阅读说明：本技术 位置测量方法和位置测量装置 (Position measuring method and position measuring device ) 是由 郭铮 于 2018-08-02 设计创作，主要内容包括：本发明实施例提出一种行走装置的位置测量系统和位置测量方法,该位置测量系统包括速度测量装置、位置修正装置和处理装置；所述速度测量装置用于分别获取所述行走装置在第一方向和第二方向上的运动速度,其中所述第一方向和所述第二方向为同一平面内的两个非平行的方向；所述处理装置连接于所述速度测量装置,用于根据所述第一方向和所述第二方向上的运动速度确定所述行走装置的初测位置数据；所述位置修正装置用于检测所述行走装置的实测位置数据,并发送至所述处理装置；所述处理装置还用于接收所述实测位置数据,并根据所述实测位置数据修正所述行走装置的初测位置数据。(The embodiment of the invention provides a position measuring system and a position measuring method of a walking device, wherein the position measuring system comprises a speed measuring device, a position correcting device and a processing device; the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane; the processing device is connected to the speed measuring device and used for determining initial measurement position data of the walking device according to the movement speeds in the first direction and the second direction; the position correction device is used for detecting the actually measured position data of the walking device and sending the actually measured position data to the processing device; and the processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data.)

1. A position measuring system of a walking device is characterized by comprising a speed measuring device, a position correcting device and a processing device;

the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;

the processing device is connected to the speed measuring device and used for determining initial measurement position data of the walking device according to the movement speeds in the first direction and the second direction;

the position correction device is used for detecting the actually measured position data of the walking device and sending the actually measured position data to the processing device;

and the processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data.

2. The position measurement system according to claim 1, wherein the position correction device includes a probe optical transceiver for detecting the traveling device by probe light, and acquiring an angle between the probe light and a first reference plane, an angle between the probe light and a second reference plane, and a position of an emission point of the probe light in a third direction when the traveling device is detected;

the first reference plane comprises a plane where the second direction and the third direction are located at the same time, and the second reference plane comprises a plane where the first direction and the third direction are located at the same time.

3. The position measurement system of claim 2, wherein the probe light is a laser.

4. The position measurement system according to claim 2, wherein the position correction device further comprises a driving device for driving the probe optical transceiver to emit probe light along a specific angle.

5. The position measurement system of claim 2, wherein the probe optical transceiver comprises a probe optical transmitter and a probe optical receiver.

6. The position measurement system according to claim 2, wherein the speed measurement device includes a first direction speed sensor for detecting a speed of movement in the first direction, and a second direction speed sensor for detecting a speed of movement in the second direction.

7. The position measurement system of claim 2, wherein the processing device comprises a first processing unit and a second processing unit and a third processing unit;

the first processing unit is connected with the speed measuring device and used for determining position data of the walking device in the first direction according to the movement speed of the first direction; determining the position data of the walking device in the second direction according to the movement speed in the second direction;

the second processing unit is connected to the detecting light transceiver and used for calculating the actually measured position data according to the included angle between the detecting light and the first reference plane, the included angle between the detecting light and the second reference plane and the position of the emitting point of the detecting light in the third direction.

And the third processing unit is used for receiving the initial measurement position data and the actually measured position data and correcting the initial measurement position data according to the actually measured position data.

8. The position measuring system according to claim 7, wherein the third processing unit is further configured to obtain an identification ID of a walking device when the probe optical transceiver detects the walking device.

9. The position measurement system of claim 8, wherein the second processing unit is further configured to identify an identification ID of the running gear and send the identification ID to the third processing unit.

10. The position measurement system of claim 8, wherein the first processing unit is further configured to send an identification ID of the running gear to the third processing unit.

11. The position measurement system according to claim 7, wherein the first processing unit is provided on the traveling device, and the second processing unit is provided on the probe optical transceiver.

12. A method of measuring a position of a traveling apparatus, comprising:

acquiring an initial position of a walking device;

respectively acquiring the movement speeds of a walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;

determining initial measurement position data of the walking device by using the initial position and the movement speeds in the first direction and the second direction;

and correcting the initial measurement position data by using the actual measurement position data.

