Reference point searching method and device for AGV map, electronic device and storage medium

Abstract

The application provides an AGV map reference point searching method and device, electronic equipment and a storage medium. The method comprises the following steps: obtaining a current coordinate of an AGV, and determining a grid area to which the current coordinate belongs in an AGV map based on the current coordinate, wherein the AGV map is gridded into a plurality of grid areas according to a preset grid size; querying a reference point set corresponding to the grid area to which the current coordinate belongs, wherein the reference point set comprises coordinates of at least one reference point, and the at least one reference point comprises: reference points in the grid area to which the current coordinate belongs and adjacent grid areas thereof, and / or end points of a reference point connecting line passing through the grid area to which the current coordinate belongs or an extended grid area thereof; and taking a reference point with the smallest distance to the current coordinate in the reference point set as a searching result. The application has high determination accuracy of the nearest reference point and improves determination efficiency.

Description

Technical Field

[0001] This invention relates to AGV site reference point search technology, and more particularly to a method and apparatus, electronic device, and storage medium for AGV map reference point search. Background Technology

[0002] Automated Guided Vehicles (AGVs) are favored by the smart logistics industry due to their structural and operational flexibility, and are widely used in the logistics lines of smart factories. In AGV movement scenarios, the AGV's position needs to be based on nearest-neighbor points. Currently, methods for finding nearest-neighbor points suffer from high computational complexity. For example, the time complexity of finding a single data point using a KD-tree is typically O(log₂N), which requires high-end hardware for AGVs and results in low operational efficiency. Summary of the Invention

[0003] This invention provides a method, apparatus, electronic device, and storage medium for finding reference points for AGV maps, in order to at least solve the above-mentioned technical problems existing in the prior art.

[0004] This invention provides a method for finding reference points in an AGV map, comprising:

[0005] : Obtain the current coordinates of the AGV, and determine the grid area to which the current coordinates belong in the AGV map based on the current coordinates, wherein the AGV map is gridded into multiple grid areas according to a preset grid size;

[0006] Query the set of reference points corresponding to the grid region to which the current coordinates belong, wherein the set of reference points includes the coordinates of at least one reference point, and the at least one reference point includes: reference points in the grid region to which the current coordinates belong and in the adjacent grid regions, and / or the endpoint of the line connecting the reference points in the grid region to which the current coordinates belong or in the extended grid region;

[0007] The reference point with the smallest distance from the current coordinates in the set of reference points is taken as the search result.

[0008] Optionally, before obtaining the current coordinates of the AGV, the method includes:

[0009] The first grid region containing each reference point in the AGV map is determined, and the grid is expanded outwards along the edge of the first grid region to form an extended grid; wherein the first grid region and the remaining first grid regions in the extended grid record the same reference points.

[0010] Optionally, the method further includes:

[0011] Obtain the connecting lines in the AGV map, determine at least _ first grid regions that the connecting lines pass through, and based on the _ first grid regions that the connecting lines pass through, determine the extended grid of the first grid regions that the connecting lines pass through; associate the reference points contained in the extended grid with the extended grid and the first grid regions contained therein.

[0012] Optionally, the method further includes:

[0013] Based on the reference points associated with the extended grid and the first grid region it contains, exclude reference points whose distance from the current AGV coordinates is not the minimum.

[0014] Optionally, excluding reference points whose distance from the current AGV coordinates is not the minimum includes:

[0015] Determine all reference points associated with the _th grid region or extended grid, and calculate the distance between the reference point and the center point of the corresponding first grid region or extended grid;

[0016] The calculated distances are sorted in ascending order. The difference between two adjacent distances is judged in turn. When the difference between adjacent distances is greater than the diagonal length of the first grid region or the extended grid, all subsequent first grid regions or extended grids are deleted starting from that first grid region or extended grid.

[0017] Optionally, when the first grid area is a square grid, it is extended along the edge of the first grid area by B units to form an extended grid, wherein the extended grid comprises (1+2B). 2 The first grid region.

[0018] Another aspect of the present invention provides a reference point finding device for AGV maps, comprising:

[0019] A determining unit is used to obtain the current coordinates of the AGV and determine the grid area to which the current coordinates belong in the AGV map based on the current coordinates, wherein the AGV map is gridded into multiple grid areas according to a preset grid size;

[0020] A search unit is used to query a set of reference points corresponding to the grid region to which the current coordinates belong. The set of reference points includes the coordinates of at least one reference point. The at least one reference point includes: a reference point in the grid region to which the current coordinates belong and its adjacent grid regions, and / or the endpoint of a line connecting reference points in the grid region to which the current coordinates belong or its extended grid region. The reference point with the smallest distance from the current coordinates in the set of reference points is taken as the search result.

