Method and device for checking ground area identification code based on automatic guided transport vehicle

Abstract

The present invention discloses a method and device for checking ground area identification codes based on an automatic guided transport vehicle, and relates to the field of computer technology. A specific implementation of the method includes: generating a horizontal traversal task sequence and a vertical traversal task sequence based on the coordinate points of the ground area; generating a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; and checking the identification codes corresponding to the coordinate points in the traversal path in sequence according to the traversal path. This implementation automatically generates a traversal task path based on the coordinate points in the ground area, so that each coordinate point with connectivity is in the traversal path, and an AGV can be used to check the identification codes in sequence according to the traversal path. If the identification code cannot be read during the inspection process, the inspection is stopped and reported to manual processing, thereby improving the efficiency and accuracy of checking the identification code.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a method and device for checking ground area identification codes based on an automatic guided transport vehicle. Background Art

[0002] Automated Guided Vehicles (AGVs) mostly navigate through identification codes at the intersection of ground grids. However, since the identification codes on the ground are manually affixed during construction, it is possible that the wrong identification code is affixed at the intersection of the grid or the identification code itself is worn out. For example, the production mode of an automated warehouse is to transport goods in the warehouse through AGVs. If there is an abnormality in the identification code reading, it will affect the warehouse operation. To address this problem, existing technologies mostly use manual inspections or strategies for handling abnormalities after operation.

[0003] In the process of implementing the present invention, the inventors found that there are at least the following problems in the prior art:

[0004] 1. When the ground area is large in scale, large in number, or the layout is complex, the manual inspection of identification codes may miss some points, and the efficiency and accuracy are obviously low.

[0005] 2. If you wait until the identification code is officially put into use before discovering an abnormality and then handle it, it may affect work efficiency. For example, in the automated warehouse production mode, it may cause problems such as orders not being shipped out on time. Summary of the invention

[0006] In view of this, an embodiment of the present invention provides a method and device for checking ground area identification codes based on an automatic guided vehicle, which can automatically generate a traversal task path according to the coordinate points (i.e., grid intersections) in the ground area, so that each coordinate point with connectivity is in the traversal path, and then the identification codes are checked in sequence according to the traversal path, thereby improving the efficiency and accuracy of checking the identification codes.

[0007] To achieve the above-mentioned purpose, according to one aspect of an embodiment of the present invention, a method for checking ground area identification codes based on an automatic guided vehicle is provided, comprising: generating a horizontal traversal task sequence and a vertical traversal task sequence based on the coordinate points of the ground area; generating a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; and checking the identification codes corresponding to the coordinate points in the traversal path in turn according to the traversal path.

[0008] Optionally, according to the coordinate points of the ground area, a horizontal traversal task sequence is generated, including: Step A1. From area Z k Determine the initial point and horizontal direction d from the coordinate points h; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If it is connected, the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to step A2; if there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point and return to execute step A2.

[0009] Optionally, step A1 further includes: determining a vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 also includes: if the coordinate point Or coordinate point (x c +2d h ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; step A3 includes: taking the opposite direction of the horizontal direction as the new horizontal direction; if the coordinate point (x c ,y c +dv )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to step A2; wherein, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points.

[0010] Optionally, step A2 further includes: when the coordinate point , execute step A3.

[0011] Optionally, according to the coordinate points of the ground area, a vertical traversal task sequence is generated, including: Step B1. From area Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If it is connected, the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to step B2; if there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z kAnd the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point and return to execute step B2.

[0012] Optionally, step B1 further includes: determining the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 also includes: if the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) is not connected in the vertical direction, then execute step B3; Step B3. Take the opposite direction of the vertical direction as the new vertical direction; if the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to step B2; wherein, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c+d h The coordinate point with the largest ordinate among the coordinate points.

[0013] Optionally, step B2 further includes: when the coordinate point , execute step B3.

[0014] Optionally, based on the coordinate points of the ground area, a horizontal traversal task sequence and a vertical traversal task sequence are generated, including: dividing the ground area into n sub-areas, where n is a positive integer; for each sub-area: based on the coordinate points of the sub-area, a horizontal traversal task sequence and a vertical traversal task sequence are generated for the sub-area.

[0015] Optionally, the ground area is divided into n sub-areas, including: obtaining obstacle points with 0<k<4 from the coordinate points of the ground area; wherein k is the encirclement degree of the obstacle point; according to the straight line x=x i and the straight line y=y i The ground area is divided into n sub-areas, where x i is the horizontal coordinate of the obstacle point, y i is the vertical coordinate of the obstacle point.

