CN-121026176-B - Logistics positioning navigation system and method based on visible light communication

CN121026176BCN 121026176 BCN121026176 BCN 121026176BCN-121026176-B

Abstract

The invention discloses a logistics positioning navigation system and method based on visible light communication, comprising a visible light receiving and transmitting module, a data processing module, a dynamic path planning module, a result output module and a regional control terminal. According to the logistics positioning navigation system and method based on visible light communication, the dynamic path planning module is used for calculating the position information of the logistics transportation vehicle, the warehouse parameter information and the preset target position to obtain an initial path, the space condition of the logistics transportation vehicle and the logistics information are combined, the final path is planned on the basis of the initial path, the position is determined through signal conversion of the visible light receiving and transmitting module, the accuracy of subsequent path planning and positioning navigation is effectively guaranteed, and the processing efficiency of the logistics positioning navigation system and the working efficiency of the logistics transportation vehicle are improved.

Inventors

QIU YANG
SI YUJUAN
PAN DONGYANG
WU RONGXIONG

Assignees

珠海科技学院

Dates

Publication Date: 20260505
Application Date: 20250826

Claims (5)

1. A logistics positioning navigation system based on visible light communication is characterized by comprising: The visible light receiving and transmitting module is positioned on the goods shelves of the logistics warehouse and the transportation vehicle and provided with a plurality of LED lamps, and is used for transmitting visible light signals containing self position information, receiving the visible light signals, converting the light signals into electric signals for transmission and storing the electric signals in a database; The data processing module is used for classifying and correlating the electric signals and determining the position information of the logistics transportation vehicle according to the signal intensity; The dynamic path planning module is used for calculating the position information of the logistics transportation vehicle, the warehouse parameter information and the preset target position by combining the data processing module to obtain an initial path, and planning a final path on the basis of the initial path by combining the space condition of the logistics transportation vehicle and the logistics information; the result output module is used for transmitting the planned final path to the logistics transportation vehicle for positioning and navigation and outputting the planned final path to the visual interface for visualization; The regional control terminal is used for realizing information conversion, task allocation and remote control operation and finishing logistics positioning navigation automatic processing; The visible light receiving and transmitting module is arranged to operate as follows: the LED lamps are arranged at the top of the goods shelf of the logistics warehouse and close to the front side of the goods shelf of the logistics warehouse, the LED lamps emit visible light signals containing the position information of the LED lamps, and each LED lamp corresponds to one code; The LED lamp is arranged in the center of the top of the logistics transportation vehicle and is used for transmitting visible light signals containing the position information of the LED lamp and receiving visible light signals transmitted by other LED lamps; the operation of determining the position information of the logistics transportation vehicle according to the signal intensity in the data processing module is as follows: extracting signal intensity emitted by an LED lamp received by a logistics transportation vehicle, and realizing sorting operation according to the signal intensity, wherein the larger the signal intensity is, the more front the sorting is; extracting four LED lamps with the signal intensities ranked forward and tracing the position information of the four LED lamps, obtaining a distance information table between the signal receiving positions and the LED lamps sending out signals under different signal intensities according to historical data, and carrying out matching operation on the signal intensities of the four LED lamps which are ranked forward and the distance information table to obtain the actual distance between the signal intensities and the current receiving positions; Positioning the LED lamp positions on the logistics transportation vehicle through polygonal distances; The operation of the multilateral distance location LED lamp position on the commodity circulation transportation vehicle is: determining the positions of four LED lamps positioned on a cargo rack, and determining the aisle position of a logistics transport vehicle according to the positions of the two nearest LED lamps; the method comprises the steps that a positioning plane parallel to the ground is established at the position of an LED lamp of a logistics transportation vehicle, the positioning plane corresponds to the boundary of the logistics transportation vehicle, a positioning point is set at the positioning plane, the positioning point is located on the positioning plane and moves from the corner point which is closest to the LED lamp, an S-shaped moving path is set, after the requirement of meeting the distance from one LED lamp to the positioning point is met, the distances from other LED lamps to the positioning point are compared until the distances from the corresponding positions of the four LED lamps to the positioning point are consistent with the actual distance, and the current positioning point is the position of the LED lamp on the logistics transportation vehicle; The operation of planning the final path on the basis of the initial path by combining the space condition of the logistics transportation vehicle and logistics information in the dynamic path planning module is as follows: after determining to obtain an initial path, analyzing the space condition of the logistics transportation vehicle, and obtaining a remaining loading space according to the cargo loading condition of the current task; extracting the