13. The method of claim 12, wherein the step of determining initial position data for the walking device using the initial position and the speed of movement in the first and second directions comprises:

acquiring position data in a first direction and position data in a second direction by using a movement speed in the first direction and a movement speed in the second direction in an integral mode;

and determining the initial measurement position data according to the initial position and the position data in the first direction and the second direction.

14. The method of claim 12, wherein the step of using the measured position data to modify the initial measured position data comprises:

when the walking device is detected by using the detection light, acquiring an included angle between the detection light and a first reference plane, an included angle between the detection light and a second reference plane and the position of an emission point of the detection light in a third direction;

determining actual measurement position data of the walking device in the first direction and the second direction by using the included angle between the detection light and the first reference plane, the included angle between the detection light and the second reference plane and the position of the emission point of the detection light in the third direction;

correcting the initial measurement position data by using the actual measurement position data in the first direction and the second direction;

the first reference plane comprises a plane where the second direction and the third direction are located at the same time, and the second reference plane comprises a plane where the first direction and the third direction are located at the same time.

15. The method of claim 14, wherein the first direction, the second direction, and the third direction are each two-by-two perpendicular directions from a coordinate system origin.

16. The method of claim 12, further comprising:

acquiring the identification ID of the walking device; and

associating the identification ID of the walking device with the measured position data of the walking device.

17. A terminal device, comprising:

one or more processors; and

one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the terminal device to perform the method of one or more of claims 12-16.

18. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause a terminal device to perform the method of one or more of claims 12-16.

Technical Field

The invention relates to the field of logistics, in particular to a position measuring method and device for a walking device.

Background

At present, with the explosion of online shopping, the daily order quantity of a logistics walking area is huge. In order to save the picking time and improve the automation degree, the industry uses a traveling device (such as an automatic navigation car) to acquire packages on shelves in the logistics traveling area and transport the packages to a designated position. Based on this, the automatic navigation car in the walking area needs to achieve the goal of accurate positioning.

At present, the positioning method of the warehousing automatic navigation trolley comprises the following four methods:

1. electromagnetic navigation: electromagnetic navigation is one of the more traditional navigation modes, and is characterized in that a metal wire is buried in a running path of an automatic navigation trolley, a guide frequency is loaded on the metal wire, and the navigation of the automatic navigation trolley is realized by identifying the guide frequency. The electromagnetic navigation has the advantages that the guide wire is hidden, is not easy to pollute and damage, has simple and reliable guide principle, is convenient to control communication, has no interference to sound and light, and has much lower investment cost than laser navigation; electromagnetic navigation has the disadvantage that changing or expanding the path is cumbersome and the wire laying is relatively difficult.

2. Tape navigation: the magnetic tape navigation technology is similar to electromagnetic navigation, and is different from electromagnetic navigation in that a magnetic tape is attached to a road surface to replace a metal wire buried under the ground, and guidance is realized through a magnetic tape induction signal. The tape navigation has the advantages that the automatic navigation trolley is accurate in positioning, the tape navigation is good in flexibility, the path is easy to change or expand, the tape laying is relatively simple, the guidance principle is simple and reliable, the communication is convenient to control, no interference is caused to sound and light, and the investment cost is much lower than that of laser navigation; the tape navigation has the defects that the tape needs to be maintained, the damaged tape needs to be replaced in time, the tape is simple and convenient to replace, and the cost is low.

3. Visual navigation: painting paint with a large color contrast with the ground or pasting a color band with a large color contrast with the ground on a running path of the automatic navigation trolley, installing a picture pickup sensor on the automatic navigation trolley to compare a picture which is continuously shot with a stored picture, outputting an offset signal to a driving control system, and correcting the running direction of the automatic navigation trolley by the control system through calculation to realize the navigation of the automatic navigation trolley. The visual navigation has the advantages that the automatic navigation trolley has accurate positioning, the visual navigation has better flexibility, the change or the expansion of the path is easier, the path laying is relatively simple, the guidance principle is also simple and reliable, the communication is convenient to control, no interference is caused to sound and light, the investment cost is also much lower than that of the laser navigation, but is slightly more expensive than that of the magnetic tape navigation; the visual navigation has the defects that the path also needs maintenance, but the maintenance is simpler and more convenient, and the cost is lower.

