle 230 and the road reference point in the first direction is 30 m, and the distance reference point is in the second direction. The distance in the direction is 50m. For example, when the number of position information recognized by the recognition module 220 is two, namely (40, 60) and (40, 65), the processing module 320 determines that the coordinates of the current vehicle from the road reference point are (40, 62.5). ). For example, when the number of location information recognized by the identification module 220 is three or more, respectively (70, 62), (70, 63), (70, 64), the processing module 320 selects three location information The position information at the middle position is used as the position parameter of the vehicle 230. In the embodiment of the present application, the middle position is the middle position along the second direction, that is, the processing module 320 determines that the position parameter of the vehicle is (70, 63), which is optional, The three position information can also be averaged to obtain the corresponding vehicle position information.
根据本申请实施例的可移动目标物定位***的其他细节与以上结合图1至图3描述的根据本申请实施例的可移动目标物定位方法类似，在此将不再赘述。Other details of the movable target positioning system according to the embodiment of the present application are similar to the movable target positioning method according to the embodiment of the present application described above with reference to FIGS. 1 to 3, and will not be repeated here.
其中，术语“第一”、“第二”、等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。需要理解，如此使用的术语在适当的情况下是可以互换的，以使本文所描述的申请中的实施例，例如，能够按照除了本文说明的或其他方式描述的那些顺次而工作或排列。Among them, the terms "first", "second", etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of these entities or operations. Any such actual relationship or sequence. It needs to be understood that the terms so used are interchangeable under appropriate circumstances, so that the embodiments in the application described herein, for example, can work or be arranged sequentially in addition to those described herein or described in other ways. .
本申请可以以其他的具体形式实现，而不脱离其精神和本质特征。因此，当前的实施例在所有方面都被看作是示例性的而非限定性的，本申请的范围由所附权利要求而非上述描述定义，并且，落入权利要求的含义和等同物的范围内的全部改变从而都被包括在本申请的范围之中。并且，在不同实施例中出现的不同技术特征可以进行组合，以取得有益效果。本领域技术人员在研究附图、说明书及权利要求书的基础上，应能理解并实现所揭示的实施例的其他变化的实施例。This application can be implemented in other specific forms without departing from its spirit and essential characteristics. Therefore, the current embodiments are regarded as illustrative rather than restrictive in all aspects, and the scope of this application is defined by the appended claims rather than the foregoing description, and falls within the meaning and equivalents of the claims. All changes within the scope are thus included in the scope of this application. Moreover, different technical features appearing in different embodiments can be combined to achieve beneficial effects. Those skilled in the art should be able to understand and implement other modified embodiments of the disclosed embodiments on the basis of studying the drawings, description, and claims.

Claims (10)

  1. 一种可移动目标物定位方法，应用于安装有识别模块的所述可移动目标物，所述可移动目标物可在固定面上进行移动；A method for positioning a movable target, which is applied to the movable target equipped with an identification module, and the movable target can move on a fixed surface;
    所述方法包括：The method includes:
    将位置模块以预设方式设置在所述固定面上，其中，所述位置模块预先存储有位置模块上对应的位置信息，所述位置信息包括所述位置模块与基准点之间的相对位置信息；The position module is set on the fixed surface in a preset manner, wherein the position module prestores corresponding position information on the position module, and the position information includes relative position information between the position module and a reference point ；
    所述可移动目标物经由各所述位置模块，以使所述识别模块识别各所述位置信息并发送给处理模块；The movable target passes through each of the position modules so that the identification module recognizes each of the position information and sends it to the processing module;
    所述处理模块接收所述识别模块发送的所述位置信息，并基于所述位置信息确定所述可移动目标物的位置参数。The processing module receives the location information sent by the identification module, and determines the location parameter of the movable target based on the location information.