condition of the goods to meet the supplementary task of the loading space through the logistics information, and determining the path distance based on the supplementary task; The method comprises the steps of realizing the comparison of the current position of the logistics transportation vehicle and the paths of all supplementary tasks in combination with the distances after the initial tasks, wherein the initial tasks are the tasks started by the current logistics transportation vehicle, and the sorting is performed according to the total path distances, and the sorting is larger as the total path distances are smaller; Determining the time stamp reaching the end point of the initial task according to the sequence, and adding the supplementary task when meeting the task demand, otherwise, directly navigating according to the initial path; The calculation operation of the path distance sum is as follows: selecting a supplementary task, determining a starting point of the supplementary task, and obtaining a final distance sum combined with the current supplementary task, wherein the result is as follows: the method comprises the steps of firstly, determining the distance from the position of a current logistics transportation vehicle to the starting point of a supplementary task, determining the path distance from the starting point of the supplementary task to the end point of the supplementary task, determining the distance from the end point of the supplementary task to the end point of an initial task, and obtaining a first distance sum; Determining the distance from the position of the current logistics transportation vehicle to the starting point of the supplementary task, determining the path distance from the starting point of the supplementary task to the end point of the initial task, determining the distance from the end point of the initial task to the end point of the supplementary task, and obtaining a second distance sum; comparing the first distance sum with the second distance sum, wherein the value is small as the final distance sum under the current supplementary task; And then comparing the final distance sum combined with other supplementary tasks to finish the sorting of the distance sum of the paths.
2. The physical distribution positioning navigation system based on visible light communication according to claim 1, wherein the operation of classifying and correlating the electrical signals in the data processing module is as follows: setting classification nodes, wherein the classification nodes take the serial number content of the LED lamps as first nodes and take different time stamps acquired by the LED lamps as second nodes; Establishing an edge association relation from the second node to the first node, associating the related task parameters of the shelf under the first node, associating the acquired LED lamp signal intensity under the second node, and extracting related parameter information according to the matching of the corresponding node content.
3. The logistic positioning and navigation system based on visible light communication according to claim 1, wherein the operation of calculating the position information of the logistic transportation vehicle, the warehouse parameter information and the preset target position to obtain the initial path by combining the data processing module in the dynamic path planning module is as follows: obtaining a layout diagram of the warehouse for the logistics transportation vehicle to walk through the warehouse parameter information; After the LED lamp positions on the logistics transportation vehicle are determined, marking the LED lamp positions on the logistics transportation vehicle on a layout according to the LED lamp positions on a goods shelf, extracting a preset target position determined by the current logistics transportation vehicle, and marking the extracted preset target position on the layout; And calculating the shortest path from the LED lamp position of the current logistics transportation vehicle to the LED lamp position of the preset target position based on the parameter value of each path on the layout, namely, the initial path, and judging that the preset target position is reached when the LED lamp of the logistics transportation vehicle receives the maximum signal intensity emitted by the LED lamp of the preset target position.
4. The logistics positioning and navigation system based on visible light communication as set forth in claim 3, wherein the logistics transportation vehicle walking layout is obtained by the following operations: Setting a plane coordinate system, taking two adjacent internal boundaries in the logistics warehouse as intersecting coordinate axes of the plane coordinate system, converting each corner point of a logistics warehouse shelf into coordinates, and introducing the coordinates into the plane coordinate system to obtain the layout position of the shelf; And the layout information of the LED lamps is correlated with the layout position of the shelf, meanwhile, the path width threshold value of the transport vehicle passing through is extracted by determining the path width size without the obstacle, each path width size is compared with the path width threshold value, the path with the path width size larger than the path width threshold value is a useful path, and the path with the path width size smaller than the path width threshold value is a useless path.
5. A logistics positioning navigation method based on visible light communication, which adopts the logistics positioning navigation system based on visible light communication as set forth in any one of claims 1-4, and is characterized by comprising the following steps: S1, determining specific position information through a plurality of LED lamps arranged on a logistics warehouse shelf and a transport vehicle; S2, obtaining a layout diagram of the logistics transportation vehicle walking by combining the information, then introducing logistics parameter information to determine whether to add a supplementary task, and determining a final path plan according to the distance of the path, the loading condition of cargoes and the time for completing the initial task; s3, transmitting the route planning data to the logistics transportation vehicle according to the final route planning data to realize positioning navigation operation.