[0016] Optionally, after generating the horizontal traversal task sequence and the vertical traversal task sequence of the sub-region according to the coordinate points of the sub-region, it also includes: if there is a coordinate point in the sub-region that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate points of the new sub-region, a horizontal traversal task sequence of the new sub-region is generated; if there is a coordinate point in the sub-region that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate points of the new sub-region, a vertical traversal task sequence of the new sub-region is generated.

[0017] To achieve the above-mentioned purpose, according to another aspect of an embodiment of the present invention, there is provided a device for checking ground area identification codes based on an automatic guided transport vehicle, comprising: a task sequence generation module, a traversal path generation module and a checking module; the task sequence generation module is used to: generate a horizontal traversal task sequence and a vertical traversal task sequence according to the coordinate points of the ground area; the traversal path generation module is used to: generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; the checking module is used to: check the identification codes corresponding to the coordinate points in the traversal path in sequence according to the traversal path.

[0018] Optionally, the task sequence generation module is used to: Step A1. From area Z k Determine the initial point and horizontal direction d from the coordinate points h; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If it is connected, the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to step A2; if there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point and return to execute step A2.

[0019] Optionally, the task sequence generation module is further used to: determine the vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 also includes: if the coordinate point Or coordinate point (x c +2d h ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; step A3 includes: taking the opposite direction of the horizontal direction as the new horizontal direction; if the coordinate point (x c ,y c+d v )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to step A2; wherein, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points.

[0020] Optionally, the task sequence generation module is further used to: when the coordinate point , execute step A3.

[0021] Optionally, the task sequence generation module is used to: Step B1. From area Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If it is connected, the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to step B2; if there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z kAnd the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point and return to execute step B2.

[0022] Optionally, the task sequence generation module is further used to: determine the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 also includes: if the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) is not connected in the vertical direction, then execute step B3; Step B3. Take the opposite direction of the vertical direction as the new vertical direction; if the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to step B2; wherein, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is xc +d h The coordinate point with the largest ordinate among the coordinate points.

[0023] Optionally, the task sequence generation module is further used to: when the coordinate point , execute step B3.

[0024] Optionally, the task sequence generation module is used to: divide the ground area into n sub-areas, where n is a positive integer; and for each sub-area: generate a horizontal traversal task sequence and a vertical traversal task sequence for the sub-area according to the coordinate points of the sub-area.

[0025] Optionally, the task sequence generation module is used to: obtain obstacle points with a range of 0<k<4 from the coordinate points of the ground area; wherein k is the encirclement degree of the obstacle point; and i and the straight line y=y i The ground area is divided into n sub-areas, where x i is the horizontal coordinate of the obstacle point, y i is the vertical coordinate of the obstacle point.

[0026] Optionally, the task sequence generation module is also used to: if there is a coordinate point in the sub-region that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then merge the sub-region and its adjacent sub-region into a new sub-region; generate a horizontal traversal task sequence for the new sub-region based on the coordinate point of the new sub-region; if there is a coordinate point in the sub-region that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then merge the sub-region and its adjacent sub-region into a new sub-region; generate a vertical traversal task sequence for the new sub-region based on the coordinate point of the new sub-region.

[0027] To achieve the above-mentioned purpose, according to another aspect of an embodiment of the present invention, there is provided an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the method for checking identification codes according to an embodiment of the present invention.

[0028] To achieve the above objective, according to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored, characterized in that when the program is executed by a processor, the method for checking an identification code of an embodiment of the present invention is implemented.

[0029] An embodiment of the above invention has the following advantages or beneficial effects: the embodiment of the present invention automatically generates a traversal task path according to the coordinate points in the ground area, so that each coordinate point with connectivity is in the traversal path, and then the identification code is checked in sequence according to the traversal path, thereby improving the efficiency and accuracy of checking the identification code.

[0030] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific implementation examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to better understand the present invention and do not constitute an improper limitation of the present invention.

[0032] Figure 1 is a schematic diagram of the basic process of a method for checking a ground area identification code based on an automated guided transport vehicle according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a preferred process for generating a horizontal traversal task sequence according to an embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of basic modules of a device for checking ground area identification codes based on an automatic guided transport vehicle according to an embodiment of the present invention;

[0035] Figure 4 is an exemplary system architecture diagram to which embodiments of the present invention may be applied;

[0036] Figure 5 It is a schematic diagram of the structure of a computer system of a terminal device or a server suitable for implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0038] Figure 1 Schematic diagram of the basic process of the method for checking ground area identification code based on an automatic guided transport vehicle according to an embodiment of the present invention. Figure 1 As shown, an embodiment of the present invention provides a method for checking a ground area identification code based on an automatic guided transport vehicle, comprising:

[0039] Step S101. Generate a horizontal traversal task sequence and a vertical traversal task sequence according to the coordinate points of the ground area;

[0040] Step S102. Generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence;

[0041] Step S103: According to the traversal path, check the identification codes corresponding to the coordinate points in the traversal path in sequence.