4. Laser navigation: the method is characterized in that a reflecting plate with accurate position is arranged around the running path of the automatic navigation trolley, and the automatic navigation trolley determines the current position and direction of the automatic navigation trolley by emitting laser beams and collecting the laser beams reflected by the reflecting plate. The laser navigation has the advantages that the automatic navigation trolley is accurately positioned, and other positioning facilities are not needed on the ground; the driving path can be flexibly changed; the laser navigation has the defects that due to complex control and expensive laser technology, the investment cost is higher, no barrier can be arranged between the reflector plate and the laser sensor of the automatic navigation trolley, and the laser navigation is not suitable for occasions with logistics influence in the air.

Therefore, the navigation method proposed by the prior art is not favorable for changing the route, or has high initialization cost and maintenance cost. The existing laser navigation method has strong flexibility, but depends on a reflecting plate seriously, and is not suitable for the operation in a complex environment; and the automatic navigation trolley is required to be provided with a laser device capable of emitting and collecting laser beams, so that the cost is high.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the invention provides a position measuring method and a position correcting device of a walking device, which are used for measuring the position of the walking device in a walking area.

In order to solve the above problems, an embodiment of the present invention provides a position measuring system for a traveling device, including a speed measuring device, a position correcting device, and a processing device;

the speed measuring device is used for respectively acquiring the movement speeds of the walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;

the processing device is connected to the speed measuring device and used for determining initial measurement position data of the walking device according to the movement speeds in the first direction and the second direction;

the position correction device is used for detecting the actually measured position data of the walking device and sending the actually measured position data to the processing device;

and the processing device is also used for receiving the actually measured position data and correcting the initially measured position data of the walking device according to the actually measured position data.

The embodiment of the invention also provides a position measuring method of the walking device, which comprises the following steps:

acquiring an initial position of a walking device;

respectively acquiring the movement speeds of a walking device in a first direction and a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;

determining initial measurement position data of the walking device by using the initial position and the movement speeds in the first direction and the second direction;

and correcting the initial measurement position data by using the actual measurement position data.

An embodiment of the present application further discloses a terminal device, including:

one or more processors; and

one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the terminal device to perform the above-described methods.

One embodiment of the present application also discloses one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause a terminal device to perform the above-described method.

As can be seen from the above, the position measuring method and the position measuring device according to the embodiments of the present invention can calculate the initial measurement position of the traveling device from the speed measured by the speed measuring device, and correct the position of the traveling device by a higher accuracy method, such as a detection light measurement method, to eliminate the accumulated error, thereby achieving accurate positioning of the traveling device at a lower cost.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 shows a projection of a position measurement system in the X-Z plane.

Fig. 2 shows a schematic view in the X-Y plane of a walking device provided with a speed measuring device.

Fig. 3 is a block diagram showing a speed detecting apparatus according to a first embodiment of the present invention.

FIG. 4 shows a projection of the position measurement system in the Y-Z plane.

Fig. 5 is a flowchart illustrating a position measuring method according to a second embodiment of the present invention.

Fig. 6 is a flowchart showing sub-steps included in step S104 in fig. 5.

Fig. 7 schematically shows a block diagram of a terminal device for performing the method according to the invention.

Fig. 8 schematically shows a memory unit for holding or carrying program code implementing the method according to the invention.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.

The core concept of the invention is to provide a position measuring system, which utilizes the speed measured by a speed measuring device to determine the initial measurement position of a walking device, utilizes high-precision positioning to determine the actual measurement position, corrects the error caused by positioning by the speed measured by the speed measuring device by the actual measurement position with higher precision, improves the detection precision and reduces the detection cost.

The following is a detailed description of the embodiments.

First embodiment

Fig. 1 is a block diagram of a position measurement system according to an embodiment of the present invention. The position measuring system is installed in a walking area (e.g., in a warehouse) as shown in fig. 1, and includes a speed measuring device 10, a position correcting device 20, and a processing device.

The speed measuring device 10 is provided on a traveling device a in a traveling area, and the traveling device a is, for example, an Automatic Guided Vehicle (AGV) capable of traveling in the traveling area. The walking area is, for example, a warehouse.

Fig. 2 shows a schematic view of a walking device a provided with a speed measuring device 10 in the X-Y plane. As shown in fig. 2, a speed measuring device 10 is provided on the running gear a for acquiring the speed of the running gear a. The speed measurement device 10 may include a first direction speed detection unit and a second direction speed detection unit. Wherein the first direction and the second direction are for example two straight lines intersecting in the same plane, which represent two different directions in the same plane. In one embodiment, the first direction is, for example, an X coordinate axis direction in a plane, and the second direction is, for example, a Y coordinate axis direction in the plane.