[0021] Optionally, the device further includes:

[0022] The first region division unit is used to determine the first grid region where each reference point in the AGV map is located, and to expand outwards along the edge of the first grid region to form a grid that surrounds the first grid region, thus obtaining an extended grid; wherein, the first grid region and the remaining first grid regions in the extended grid record the same reference point.

[0023] Optionally, the device includes:

[0024] The second region division unit is used to obtain the connecting lines in the AGV map, determine at least a number of first grid regions through which the connecting lines pass, and, based on the first grid regions through which the connecting lines pass, determine the extended grid of the first grid regions through which the connecting lines pass; and associate the endpoints of the connecting lines contained in the extended grid with the extended grid and the first grid regions contained therein.

[0025] Optionally, the device further includes:

[0026] The exclusion unit is used to exclude reference points that are not at the minimum distance from the current AGV coordinates, based on the reference points or connector endpoints associated with the extended grid and the first grid region it contains.

[0027] Optionally, the exclusion unit is further configured to:

[0028] Determine all first grid regions or extended grids and their associated reference points or connector endpoints, and calculate the distance between the reference points or connector endpoints and the center point of the corresponding first grid region or extended grid.

[0029] The calculated distances are sorted in ascending order. The difference between two adjacent distances is judged in turn. When the difference between adjacent distances is greater than the diagonal length of the first grid region or extended grid, all subsequent first grid regions or extended grids are deleted starting from that first grid region or extended grid.

[0030] Optionally, when the first grid area is a square grid, it is extended along the edge of the first grid area by B units to form an extended grid, wherein the extended grid comprises (1+2B). 2 The first grid region.

[0031] Another aspect of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory is used to store computer programs; and the processor is used to implement the steps of the reference point search method for the AGV map when executing the program stored in the memory.

[0032] In another aspect, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the reference point search method for the AGV map.

[0033] This invention determines a matrix grid and an extended grid for the reference points in the AGV map and the connecting lines of the AGV map. The nearest reference point position is calculated using the matrix grid as the coordinate point. Since the matrix grid is predetermined, the processing time complexity is low, which improves the efficiency of determining the nearest reference point and greatly reduces the computational complexity. Attached Figure Description

[0034] Figure 1 A flowchart illustrating the reference point search method for AGV maps according to an embodiment of the present invention is shown;

[0035] Figure 2 This diagram illustrates the structural composition of the AGV map reference point finding device according to an embodiment of the present invention.

[0036] Figure 3 A structural diagram of an electronic device according to an embodiment of the present invention is shown. Detailed Implementation

[0037] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0038] Figure 1 A flowchart of the AGV map reference point search method according to an embodiment of the present invention is shown, as follows: Figure 1 As shown, Figure 1 The reference point search method for AGV maps shown in this embodiment of the invention includes the following processing steps:

[0039] Step 101: Obtain the current coordinates of the AGV, and determine the grid area to which the current coordinates belong in the AGV map based on the current coordinates.

[0040] The AGV map is divided into multiple grid areas according to a preset grid size.

[0041] In this embodiment of the invention, the reference point is the marker node in the AGV map, which facilitates the AGV to navigate according to the marker node and automatically move goods.

[0042] The first grid region containing each reference point in the AGV map is determined. This first grid region is then expanded outwards along its edges to form an extended grid. The first grid region and the remaining first grid regions in the extended grid record the same reference points. Specifically, the first grid region is an N×N square grid, where N is a positive integer. Let the coordinates of a point a be (x, y). Then, the grid number of point a is x / N and y / N, meaning point a is in row x / N and column y / N, respectively. Rows and columns can be negative. The extended grid is based on the grid region containing a reference point, and extends outwards in four directions by a corresponding number of grid regions, forming a new matrix grid that surrounds the base first grid region. The extended grid contains a total of (1+2B) grid regions. 2 The first grid area.

[0043] Step 102: Query the set of reference points corresponding to the grid region to which the current coordinates belong, and take the reference point with the smallest distance from the current coordinates in the set of reference points as the search result.

[0044] In this embodiment of the invention, the set of reference points includes the coordinates of at least one reference point, and the at least one reference point includes: reference points in the grid region to which the current coordinates belong and in the grid regions adjacent to it, and / or the endpoints of the lines connecting reference points through the grid region to which the current coordinates belong or its extended grid region;

[0045] Obtain the connecting lines in the AGV map, determine at least one first grid area that the connecting lines pass through, and based on the first grid area that the connecting lines pass through, determine the extended grid of the first grid area that the connecting lines pass through; associate the reference points contained in the extended grid with the extended grid and the first grid area contained therein.