[0042] Among them, the identification code refers to a code that uniquely identifies an entity in a certain type of data, such as a QR code. Each identification code uniquely corresponds to a coordinate point, and a coordinate point without a corresponding identification code is an obstacle point. The ground area in the embodiment of the present invention may include but is not limited to a warehouse area. The embodiment of the present invention automatically generates a traversal task path based on the coordinate points in the ground area, so that each coordinate point with connectivity is in the traversal path. The AGV can be used to check the identification code in sequence along the traversal path. If the identification code cannot be read during the inspection process, the inspection is stopped and reported to manual processing, thereby improving the efficiency and accuracy of checking the identification code.

[0043] In the embodiment of the present invention, according to the coordinate points of the ground area, a horizontal traversal task sequence is generated, including: Step A1. From area Z k Determine the initial point and horizontal direction d from the coordinate points h ; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If it is connected, the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to step A2; if there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2dh ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point, and return to step A2. c ,y c ) to the coordinate point (x c +2d h ,y c ) may include but is not limited to: c ,y c ) to the coordinate point (x c +2d h ,y c ), the path with the least number of coordinate points. c ,y c ) to the coordinate point (x c +2d h ,y c ) all coordinate points on the shortest path have connectivity in the horizontal direction and / or in the vertical direction. h is the unit of movement in the horizontal direction. h When the horizontal direction d is determined based on the determined initial point h It is the horizontal positive direction or the horizontal negative direction.

[0044] Coordinate points in the ground area include: obstacle points with no connectivity, points with connectivity in both the horizontal and vertical directions, and points with connectivity only in the horizontal direction or only in the vertical direction (for example, charging piles). Coordinate points with connectivity in the horizontal direction mean that there is a two-way path between the coordinate point and its adjacent points in the horizontal direction, and coordinate points with connectivity in the vertical direction mean that there is a two-way path between the coordinate point and its adjacent points in the vertical direction.

[0045] The embodiment of the present invention generates a horizontal traversal task sequence by judging the connectivity of coordinate points in the horizontal direction, thereby improving the accuracy of the traversal path and further improving the efficiency and accuracy of checking the identification code.

[0046] In the embodiment of the present invention, step A1 further includes: determining the vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 also includes: if the coordinate point Or coordinate point (x c +2dh ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; step A3 includes: taking the opposite direction of the horizontal direction as the new horizontal direction, that is, let d h =-d h ; If the coordinate point (x c ,y c +d v )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to step A2; wherein, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points of v is the unit of movement in the vertical direction. v When the vertical direction d is determined, the initial point can be used to determine v Is the vertical positive direction or the vertical negative direction.

[0047] In the embodiment of the present invention, after obtaining all horizontal traversal task sequences related to the current point, a new current point is found by switching from the horizontal direction to the vertical direction, and the connectivity of the coordinate points in the horizontal direction is continuously determined to generate a horizontal traversal task sequence. The horizontal traversal task sequence is optimized, making the generated horizontal traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0048] In the embodiment of the present invention, step A2 further includes: when the coordinate point , execute step A3. In the case where there is no horizontal traversal task sequence related to the current point, the embodiment of the present invention finds a new current point by switching from the horizontal direction to the vertical direction, continues to determine the connectivity of the coordinate point in the horizontal direction, and generates a horizontal traversal task sequence. The horizontal traversal task sequence is optimized, making the generated horizontal traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0049] In the embodiment of the present invention, according to the coordinate points of the ground area, a vertical traversal task sequence is generated, including: step B1. From area Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If it is connected, the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to step B2; if there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z k And the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point, and return to step B2. c ,y c ) to the coordinate point (x c ,y c +2d v) may include but is not limited to: c ,y c ) to the coordinate point (x c ,y c +2d v ), the path with the least number of coordinate points. c ,y c ) to the coordinate point (x c ,y c +2d v ) have connectivity in the horizontal direction and / or in the vertical direction.

[0050] The embodiment of the present invention generates a vertical traversal task sequence by judging the connectivity of coordinate points in the vertical direction, thereby improving the accuracy of the traversal path and further improving the efficiency and accuracy of checking the identification code.