Fig. 3 is a schematic diagram of a first direction speed detection unit 11a (e.g., an X-axis speed detection unit, i.e., an X-axis speed sensor) and a second direction speed detection unit 11b (corresponding to a mark error in the figure, which needs to be modified). Wherein the first direction speed detecting unit 11a and the second direction speed detecting unit 11b are also connected to the first processing unit 31 (please modify "the first controller 12" in fig. 3 to "the first processing unit 31"). The first processing unit 31 is configured to determine initial measurement position data of the walking device according to the speeds of the walking device a on the X axis and the Y axis sensed by the speed measuring device 10.

In one embodiment, as shown in fig. 2, an initial position of the walking device a may be obtained first. For example, the initial position (StartPosition) of the running gear A is acquired by the first processing unit 31 in the X-Y coordinate system_x，StartPosition_y)。

In the process of walking the traveling apparatus a, at the time t, the first direction speed detection unit 11a obtains the speed Vx of the traveling apparatus a in the X-axis direction at the current time, and the second direction speed detection unit 11b obtains the speed Vy of the traveling apparatus a in the Y-axis direction at the current time, and sends the speed Vy to the first processing unit 31. The first processing unit 31 calculates the position of the traveling device a at time t from the initial position and the speed.

In one embodiment, the first processing unit 31 integrates the velocities Vx and Vy, and calculates the position of the walking device a at the time t by means of integration, as follows:

it should be noted that the first processing unit 31 may be disposed on the traveling device a, or may be disposed separately from the speed measuring device 10 and connected by a wired or wireless manner, for example, disposed in a server in a traveling area, or the server may implement the function of the first processing unit 31, and is not particularly limited herein.

The processing device comprises, in addition to the first processing unit 31, a second processing unit 32 and a third processing unit 33. In the embodiment shown in fig. 1, the second processing unit 32 is disposed on the position correction device 20, but in other embodiments, the second processing unit 32 may be disposed at other positions, for example, incorporated in or connected to the first processing unit 31, or the server in the walking area may implement the functions of the second processing unit 32.

In one embodiment, the position correction device 20 determines the precise position of the running gear a by means of laser measurement. As shown in fig. 1, the position correction device 20 includes a probe optical transceiver 21. The second processing unit 32 of the processing device may be provided together with the probe optical transceiver 21.

The probe optical transceiver 21 is used for emitting laser light 21a at a certain angle and receiving the reflected laser light. As shown in fig. 3, in an embodiment, the probe optical transceiver 21 includes a probe optical transmitting unit and a probe optical receiving unit, the probe optical transmitting unit is used for transmitting laser light 21a, and the probe optical receiving unit is used for receiving laser light reflected from the traveling device a.

The second processing unit 32 is configured to, after the optical transceiver 21 receives the reflected laser, acquire an included angle between the emitted laser 21a and a designated plane, and determine accurate position data of the walking device a as measured position data.

For example, as shown in fig. 1, the vertical dotted line represents the Y-Z plane, and the angle α between the direction of the laser beam 21a and the Y-Z plane is known, therefore, when the optical transceiver 21 detects the traveling device a, the second processing unit 32 can calculate the distance of the traveling device a in the X-axis direction by the angle α between the direction of the laser beam 21a and the Y-Z plane and the height h of the optical transceiver 21, and calculate the following formula:

dis tan ce_x＝h×tanα

after that, the coordinate position of the traveling device a can be calculated from the X-axis coordinate X1 of the installation position of the probe optical transceiver 21.

Similarly, as shown in fig. 4, the vertical dotted line represents the X-Z plane, and the angle β between the direction of the laser beam 21a and the X-Z plane is known, therefore, when the detecting optical transceiver 21 detects the traveling device a, the traveling distance of the traveling device a in the Y-axis direction can be calculated by the angle β between the direction of the laser beam 21a and the X-Z plane and the height h of the installed detecting optical transceiver 21, and the calculation formula is as follows:

dis tan ce_y＝h×tanβ

after that, the coordinate position of the traveling device a can be calculated from the Y-axis coordinate Y1 of the installation position of the probe optical transceiver 21.