[0046] As one implementation, taking one endpoint of the connecting line as the starting segmentation point, when the slope of the connecting line exceeds a first threshold, the connecting line is segmented according to the y-coordinate at the preset segmentation distance until the coordinate value exceeds the y-coordinate value of the other endpoint of the connecting line; when the slope of the connecting line does not exceed the first threshold, the connecting line is segmented according to the x-coordinate at the preset segmentation distance until the coordinate value exceeds the x-coordinate value of the other endpoint of the connecting line. Wherein, if a matrix grid has been determined for the starting segmentation point in the connecting line, neither the starting segmentation point nor the other endpoint is used as a calculation point. Specifically, a series of points are determined on the connecting line, where each point is located in each first grid region traversed by the connecting line (at least one point in each first grid region, preferably only one point), and then the grids for recording the two endpoints of the connecting line are determined based on these points.

[0047] Assuming the analysis direction of the connecting line is from the lower left to the upper right, the starting segment point must be one of "left side, bottom side, or lower left side".

[0048] In this embodiment of the invention, when the _th grid region is a square grid, when the second matrix grid is extended by B units along the edge of the _th grid region, it contains (1+2B). 2 The first grid region; B is a positive integer.

[0049] In this embodiment of the invention, before determining the nearest reference point of the coordinate point, it is also necessary to eliminate the relevant reference points in the calculation point. Specifically, based on the reference points or connecting line endpoints associated with the extended grid and the first grid area it contains, reference points that are not at the minimum distance from the current AGV coordinates are excluded.

[0050] Specifically, determine all first grid regions or extended grids and their associated reference points or connecting line endpoints, calculate the distance between the reference point and the center point of the corresponding first grid region or extended grid; sort the calculated distances in ascending order, and sequentially determine the difference between two adjacent distances. When the difference between adjacent distances is greater than the diagonal length of the first grid region or extended grid, delete all subsequent first grid regions or extended grids starting from that first grid region or extended grid.

[0051] The following specific examples further illustrate the essence of the technical solutions in the embodiments of the present invention.

[0052] Iterate through all reference points in the AVG map, determining the coordinates of each reference point. Assuming the current reference point is point O, calculate the current matrix grid based on its coordinates, setting the matrix's rows and columns to r and c, respectively. This matrix grid records point O. Expand the (r,c) grid in four directions by B matrix grids, enclosing the base matrix grid to form a larger matrix grid. That is, based on the matrix grid, calculate the intervals [rB, r+B] and [cB, c+B], recording the reference point O for each i-th matrix grid to be calculated, for a total of (1+2B). 2 A matrix grid records this reference point O.

[0053] Based on the baseline connecting lines on the AVG map, the calculation points on the connecting lines are determined, and the matrix grid and its extended grid are then determined again, as follows:

[0054] Iterate through all the connecting lines in the AVG map. Assume the current connecting line connects points O and P. Assume the analysis direction is from bottom left to top right. There must be a point, the starting segment point, located at one of the three edges: left, bottom, or bottom left. Let this point be point O. Since point O has already undergone matrix grid processing, points O and P no longer need to be considered as calculation points. Determine the segment distance of the connecting line as N. Let the coordinates of point O be (x1, y1) and the coordinates of point P be (x2, y2). Based on the slope of the connecting line, if the slope is greater than 1, segment the connecting line using the y-coordinate, with a segment distance of N. That is, starting from the coordinates of point O, the y-coordinate of the next point is y1 + N. Then calculate the corresponding x-coordinate value on the line. Continue this calculation until y >= y2, then stop. All calculations are then processed. The points obtained are used as calculation points. Based on the slope of the connecting line, if the slope is less than 1, the connecting line is segmented using the x-coordinate, with a segment distance of N. That is, starting from point O, the x-coordinate of the next point is x1+N, and the corresponding y-coordinate value on the line is calculated. This process is repeated until x>=x2, at which point the calculation stops, and all points determined by the segmentation are used as calculation points. Based on the coordinates of all calculation points, the current matrix grid is calculated, and the matrix rows and columns are set to r and c. This matrix grid records map points O and P. The (r,c) grid is then expanded B times in four directions, meaning the matrix calculation rows are in the interval [rB, r+B] and the matrix calculation rows are in the interval [cB, c+B]. Each matrix grid to be calculated records the map points O and P, for a total of (1+2B). 2 Each grid records point O and point P on this map.