[0051] In the embodiment of the present invention, step B1 further includes: determining the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 also includes: if the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) has no connectivity in the vertical direction, then execute step B3; Step B3. Take the opposite direction of the vertical direction as the new vertical direction, that is, let d v =-d v ; If the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to step B2; wherein, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d hThe coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the largest ordinate among the coordinate points.

[0052] In the embodiment of the present invention, after obtaining all vertical traversal task sequences related to the current point, a new current point is found by switching from the vertical direction to the horizontal direction, and the connectivity of the coordinate points in the vertical direction is continuously determined to generate a vertical traversal task sequence. The vertical traversal task sequence is optimized, making the generated vertical traversal task sequence more comprehensive and complete, improving the coverage rate of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0053] In the embodiment of the present invention, step B2 further includes: when the coordinate point , execute step B3. In the case where there is no vertical traversal task sequence related to the current point, the embodiment of the present invention finds a new current point by switching from the vertical direction to the horizontal direction, continues to determine the connectivity of the coordinate points in the vertical direction, and generates a vertical traversal task sequence. The vertical traversal task sequence is optimized, making the generated vertical traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0054] In an embodiment of the present invention, a horizontal traversal task sequence and a vertical traversal task sequence are generated according to the coordinate points of the ground area, including: dividing the ground area into n sub-areas, where n is a positive integer; for each sub-area: according to the coordinate points of the sub-area, a horizontal traversal task sequence and a vertical traversal task sequence are generated for the sub-area.

[0055] The ground area is divided into sections, and each sub-area generates its own traversal path, which improves the generation efficiency and coverage of the traversal path. When inspecting according to the traversal path, multiple AGVs can be scheduled to work simultaneously according to the sub-areas, which improves the efficiency of inspecting identification codes.

[0056] In the embodiment of the present invention, the ground area is divided into n sub-areas, including: obtaining obstacle points with 0<k<4 from the coordinate points of the ground area; wherein k is the encirclement degree of the obstacle point; according to the straight line x=x i and the straight line y=y i The ground area is divided into n sub-areas, where x i is the horizontal coordinate of the obstacle point, y i is the ordinate of the obstacle point. The encirclement degree k of the obstacle point is the number of obstacle points in the four coordinate points adjacent to the obstacle point.

[0057] By partitioning the ground area according to the distribution of obstacle points, the number of obstacle points in the sub-area can be reduced, and the traversal path can be generated faster in the sub-area, thereby improving the generation efficiency and accuracy of the traversal path.

[0058] In the embodiment of the present invention, after generating the horizontal traversal task sequence and the vertical traversal task sequence of the sub-region according to the coordinate points of the sub-region, it also includes: if the sub-region has a coordinate point that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate points of the new sub-region, a horizontal traversal task sequence of the new sub-region is generated; if the sub-region has a coordinate point that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate points of the new sub-region, a vertical traversal task sequence of the new sub-region is generated. In the embodiment of the present invention, the new sub-region is preferably a rectangle.

[0059] Merging adjacent sub-areas and regenerating a traversal path can improve the coverage of the traversal path, thereby improving the efficiency of checking the identification code and the coverage of the inspection.

[0060] Figure 2 FIG. 1 is a schematic diagram of a preferred process for generating a horizontal traversal task sequence according to an embodiment of the present invention. k In the example, the coordinate point of the lower left corner is used as the initial point. Figure 2 , providing k The optimal process of generating horizontal traversal task sequence method in.

[0061] like Figure 2 As shown, step S201. Determine the initial point, horizontal direction d h and vertical direction d v ; Take the initial point as the current point. In this embodiment, since the initial point is the coordinate point of the lower left corner, the horizontal direction d is set h =1 means horizontal positive direction, vertical direction d v =1 indicates the vertical positive direction; correspondingly, the horizontal direction d h =-1 means negative horizontal direction, vertical direction d v =-1 indicates vertical negative direction.

[0062] Step S202. The coordinates of the current point D1 are (x c ,y c );

[0063] When the coordinate point D2(x c +dh ,y c )∈Z k When the coordinate point D2(x c +d h ,y c ) is connected in the horizontal direction:

[0064] If it is connected (i.e., it is not an obstacle point, nor a point that cannot be passed horizontally), then the coordinate point D2 (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point D2 (x c +d h ,y c ) as the new current point, and return to execute step S202;

[0065] If it is not connected (i.e., it is an obstacle point or a point that cannot be passed horizontally), then determine the coordinate point D3 (x c +2d h ,y c ) satisfies D3(x c +2d h ,y c )∈Z k And the coordinate point D3(x c +2d h ,y c ) has connectivity in the horizontal direction: if it satisfies, it will be connected from the current point D1(x c ,y c ) to the coordinate point D3(x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point D3 (x c +2d h ,y c ) as the new current point, and return to execute step S202; if not satisfied, execute step S203.