When the coordinate position of the walking device on the coordinate axes of the X axis and the Y axis at the moment is determined, the second processing unit 32 can determine the accurate position data of the walking device A through calculation, the second processing unit 32 not only can calculate the accurate position data of the walking device A, but also can pre-store the X axis coordinate X1 of the installation position of the detection optical transceiver 21, the Y axis coordinate Y1 and the installation height h of the detection optical transceiver 21, and in addition, the second processing unit 32 can also obtain the angle α between the current detection optical transceiver 21 and the Y-Z plane and the angle β between the current detection optical transceiver 21 and the X-Z plane for calculation.

In one embodiment, the position correction device 20 may further include a driving device 22, the driving device 22 is used for driving the probe optical transceiver 21 to rotate, at each time, the driving device 22 drives the probe optical transceiver 21 to rotate by a specific angle to scan a walking area, the driving device 22 may be controlled by the second processing unit 32 to rotate to a specific angle [ α ]. when the walking device a is scanned at an angle β included in the X-Z plane and an angle α included in the Y-Z plane, the second processing unit 32 may read the angles α and β and calculate accurate position data of the walking device a by combining the aforementioned parameters.

The second processing unit 32 may be located on the position correction device 20 as described above, or may be disposed separately from the probe optical transceiver 21 of the position correction device 20 and connected by wire or wireless, in the latter case, the second processing unit 32 is connected by wire or wireless with the probe optical transceiver 21.

The first processing unit 31 collects speed data obtained by the speed measuring device 10 of the traveling device 10 and calculates initial measurement position data of the traveling device 20, the second processing unit 32 collects angles α and β at which the position correcting device 20 detects the position of the traveling device a, calculates actual measurement position data by combining known parameters x1, y1 and h, and the third processing unit 33 corrects the initial measurement position data calculated by the speed by using the actual measurement position data.

In an embodiment, the processing device may be a server. The server stores position data of the plurality of walking devices A, and the position data is used for being combined with a plan view of a walking area to determine the positions of the plurality of walking devices A in the walking area. In one embodiment, the position correction device 20 scans the walking area at specific time intervals, and after each walking device a is scanned, the second processing unit 32 of the processing device calculates the precise position of the walking device a, i.e. the measured position data, for updating the initial measured position data. Therefore, the position correction device 20 can acquire the position data of the plurality of traveling devices a by one scan, and update the positions of the plurality of traveling devices a in the processing device by correcting the initial measurement position data calculated by the velocity.

In one embodiment, each running gear a also has a unique identification ID. When the position correction device 20 scans the traveling device a by the probe transceiver 21, the second processing unit 32 may identify the unique ID of the traveling device a, and thus may correspond the corrected position data of the traveling device a to the ID of the traveling device. In another embodiment, the walking device a may also be provided with a sending module for sending the ID of the walking device.

The position measuring system of the traveling device according to the first embodiment of the present invention combines the method of positioning using speed and other high-precision position measurements, and obtains the absolute position of the traveling device by intermittently performing high-precision position measurement, thereby eliminating the accumulated error of position calculation by determining speed positioning using the speed measuring device. Particularly, for the environment of a plurality of walking devices, the position measurement mode can reduce the cost of acquiring the positions of the walking devices, reduce the investment of equipment and improve the detection accuracy.

In a specific embodiment, the initial position may be obtained by integrating the velocity, and the high-precision position measurement method may be a detection method that performs positioning by using a laser. Compared with the existing scheme of equipping each walking device with a laser detection system, the position measurement method provided by the invention does not need a large amount of equipment investment, and a plurality of walking devices can share one set of detection system, so that the cost is reduced on the basis of ensuring the positioning accuracy, and the equipment investment is reduced.

Second embodiment

A second embodiment of the present invention provides a position measuring method, as shown in fig. 5, the position measuring method including the steps of:

s101, acquiring an initial position of a walking device;

in this step, the execution subject, for example, the first processing unit 31 provided on the running gear a shown in fig. 1, can obtain the initial position (StartPosition) of the running gear a_x，StartPosition_y). The initial position may be obtained by calculation through a laser scanning method, or may be obtained by setting a plurality of starting points marked with positions in the walking area, and each time the walking device a walks to one of the starting points, the position coordinates of the starting point where the walking device a is currently located are automatically given through a sensor.