  2. 根据权利要求1所述的可移动目标物定位方法，其中，所述将位置模块以预设方式设置在所述固定面上的步骤包括：The movable target positioning method according to claim 1, wherein the step of arranging the position module on the fixed surface in a preset manner comprises:
    将所述位置模块分别沿第一方向和第二方向阵列排布，以使所述位置模块在所述固定面上形成m×n阵列，其中，m为正整数，n为正整数；Arranging the position modules in an array along a first direction and a second direction respectively, so that the position modules form an m×n array on the fixed surface, where m is a positive integer and n is a positive integer;
    其中，沿第一方向相邻的所述位置模块以预设距离间隔设置在所述固定面上，所述第一方向为固定面的延伸方向，所述可移动目标物沿第一方向移动，所述第一方向与所述第二方向呈预设角度设置。Wherein, the position modules adjacent to each other in a first direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the movable target moves along the first direction, The first direction and the second direction are arranged at a preset angle.
  3. 根据权利要求2所述的可移动目标物定位方法，其中，所述可移动目标物经由各所述位置模块，以使所述识别模块识别各所述位置信息并发送给处理模块之前，还包括调整所述识别模块的识别距离步骤；其中，The method for locating a movable target according to claim 2, wherein before the movable target passes through each of the position modules so that the identification module recognizes each of the position information and sends it to the processing module, the method further comprises The step of adjusting the recognition distance of the recognition module; wherein,
    所述调整所述识别模块的识别距离步骤包括：调整所述识别模块沿第二方向的识别距离L 1与所述位置模块沿第二方向的长度L 2满足：1≤L 1/L 2≤2。 The step of adjusting the recognition distance of the recognition module includes: adjusting the recognition distance L 1 of the recognition module in the second direction and the length L 2 of the position module in the second direction to satisfy: 1≤L 1 /L 2 ≤ 2.
  4. 根据权利要求2所述的可移动目标物定位方法，其中，所述处理模块接收所述识别模块发送的所述位置信息，并基于所述位置信息确定所述可移动目标物的位置参数的步骤包括：The method for locating a movable target according to claim 2, wherein the processing module receives the position information sent by the identification module, and the step of determining the position parameter of the movable target based on the position information include:
    所述处理模块判断接收到的所述位置信息的数量：The processing module judges the quantity of the received position information:
    当所述处理模块判断所述位置信息的数量为一个时，确定所述位置信息为所述可移动目标物的位置参数；When the processing module determines that the number of the position information is one, determining that the position information is the position parameter of the movable target;
    当所述处理模块判断所述位置信息的数量为两个以上时，选取沿所述第二方向上位于中间位置的所述位置信息作为所述可移动目标物的位置参数；或者，将多个所述位置信息均值处理得到所述可移动目标物的位置参数。When the processing module determines that the number of the position information is more than two, select the position information located in the middle position along the second direction as the position parameter of the movable target; or, combine multiple The position information is averaged to obtain the position parameter of the movable target.
  5. 根据权利要求1所述的可移动目标物定位方法，其中，所述处理模块接收所述识别模块发送的所述位置信息，并基于所述位置信息确定所述可移动目标物的位置参数的步骤还包括：The method for positioning a movable target according to claim 1, wherein the processing module receives the position information sent by the identification module, and the step of determining the position parameter of the movable target based on the position information Also includes:
    距离确定模块计算并记录所述可移动目标物在相邻两个所述位置模块之间的移动距离，所述距离确定模块将所述移动距离发送给所述处理模块；The distance determining module calculates and records the moving distance of the movable target between two adjacent position modules, and the distance determining module sends the moving distance to the processing module;
    所述处理模块将接收到的所述识别模块上的位置信息和所述移动距离相加确定所述可移动物的位置参数。The processing module adds the received position information on the identification module and the moving distance to determine the position parameter of the movable object.
  6. 根据权利要求1所述的可移动目标物定位方法，其中，所述位置模块为具有磁性的磁编码单元，对应的所述识别模块通过电磁感应方式读取所述磁编码单元上存储的位置信息；The method for positioning a movable target according to claim 1, wherein the position module is a magnetic encoding unit with magnetism, and the corresponding identification module reads the position information stored on the magnetic encoding unit through electromagnetic induction. ；
    或者，所述位置模块为条形码或二维码，对应的所述识别模块为图像识别***。Alternatively, the location module is a barcode or a two-dimensional code, and the corresponding recognition module is an image recognition system.