[0066] When the coordinate point , execute step S203.

[0067] Step S203. Set d h =-d h ; If the coordinate point D4(x c ,y c +d v )∈Z k , then the coordinate point D5(x l ,y c +d v) is added to the horizontal traversal task sequence, and the coordinate point D5 (x l ,y c +d v ) as the new current point, and return to step S202; if the coordinate point Then it ends.

[0068] in, That is, when d h is the horizontal positive direction (in this embodiment, it refers to d h =1), the coordinate point D5(x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point p j The horizontal coordinate x j The smallest coordinate point; when d h is the horizontal negative direction (in this embodiment, it refers to d h =-1), the coordinate point D5(x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point p j The horizontal coordinate x j The largest coordinate point.

[0069] Figure 3 Schematic diagram of basic modules of an apparatus for checking ground area identification codes based on an automatic guided transport vehicle according to an embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides a device 300 for checking ground area identification codes based on an automatic guided transport vehicle, comprising: a task sequence generation module 301, a traversal path generation module 302 and a checking module 303; the task sequence generation module 301 is used to: generate a horizontal traversal task sequence and a vertical traversal task sequence according to the coordinate points of the ground area; the traversal path generation module 302 is used to: generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; the checking module 303 is used to: check the identification codes corresponding to the coordinate points in the traversal path in sequence according to the traversal path.

[0070] The embodiment of the present invention automatically generates a traversal task path according to the coordinate points in the ground area, so that each coordinate point with connectivity is in the traversal path. The AGV can be used to check the identification code in sequence according to the traversal path. If the identification code cannot be read during the inspection process, the inspection is stopped and reported to manual processing, thereby improving the efficiency and accuracy of checking the identification code.

[0071] In the embodiment of the present invention, the task sequence generation module 301 is used to: Step A1. From area Z k Determine the initial point and horizontal direction d from the coordinate points h ; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If it is connected, the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to step A2; if there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point and return to execute step A2.

[0072] The embodiment of the present invention generates a horizontal traversal task sequence by judging the connectivity of coordinate points in the horizontal direction, thereby improving the accuracy of the traversal path and further improving the efficiency and accuracy of checking the identification code.

[0073] In the embodiment of the present invention, the task sequence generation module 301 is further used to: determine the vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 also includes: if the coordinate point Or coordinate point (xc +2d h ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; step A3 includes: taking the opposite direction of the horizontal direction as the new horizontal direction, that is, let d h =-d h ; If the coordinate point (x c ,y c +d v )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to step A2; wherein, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points.

[0074] In the embodiment of the present invention, after obtaining all horizontal traversal task sequences related to the current point, a new current point is found by switching from the horizontal direction to the vertical direction, and the connectivity of the coordinate points in the horizontal direction is continuously determined to generate a horizontal traversal task sequence. The horizontal traversal task sequence is optimized, making the generated horizontal traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0075] In the embodiment of the present invention, the task sequence generation module 301 is further used to: , execute step A3. In the case where there is no horizontal traversal task sequence related to the current point, the embodiment of the present invention finds a new current point by switching from the horizontal direction to the vertical direction, continues to determine the connectivity of the coordinate point in the horizontal direction, and generates a horizontal traversal task sequence. The horizontal traversal task sequence is optimized, making the generated horizontal traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0076] In the embodiment of the present invention, the task sequence generation module 301 is used to: Step B1. From area Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If it is connected, the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to step B2; if there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z k And the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point and return to execute step B2.

[0077] The embodiment of the present invention generates a vertical traversal task sequence by judging the connectivity of coordinate points in the vertical direction, thereby improving the accuracy of the traversal path and further improving the efficiency and accuracy of checking the identification code.

[0078] In the embodiment of the present invention, the task sequence generation module 301 is further used to: determine the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 also includes: if the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) has no connectivity in the vertical direction, then execute step B3; Step B3. Take the opposite direction of the vertical direction as the new vertical direction, that is, let d v =-d v ; If the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to step B2; wherein, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the largest ordinate among the coordinate points.