S102, acquiring a first direction movement speed of the walking device in a first direction and a second direction movement speed of the walking device in a second direction, wherein the first direction and the second direction are two non-parallel directions in the same plane;

in this step, the execution main body, for example, the first processing unit 31 provided on the walking device a shown in fig. 1, can obtain the movement speeds of the walking device a in the first direction and the second direction which are not parallel in the plane through the speed measuring device 10 described in the first embodiment. For example, with the ground of the walking area as an X-Y axis coordinate plane, the X axis direction as a first direction, and the Y axis non-parallel to the X axis as a second direction, the speed measurement device 10 may sense speed components in the first direction and the second direction, that is, and transmit the speed components to the first processing unit 31.

Referring to fig. 3, the speed measuring device 10 includes a first direction speed detecting unit 11a and a second direction speed detecting unit 11 b. The two-direction sensors may detect the first-direction movement speed Vx and the second-direction movement speed Vy, respectively, and transmit them to the first processing unit 31 connected thereto.

S103, determining initial measurement position data of the walking device by using the initial position, the first direction movement speed and the second direction movement speed;

in this step, the execution subject, for example, the first processing unit 31 may process, for example, perform an integration operation on the obtained first direction movement velocity Vx and the second direction movement velocity Vy, and combine the obtained initial position (StartPosition)_x，StartPosition_y) And determining initial measurement position data of the walking device A.

It should be noted that after the first direction movement speed and the second direction movement speed are obtained, the present invention can also calculate the initial measurement position data of the walking device a by other means. For example, when the traveling device a makes a straight-line motion at a constant speed, the positions of the traveling device a in the first direction and the second direction may be determined according to the mode of S ═ V × t in combination with the traveling time of the traveling device, and the initial position data of the traveling device a may be determined in combination with the initial position.

And S104, correcting the initial measurement position data by using the actual measurement position data.

In this step, the current position data of the traveling device a can be corrected using the measured position data with higher accuracy.

For example, when the walking device a walks to a certain point, the sensor is triggered, and the sensor returns a sensing signal to the processing device, so that the processing device knows that the walking device a arrives at a certain specific position (SensorPosition)_x，SensorPosition_y) The initial measurement position data of the traveling device is determined using the position of this point, and the position of the traveling device a is updated in the processing device so as to correct the position of the traveling device a calculated using the speed.

For another example, according to the first embodiment, the second processing unit 32 of the processing device and the probe optical transceiver 21 can be used to calculate and obtain the precise position of the walking device a.

As described in connection with the first embodiment, the probe optical transceiver 21 is configured to emit laser light 21a at a certain angle and receive the reflected laser light. As shown in fig. 3, in an embodiment, the probe optical transceiver 21 includes a probe optical transmitting unit and a probe optical receiving unit, the probe optical transmitting unit is used for transmitting laser light 21a, and the probe optical receiving unit is used for receiving laser light reflected from the traveling device a.

The second processing unit 32 is configured to determine, after the optical transceiver 21 receives the reflected laser, accurate position data of the walking device a according to an included angle between the emitted laser 21a and the designated plane, and use the accurate position data as measured position data.

In an embodiment, as shown in fig. 6, the step S104 of correcting the initial measured position data by using the measured position data may include the following sub-steps:

s1041, when the walking device is detected by using the probe light, acquiring an included angle between the probe light and a first reference plane, an included angle between the probe light and a second reference plane, and a position of an emission point of the probe light in a third direction;

in an embodiment, the detection light may be laser light, infrared light, and the like, and the invention is not particularly limited. In the case where the probe light is laser light, the axial direction of the probe optical transceiver 21 is the same as the laser light emission direction in the first embodiment, so the probe optical transceiver 21 direction is the laser light direction, and the probe light emission point is the position where the probe optical transceiver 21 is installed at a specified position (for example, a warehouse ceiling).