Description

Logistics positioning navigation system and method based on visible light communication Technical Field The invention relates to the technical field of positioning systems, in particular to a logistics positioning navigation system and method based on visible light communication. Background In the logistics industry, accurate positioning and efficient navigation are important for improving logistics efficiency and reducing cost, and the traditional positioning technology such as GPS is weak in signal in indoor environment, low in positioning precision and incapable of meeting the requirements of indoor scenes such as logistics warehouse and the like. The logistics positioning navigation system and method based on visible light communication (patent publication No. CN119126083A, patent publication No. 2024-12-13) comprises a visible light receiving and transmitting array, a navigation service module, a signal processing module and a path planning module, wherein the visible light receiving and transmitting array is used for controlling an LED lamp to emit visible light carrying position information and coding information of service information, the navigation service module is used for processing the visible light with the coding information, the signal processing module is used for detecting the visible light with the coding information, calculating the initial position of a target cargo, correcting the initial position based on the processed visible light, and the path planning module is used for receiving the information of the signal processing module, displaying the position information of the target cargo and planning a navigation path. Based on the description of the above document, the existing logistics positioning navigation system is inaccurate for positioning the specific position of the logistics transportation vehicle, so that deviation exists in the process of planning a path later, meanwhile, the logistics transportation vehicle sometimes does not singly complete a single task, the influence of multiple source factors can cause the completion of an initial task to be influenced and change the path, so that the positioning navigation can only judge the completion operation and cannot combine with the analysis of multiple factors. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a logistics positioning navigation system and a logistics positioning navigation method based on visible light communication, which solve the problems that the conventional logistics positioning navigation system can not accurately position a specific position of a logistics transportation vehicle so that deviation exists in a subsequent path planning process, meanwhile, the logistics transportation vehicle sometimes does not singly complete a single task, the completion of an initial task is influenced and the path is changed due to the influence of multiple factors, so that the positioning navigation can only judge the completion operation and the analysis of multiple factors cannot be combined. In order to achieve the purpose, the invention is realized by the following technical scheme that the logistics positioning navigation system based on visible light communication comprises: The visible light receiving and transmitting module is positioned on the goods shelves of the logistics warehouse and the transportation vehicle and provided with a plurality of LED lamps, and is used for transmitting visible light signals containing self position information, receiving the visible light signals, converting the light signals into electric signals for transmission and storing the electric signals in a database; The data processing module is used for classifying and correlating the electric signals and determining the position information of the logistics transportation vehicle according to the signal intensity; The dynamic path planning module is used for calculating the position information of the logistics transportation vehicle, the warehouse parameter information and the preset target position by combining the data processing module to obtain an initial path, and planning a final path on the basis of the initial path by combining the space condition of the logistics transportation vehicle and the logistics information; the result output module is used for transmitting the planned final path to the logistics transportation vehicle for positioning and navigation and outputting the planned final path to the visual interface for visualization; And the regional control terminal is used for realizing information conversion, task distribution and remote control operation and completing logistics positioning navigation automatic processing. Preferably, the operation of the visible light transceiver module is as follows: the LED lamps are arranged at the top of the goods shelf of the logistics warehouse and close to the front side of the goods shelf of the logistics warehouse, the LED lamps e