[0079] In the embodiment of the present invention, after obtaining all vertical traversal task sequences related to the current point, a new current point is found by switching from the vertical direction to the horizontal direction, and the connectivity of the coordinate points in the vertical direction is continuously determined to generate a vertical traversal task sequence. The vertical traversal task sequence is optimized, making the generated vertical traversal task sequence more comprehensive and complete, improving the coverage rate of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0080] In the embodiment of the present invention, the task sequence generation module 301 is further used to: , execute step B3. In the case where there is no vertical traversal task sequence related to the current point, the embodiment of the present invention finds a new current point by switching from the vertical direction to the horizontal direction, continues to determine the connectivity of the coordinate points in the vertical direction, and generates a vertical traversal task sequence. The vertical traversal task sequence is optimized, making the generated vertical traversal task sequence more comprehensive and complete, improving the coverage of the traversal path, and thus improving the efficiency and accuracy of checking the identification code.

[0081] In the embodiment of the present invention, the task sequence generation module 301 is used to: divide the ground area into n sub-areas, where n is a positive integer; for each sub-area: generate a horizontal traversal task sequence and a vertical traversal task sequence for the sub-area according to the coordinate points of the sub-area.

[0082] The ground area is divided into sections, and each sub-area generates its own traversal path, which improves the generation efficiency and coverage of the traversal path. When inspecting according to the traversal path, multiple AGVs can be scheduled to work simultaneously according to the sub-areas, which improves the efficiency of inspecting identification codes.

[0083] In the embodiment of the present invention, the task sequence generation module 301 is used to: obtain obstacle points with 0<k<4 from the coordinate points of the ground area; wherein k is the encirclement degree of the obstacle point; according to the straight line x=x i and the straight line y=y i The ground area is divided into n sub-areas, where x i is the horizontal coordinate of the obstacle point, y i is the vertical coordinate of the obstacle point.

[0084] By partitioning the ground area according to the distribution of obstacle points, the number of obstacle points in the sub-area can be reduced, and the traversal path can be generated faster in the sub-area, thereby improving the generation efficiency and accuracy of the traversal path.

[0085] In an embodiment of the present invention, the task sequence generation module 301 is also used for: if there is a coordinate point in the sub-region that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; based on the coordinate point of the new sub-region, a horizontal traversal task sequence of the new sub-region is generated; if there is a coordinate point in the sub-region that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; based on the coordinate point of the new sub-region, a vertical traversal task sequence of the new sub-region is generated.

[0086] Merging adjacent sub-areas and regenerating a traversal path can improve the coverage of the traversal path, thereby improving the efficiency of checking the identification code and the coverage of the inspection.

[0087] Figure 4 An exemplary system architecture 400 is shown to which the method or apparatus for checking ground area identification codes based on an automated guided transport vehicle according to an embodiment of the present invention may be applied.

[0088] like Figure 4 As shown, system architecture 400 may include terminal devices 401, 402, 403, network 404 and server 405. Network 404 is used to provide a medium for communication links between terminal devices 401, 402, 403 and server 405. Network 404 may include various connection types, such as wired, wireless communication links or optical fiber cables, etc.

[0089] Users can use terminal devices 401, 402, 403 to interact with server 405 through network 404 to receive or send messages, etc. Various communication client applications can be installed on terminal devices 401, 402, 403, such as shopping applications, web browser applications, search applications, instant messaging tools, email clients, social platform software, etc.

[0090] The terminal devices 401 , 402 , and 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop computers, and desktop computers.

[0091] Server 405 may be a server that provides various services, such as a backend management server that provides support for shopping websites browsed by users using terminal devices 401, 402, and 403. The backend management server may analyze and process received data such as product information query requests, and feed back the processing results to the terminal device.

[0092] It should be noted that the method for checking ground area identification codes based on an automated guided vehicle provided in the embodiment of the present invention is generally executed by the server 405 , and accordingly, the device for checking ground area identification codes based on an automated guided vehicle is generally arranged in the server 405 .

[0093] It should be understood that Figure 4 The number of terminal devices, networks and servers in the embodiment is only for illustration. Any number of terminal devices, networks and servers may be provided according to implementation requirements.

[0094] According to an embodiment of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0095] The electronic device of the present invention includes: one or more processors; a storage device for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the method for checking ground area identification codes based on an automatic guided transport vehicle provided in an embodiment of the present invention.

[0096] The computer-readable medium of the present invention stores a computer program thereon, and is characterized in that when the program is executed by a processor, the method for checking ground area identification codes based on an automatic guided vehicle provided in an embodiment of the present invention is implemented.

[0097] Reference below Figure 5 , which shows a schematic diagram of the structure of a computer system 500 of a terminal device suitable for implementing an embodiment of the present invention. Figure 5 The terminal device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0098] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0099] The following components are connected to the I / O interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.

[0100] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are executed.