Therefore, the direction of the probe optical transceiver 21 can be controlled to control the direction of the laser, and the probe optical transceiver 21 is continuously used to scan the warehouse floor at each specific angle to detect whether there is a walking device, and the angle interval detected by the probe optical transceiver 21 is, for example, 1 ° or 5 ° or the like, for example, it is known that the rotation angle of the probe optical transceiver 21 capable of completely scanning the floor of the walking area is-45 ° to 45 ° based on the included angle α of the first reference plane (for example, the Y-Z plane), and-45 ° to 45 ° based on the included angle β of the second reference plane (for example, the X-Z plane), and then the probe optical transceiver 21 can be rotated to the angle and scanned for each combination of α and β (for example, [0, 45] degrees).

When the detecting optical transceiver 21 detects that there is laser returned from the traveling device a after staying at the scanning angle, an included angle α between the current detecting optical transceiver 21 and a first reference plane (e.g., the aforementioned Y-Z plane), an included angle β between the detecting optical transceiver 21 and a second reference plane (e.g., the aforementioned X-Z plane), and a position height h of the detecting optical transceiver in a third direction may be obtained according to the calculation method provided in the first embodiment for subsequent calculation.

S1042, determining actual measurement position data of the walking device in the first direction and the second direction by using an included angle between the probe light and a first reference plane, an included angle between the probe light and a second reference plane, and a position of an emission point of the probe light in a third direction;

in this step, the second processing unit 32 obtains the current included angle between the optical transceiver 21 and the first and second reference planes, and the height of the optical transceiver, calculates the actual position of the walking device a, and obtains more accurate position information as the measured position data.

And S1043, correcting the initial measurement position data by using the actual measurement position data in the first direction and the second direction.

In this step, the measured position data may be uploaded to the processing device, and the third processing unit of the processing device may be configured to update the initial measured position data of the traveling device a based on the measured position data, so as to reduce the cumulative error of the position calculated by the speed.

In an embodiment, the method may further include the steps of:

s105, acquiring the identification ID of the walking device;

each of the traveling devices a also has a unique identification ID, and the second processing unit 32 may identify the identification ID of the traveling device a when the traveling device a is scanned by the probe optical transceiver 21 of the position correction device 20, so as to correspond the precise position data of the traveling device a to the identification ID of the traveling device. Correspondingly, the traveling device a may also be provided with a transmitting module for transmitting the ID of the traveling device.

S106, associating the identification ID of the walking device with the measured position data of the walking device.

In step S106, when the third processing unit 33 receives the identification ID of the walking device a, the identification ID may be associated with the measured position data in the processing device, and may be further displayed on the display device of the processing device, so that the operator can know the position of each walking device a.

It should be noted that, although the first direction, the second direction and the third direction are exemplified by three X, Y, Z coordinate axes perpendicular to each other in pairs, it is understood by those skilled in the art that any three directions located in a plane in pairs from the origin of the coordinate system are all feasible.

As can be seen from the above, the position measuring method of the traveling apparatus according to the second embodiment of the present invention combines the speed measuring method of the speed measuring apparatus with the positioning method and other high-precision position measuring methods, and intermittently performs high-precision position measurement to obtain the measured position data of the traveling apparatus, thereby clearing the accumulated error of positioning by measuring the speed of the speed measuring apparatus. Particularly, for the environment of a plurality of walking devices, the position measurement mode can reduce the cost of acquiring the positions of the walking devices, reduce the investment of equipment and improve the detection accuracy.

In a specific embodiment, the initial position may be obtained by integrating the velocity, and the high-precision position measurement method may be a detection method that performs positioning by using a laser. Compared with the existing scheme of equipping each walking device with a laser detection system, the position measurement method provided by the invention does not need a large amount of equipment investment, and a plurality of walking devices can share one set of detection system, so that the cost is reduced on the basis of ensuring the positioning accuracy, and the equipment investment is reduced.

For the apparatus embodiment, since it is basically similar to the method embodiment, it is described relatively simply, and for the relevant points, refer to the partial description of the method embodiment.

Fig. 7 is a schematic diagram of a hardware structure of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device may include an input device 90, a processor 91, an output device 92, a memory 93, and at least one communication bus 94. The communication bus 94 is used to enable communication connections between the elements. The memory 93 may comprise a high speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk memory, in which various programs may be stored in the memory 93 for performing various processing functions and implementing the method steps of the present embodiment.

Alternatively, the processor 91 may be implemented by, for example, a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and the processor 91 is coupled to the input device 90 and the output device 92 through a wired or wireless connection.