  7. 一种可移动目标物定位***，其中，包括：A movable target positioning system, which includes:
    多个位置模块，能够以预设方式设置在固定面上，被配置能够存储各个所述位置模块对应的位置信息，所述位置信息包括所述位置模块与基准点之间的相对位置信息；A plurality of position modules can be set on a fixed surface in a preset manner, and are configured to store position information corresponding to each of the position modules, the position information including relative position information between the position module and a reference point;
    识别模块，设置在所述可移动目标物上，被配置为识别并发送所述位置模块上的位置信息，所述可移动目标物可在所述固定面上进行移动；An identification module, arranged on the movable target, configured to identify and send position information on the position module, the movable target can move on the fixed surface;
    处理模块，被配置为接收所述识别模块上的位置信息并基于所述位置信息确定所述可移动目标物的位置参数。The processing module is configured to receive the position information on the recognition module and determine the position parameter of the movable target based on the position information.
  8. 根据权利要求7所述的可移动目标物定位***，其中，所述位置模块分别沿第一方向和第二方向阵列，以使所述位置模块在所述固定面上形成m×n阵列，其中，m为正整数，n为正整数；The movable target positioning system according to claim 7, wherein the position module is arrayed in a first direction and a second direction respectively, so that the position module forms an m×n array on the fixed surface, wherein , M is a positive integer, n is a positive integer;
    其中，沿第一方向的相邻所述位置模块以预设距离间隔设置在所述固定面上，所述第一方向为固定面的延伸方向，所述第一方向与所述第二方向呈预设角度设置；Wherein, the adjacent position modules along the first direction are arranged on the fixed surface at intervals of a preset distance, the first direction is the extension direction of the fixed surface, and the first direction is in the same direction as the second direction. Preset angle setting;
    其中，所述预设角度为90°，所述识别模块沿第二方向的识别距离L 1与所述子单元沿第二方向的长度L 2满足：1≤L 1/L 2≤2。 Wherein, the preset angle is 90°, and the recognition distance L 1 of the recognition module along the second direction and the length L 2 of the subunit along the second direction satisfy: 1≤L 1 /L 2 ≤2.
  9. 根据权利要求8所述的可移动目标物定位***，其中，处理模块具体被配置为判断接收到的所述位置信息的数量，并根据所述位置信息进行确定所述可移动目标物的位置参数；其中，The movable target positioning system according to claim 8, wherein the processing module is specifically configured to determine the quantity of the received position information, and determine the position parameter of the movable target according to the position information ;among them,
    当所述处理模块判断所述位置信息为一个时，确定所述位置信息为所述可移动目标物的位置参数；When the processing module determines that the position information is one, determine that the position information is the position parameter of the movable target;
    当所述处理模块判断所述位置信息为两个以上时，选取沿第二方向上位于中间位置的所述位置信息作为所述可移动目标物的位置参数；或者，将多个所述位置信息均值处理得到所述可移动目标物的位置参数。When the processing module determines that the position information is more than two, the position information located in the middle position in the second direction is selected as the position parameter of the movable target; or, multiple pieces of the position information The position parameter of the movable target is obtained by averaging processing.
  10. 根据权利要求7所述的可移动目标物定位***，其中，进一步包括距离确定模块，被配置为计算并记录所述可移动目标物在相邻两个所述位置模块之间的移动距离；7. The movable target positioning system according to claim 7, further comprising a distance determining module configured to calculate and record the moving distance of the movable target between two adjacent position modules;
    所述处理模块还被配置为将接收到的所述识别模块上的位置信息和所述移动距离相加确定所述可移动目标物的位置参数。The processing module is further configured to add the received position information on the identification module and the moving distance to determine the position parameter of the movable target.
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