[0055] In this embodiment of the invention, redundant data also needs to be removed, specifically as follows: After generating all matrix grids based on reference points and connecting lines, some redundant point data will exist, so they need to be removed; specifically, all matrix grids are traversed, the reference points recorded in the matrix grids are determined, and the distance between the center point of the matrix grid and the recorded reference points is calculated; the calculated distances of all reference points are sorted in ascending order, and the difference between the distances of two adjacent reference points is judged in turn. When the difference between the distances of two adjacent points is greater than the diagonal length of the matrix grid (i.e., sqrt(2N)), the data is removed. 2 When deleting the reference point, delete the matrix grid corresponding to the subsequent reference point;

[0056] When it is necessary to find the nearest reference point based on a certain coordinate (x,y), calculate the row and column (a,b) of the matrix grid where the coordinate (x,y) is located, directly find the reference point recorded in this matrix grid, and calculate the distance from all reference points to the coordinate (x,y). The reference point with the smallest distance is the nearest reference point.

[0057] Figure 2 A schematic diagram of the composition structure of the AGV map reference point finding device according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the AGV map reference point search device of this embodiment includes:

[0058] The determining unit 20 is used to obtain the current coordinates of the AGV and determine the grid area to which the current coordinates belong in the AGV map based on the current coordinates, wherein the AGV map is gridded into multiple grid areas according to a preset grid size;

[0059] The search unit 21 is used to query a set of reference points corresponding to the grid region to which the current coordinates belong, wherein the set of reference points includes the coordinates of at least one reference point, and the at least one reference point includes: the endpoint of the line connecting the reference points to the grid region to which the current coordinates belong and the reference points in the adjacent grid regions, and / or the reference points passing through the grid region to which the current coordinates belong or its extended grid region; and the reference point with the smallest distance from the current coordinates in the set of reference points is taken as the search result.

[0060] As one implementation method, in Figure 2 Based on the reference point finding device for the AGV map shown, the reference point finding device for the AGV map in this embodiment of the invention further includes:

[0061] First regional division unit ( Figure 2 (Not shown in the image) is used to determine the first grid area where each reference point in the AGV map is located. The grid area is then expanded outwards along the edge of the first grid area to form an extended grid that surrounds the first grid area. The first grid area and the remaining first grid areas in the extended grid record the same reference point.

[0062] As one implementation method, in Figure 2 Based on the reference point finding device for the AGV map shown, the reference point finding device for the AGV map in this embodiment of the invention further includes:

[0063] Second regional division unit ( Figure 2 (Not shown in the image) is used to obtain connecting lines in the AGV map, determine at least one first grid area through which the connecting lines pass, and, based on the first grid area through which the connecting lines pass, determine an extended grid of the first grid area through which the connecting lines pass; and associate the endpoints of the connecting lines contained in the extended grid with the extended grid and the first grid area contained therein.

[0064] As one implementation method, in Figure 2 Based on the reference point finding device for the AGV map shown, the reference point finding device for the AGV map in this embodiment of the invention further includes:

[0065] Exclusion unit ( Figure 2(not shown in the image) is used to exclude reference points that are not at the minimum distance from the current AGV coordinates based on the reference points or connector endpoints associated with the extended grid and the first grid region it contains.

[0066] As one implementation, the exclusion unit is further configured to:

[0067] Determine all first grid regions or extended grids and their associated reference points or connector endpoints, and calculate the distance between the reference points or connector endpoints and the center point of the corresponding first grid region or extended grid.

[0068] The calculated distances are sorted in ascending order. The difference between two adjacent distances is judged in turn. When the difference between adjacent distances is greater than the diagonal length of the first grid region or the extended grid, all subsequent first grid regions or extended grids are deleted starting from that first grid region or extended grid.

[0069] In one implementation, when the first grid area is a square grid, it is extended along the edge of the first grid area by B units to form an extended grid, wherein the extended grid contains (1+2B). 2 The first grid region.

[0070] In an exemplary embodiment, the determining unit 20, the searching unit 21, the first region division unit, the second region division unit, and the exclusion unit may be implemented by one or more central processing units (CPUs), graphics processing units (GPUs), baseband processors (BPs), application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the steps of the 3D line laser vision detection of object volume method of the foregoing embodiments.

[0071] In this embodiment of the disclosure, Figure 2The specific manner in which each unit in the reference point search device for the AGV map performs its operations has been described in detail in the embodiments of the method, and will not be elaborated here.