Alternatively, the input device 90 may include a variety of input devices, such as at least one of a user-oriented user interface, a device-oriented device interface, a software-programmable interface, a camera, and a sensor. Optionally, the device interface facing the device may be a wired interface for data transmission between devices, or may be a hardware plug-in interface (e.g., a USB interface, a serial port, etc.) for data transmission between devices; optionally, the user-facing user interface may be, for example, a user-facing control key, a voice input device for receiving voice input, and a touch sensing device (e.g., a touch screen with a touch sensing function, a touch pad, etc.) for receiving user touch input; optionally, the programmable interface of the software may be, for example, an entry for a user to edit or modify a program, such as an input pin interface or an input interface of a chip; optionally, the transceiver may be a radio frequency transceiver chip with a communication function, a baseband processing chip, a transceiver antenna, and the like. An audio input device such as a microphone may receive voice data. The output device 92 may include a display, a sound, or other output device.

In this embodiment, the processor of the terminal device includes a module for executing the functions of the modules of the data processing apparatus in each device, and specific functions and technical effects may refer to the foregoing embodiments, which are not described herein again.

Fig. 8 is a schematic diagram of a hardware structure of a terminal device according to another embodiment of the present application. FIG. 8 is a specific embodiment of FIG. 7 in an implementation. As shown in fig. 8, the terminal device of the present embodiment includes a processor 101 and a memory 102.

The processor 101 executes the computer program code stored in the memory 102 to implement the position measuring method of fig. 5 to 6 in the above embodiment.

The memory 102 is configured to store various types of data to support operations at the terminal device. Examples of such data include instructions for any application or method operating on the terminal device, such as messages, pictures, videos, and so forth. The memory 102 may include a Random Access Memory (RAM) and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

Optionally, the processor 101 is provided in the processing assembly 100. The terminal device may further include: a communication component 103, a power component 104, a multimedia component 105, an audio component 106, an input/output interface 107 and/or a sensor component 108. The specific components included in the terminal device are set according to actual requirements, which is not limited in this embodiment.

The processing component 100 generally controls the overall operation of the terminal device. The processing component 100 may include one or more processors 101 to execute instructions to perform all or part of the steps of the methods of fig. 5-6 described above. Further, the processing component 100 can include one or more modules that facilitate interaction between the processing component 100 and other components. For example, the processing component 100 may include a multimedia module to facilitate interaction between the multimedia component 105 and the processing component 100.

The power supply component 104 provides power to the various components of the terminal device. The power components 104 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the terminal device.

The multimedia component 105 includes a display screen that provides an output interface between the terminal device and the user. In some embodiments, the display screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the display screen includes a touch panel, the display screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation.

The audio component 106 is configured to output and/or input audio signals. For example, the audio component 106 may include a Microphone (MIC) configured to receive external audio signals when the terminal device is in an operational mode, such as a voice recognition mode. The received audio signal may further be stored in the memory 102 or transmitted via the communication component 103. In some embodiments, the audio component 106 also includes a speaker for outputting audio signals.

The input/output interface 107 provides an interface between the processing component 100 and peripheral interface modules, which may be click wheels, buttons, etc. These buttons may include, but are not limited to: a volume button, a start button, and a lock button.

The sensor component 108 includes one or more sensors for providing various aspects of status assessment for the terminal device. For example, the sensor component 108 can detect the open/closed status of the terminal device, the relative positioning of the components, the presence or absence of user contact with the terminal device. The sensor assembly 108 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact, including detecting the distance between the user and the terminal device. In some embodiments, the sensor assembly 108 may also include a camera or the like.

The communication component 103 is configured to facilitate wired or wireless communication between the terminal device and other devices. The terminal device may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In one embodiment, the terminal device may include a SIM card slot for inserting a SIM card therein, so that the terminal device can log on to a GPRS network and establish communication with the server via the internet.

From the above, the communication component 103, the audio component 106, the input/output interface 107 and the sensor component 108 involved in the embodiment of fig. 8 can be implemented as the input device in the embodiment of fig. 7.

An embodiment of the present application provides a terminal device, including: one or more processors; and one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the terminal device to perform a method of video summary generation as described in one or more of the embodiments of the present application.

The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.

The position measurement method and apparatus provided by the present application are introduced in detail, and specific examples are applied in the present application to explain the principle and the implementation of the present application, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.