[0101] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0102] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0103] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The modules described may also be set in a processor. For example, they may be described as: a processor including: a task sequence generation module, a traversal path generation module, and a check module. The names of these modules do not, in some cases, constitute limitations on the modules themselves. For example, the check module may also be described as "a module for checking identification codes in sequence according to the traversal path".

[0104] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: step S101. Generate a horizontal traversal task sequence and a vertical traversal task sequence according to the coordinate points of the ground area; step S102. Generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; step S103. According to the traversal path, check the identification codes corresponding to the coordinate points in the traversal path in sequence.

[0105] The embodiment of the present invention automatically generates a traversal task path according to the coordinate points in the ground area, so that each coordinate point with connectivity is in the traversal path. The AGV can be used to check the identification code in sequence according to the traversal path. If the identification code cannot be read during the inspection process, the inspection is stopped and reported to manual processing, thereby improving the efficiency and accuracy of checking the identification code.

[0106] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for checking ground area identification codes based on an automated guided vehicle, characterized in that: include: Generate horizontal traversal task sequence and vertical traversal task sequence according to the coordinate points of the ground area; Specifically, the method includes: dividing the ground area into n sub-areas, where n is a positive integer; for each sub-area: generating a horizontal traversal task sequence and a vertical traversal task sequence for the sub-area according to the coordinate points of the sub-area; Generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; According to the traversal path, checking the identification codes corresponding to the coordinate points in the traversal path in sequence; The step of dividing the ground area into n sub-areas includes: Obtain the obstacle points with 0<k<4 from the coordinate points of the ground area; where k is the encirclement degree of the obstacle point; according to the straight line x=x i and the straight line y=y i The ground area is divided into n sub-areas, where x i is the horizontal coordinate of the obstacle point, y i is the vertical coordinate of the obstacle point.

2. The method according to claim 1, characterized in that According to the coordinate points of the ground area, a horizontal traversal task sequence is generated, including: Step A1. From region Z k Determine the initial point and horizontal direction d from the coordinate points h ; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If there is connectivity, then the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to execute step A2; If there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point and return to execute step A2.

3. The method according to claim 2, characterized in that Step A1 also includes: determining the vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 further includes: If the coordinate point Or coordinate point (x c +2d h ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; Step A3 includes: taking the opposite direction of the horizontal direction as a new horizontal direction; If the coordinate point (x c ,y c +d v )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to execute step A2; Among them, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points.

4. The method according to claim 3, characterized in that Step A2 also includes: When the coordinate point , execute step A3.

5. The method according to claim 1, characterized in that According to the coordinate points of the ground area, a vertical traversal task sequence is generated, including: Step B1. From region Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If there is connectivity, then the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to execute step B2; If there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z k And the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point and return to execute step B2.

6. The method according to claim 5, characterized in that Step B1 also includes: determining the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 further includes: If the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) has no connectivity in the vertical direction, then execute step B3; Step B3. Taking the opposite direction of the vertical direction as the new vertical direction; If the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to execute step B2; Among them, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the largest ordinate among the coordinate points.

7. The method according to claim 6, characterized in that Step B2 also includes: When the coordinate point , execute step B3.

8. The method according to claim 1, characterized in that After generating the horizontal traversal task sequence and the vertical traversal task sequence of the sub-region according to the coordinate points of the sub-region, the following further includes: If there is a coordinate point in the sub-region that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate point of the new sub-region, a new sub-region horizontal traversal task sequence is generated; If there is a coordinate point in the sub-region that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; based on the coordinate point of the new sub-region, a vertical traversal task sequence of the new sub-region is generated.

9. A device for checking ground area identification codes based on an automated guided vehicle, characterized in that: include: Task sequence generation module, traversal path generation module and inspection module; The task sequence generation module is used to: generate a horizontal traversal task sequence and a vertical traversal task sequence according to the coordinate points of the ground area; specifically, to: divide the ground area into n sub-areas, where n is a positive integer; for each sub-area: generate a horizontal traversal task sequence and a vertical traversal task sequence for the sub-area according to the coordinate points of the sub-area; The traversal path generation module is used to: generate a traversal path based on the horizontal traversal task sequence and the vertical traversal task sequence; The checking module is used to: check the identification codes corresponding to the coordinate points in the traversal path in sequence according to the traversal path; The task sequence generation module is further used for: Obtain obstacle points with a value of 0 < k < 4 from the coordinate points of the ground area, where k is the encirclement degree of the obstacle point; According to the straight line x=x i and the straight line y=y i Segment the ground area to obtain n sub-areas; Among them, x i is the horizontal coordinate of the obstacle point, y i is the vertical coordinate of the obstacle point.

10. The device according to claim 9, characterized in that The task sequence generation module is used to: Step A1. From region Z k Determine the initial point and horizontal direction d from the coordinate points h ; Take the initial point as the current point; Step A2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c +d h ,y c )∈Z k When the coordinate point (x c +d h ,y c ) is connected in the horizontal direction: If there is connectivity, then the coordinate point (x c +d h ,y c ) is added to the horizontal traversal task sequence, and the coordinate point (x c +d h ,y c ) as the new current point, and return to execute step A2; If there is no connectivity, but the coordinate point (x c +2d h ,y c )∈Z k And the coordinate point (x c +2d h ,y c ) is connected in the horizontal direction, then the current point (x c ,y c ) to the coordinate point (x c +2d h ,y c ) are added to the horizontal traversal task sequence in turn, and the coordinate point (x c +2d h ,y c ) as the new current point and return to execute step A2.

11. The device according to claim 10, characterized in that The task sequence generation module is also used to: determine the vertical direction d v ; In step A2, if the coordinate point (x c +d h ,y c ) has no connectivity in the horizontal direction, then step A2 further includes: If the coordinate point Or coordinate point (x c +2d h ,y c )∈Z k But (x c +2d h ,y c ) has no connectivity in the horizontal direction, then execute step A3; Step A3 includes: taking the opposite direction of the horizontal direction as a new horizontal direction; If the coordinate point (x c ,y c +d v )∈Z k , then the coordinate point (x l ,y c +d v ) is added to the horizontal traversal task sequence, and the coordinate point (x l ,y c +d v ) as the new current point, and return to execute step A2; Among them, when d h When the direction is positive, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the smallest horizontal coordinate among the coordinate points; when d h When the direction is negative, the coordinate point (x l ,y c +d v ) is Z k The vertical coordinate is y c +d v The coordinate point with the largest horizontal coordinate among the coordinate points.

12. The device according to claim 11, characterized in that The task sequence generation module is also used to: when the coordinate point , execute step A3.

13. The device according to claim 9, characterized in that The task sequence generation module is used to: Step B1. From region Z k Determine the initial point and the vertical direction d from the coordinate points v ; Take the initial point as the current point; Step B2. The coordinates of the current point are (x c ,y c ), when the coordinate point (x c ,y c +d v )∈Z k When the coordinate point (x c ,y c +d v ) is connected in the vertical direction: If there is connectivity, then the coordinate point (x c ,y c +d v ) is added to the vertical traversal task sequence, and the coordinate point (x c ,y c +d v ) as the new current point, and return to execute step B2; If there is no connectivity, but the coordinate point (x c ,y c +2d v )∈Z k And the coordinate point (x c ,y c +2d v ) is connected in the vertical direction, then the current point (x c ,y c ) to the coordinate point (x c ,y c +2d v ) are added to the vertical traversal task sequence in turn, and the coordinate point (x c ,y c +2d v ) as the new current point and return to execute step B2.

14. The device according to claim 13, characterized in that The task sequence generation module is also used to: determine the horizontal direction d h ; In step B2, if the coordinate point (x c ,y c +d v ) has no connectivity in the horizontal direction, then step B2 further includes: If the coordinate point Or coordinate point (x c ,y c +2d v )∈Z k But (x c ,y c +2d v ) has no connectivity in the vertical direction, then execute step B3; Step B3. Taking the opposite direction of the vertical direction as the new vertical direction; If the coordinate point (x c +d h ,y c )∈Z k , then the coordinate point (x c +d h ,y l ) is added to the vertical traversal task sequence, and the coordinate point (x c +d h ,y l ) as the new current point, and return to execute step B2; Among them, when d v When the direction is positive, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the smallest ordinate among the coordinate points; when d v When the direction is negative, the coordinate point (x c +d h ,y l ) is Z k The horizontal coordinate is x c +d h The coordinate point with the largest ordinate among the coordinate points.

15. The device according to claim 14, characterized in that The task sequence generation module is also used to: when the coordinate point , execute step B3.

16. The device according to claim 9, characterized in that The task sequence generation module is further used for: If there is a coordinate point in the sub-region that has not been added to the horizontal traversal task sequence, and the coordinate point has connectivity in the horizontal direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; according to the coordinate point of the new sub-region, a new sub-region horizontal traversal task sequence is generated; If there is a coordinate point in the sub-region that has not been added to the vertical traversal task sequence, and the coordinate point has connectivity in the vertical direction, then the sub-region and its adjacent sub-region are merged into a new sub-region; based on the coordinate point of the new sub-region, a vertical traversal task sequence of the new sub-region is generated.

17. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 8.

18. A computer readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

Images