[0072] Below, for reference Figure 3 To describe the electronic device 11 according to an embodiment of this application.

[0073] like Figure 3 As shown, the electronic device 11 includes one or more processors 111 and memory 112.

[0074] The processor 111 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.

[0075] The memory 112 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 111 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0076] In one example, the electronic device 11 may also include an input device 113 and an output device 114, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0077] The input device 113 may include, for example, a keyboard, a mouse, etc.

[0078] The output device 114 can output various information to the outside, including determined distance information, direction information, etc. The output device 114 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0079] Of course, for the sake of simplicity, Figure 3 Only some of the components of the electronic device 11 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 11 may include any other suitable components depending on the specific application.

[0080] In addition to the methods and apparatus described above, embodiments of this application may also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0081] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0082] Furthermore, embodiments of this application may also be computer-readable storage media storing computer program instructions thereon, which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of this application described in the "Exemplary Methods" section above.

[0083] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0084] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0085] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0086] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0087] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0088] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A reference point search method of an AGV map, characterized by, The method comprises: obtaining the current coordinates of the AGV, and determining the grid region to which the current coordinates belong in the AGV map based on the current coordinates, wherein the AGV map is gridded into a plurality of grid regions according to a preset grid size; querying a set of reference points corresponding to the grid region to which the current coordinates belong, wherein the reference points are calibration nodes in the AGV map; the set of reference points comprises coordinates of at least one reference point, and the at least one reference point comprises: a reference point in the grid region to which the current coordinates belong, and an end point of a reference point connection line passing through the grid region to which the current coordinates belong or an extended grid region thereof; the end point is determined by: taking one end point of the connection line as a starting segmentation point, segmenting the connection line by y coordinates at a preset segmentation distance when the slope of the connection line exceeds a first threshold, segmenting the connection line by x coordinates at the preset segmentation distance when the slope of the connection line does not exceed the first threshold, and taking the points of each segment located in each grid region as end points; wherein determining the set of reference points comprises: obtaining the connection line in the AGV map, determining at least one first grid region through which the connection line passes, determining an extended grid of the first grid region through which the connection line passes based on the first grid region, associating the end points of the connection line contained in the extended grid with the extended grid and the first grid region contained therein, and excluding reference points with a distance from the current AGV coordinates that is not the smallest from the reference points associated with the extended grid and the first grid region contained therein; taking the reference point with the smallest distance from the current coordinates in the set of reference points as the search result.

2. The method of claim 1, wherein, Before obtaining the current coordinates of the AGV, the method comprises: determining the first grid region in which each reference point in the AGV map is located, and extending along the edges of the first grid region to a grid surrounding the first grid region to obtain an extended grid; wherein the first grid region and the remaining first grid regions in the extended grid record the same reference points.

3. The method of claim 1, wherein, The exclusion of reference points with a distance from the current AGV coordinates that is not the smallest comprises: determining all reference points or connection line end points associated with the first grid regions or the extended grids, and calculating the distances between the reference points and the center points of the corresponding first grid regions or extended grids; sorting the calculated distances in ascending order, and sequentially judging the difference between adjacent distances, and deleting all first grid regions or extended grids after a first grid region or an extended grid when the difference between adjacent distances is greater than the diagonal length of the first grid region or the extended grid.

4. The method of claim 1, wherein, When the first grid region is a square grid, a B number of the first grid region units are extended along the side line of the first grid region to form an extended grid, and the extended grid contains (1+2B) 2 first grid regions.

5. A reference point search device of an AGV map, characterized by, The device comprises: a determination unit configured to obtain the current coordinates of the AGV, and determine the grid region to which the current coordinates belong in the AGV map based on the current coordinates, wherein the reference points are calibration nodes in the AGV map; and the AGV map is gridded into a plurality of grid regions according to a preset grid size; The searching unit is configured to search a reference point set corresponding to a grid area to which the current coordinate belongs, wherein the reference point set comprises coordinates of at least one reference point, and the at least one reference point comprises a reference point of the grid area to which the current coordinate belongs and an end point of a connection line of the reference point of the grid area to which the current coordinate belongs or an extended grid area thereof; the end point is determined by the following method: taking one end point of the connection line as a starting segmentation point, segmenting the connection line by y coordinates at a preset segmentation distance when a slope of the connection line exceeds a first threshold value, segmenting the connection line by x coordinates at the preset segmentation distance when the slope of the connection line does not exceed the first threshold value, and taking a point of each segmentation located in each grid area as an end point; and taking a reference point with a minimum distance to the current coordinate in the reference point set as a searching result. The second area division unit is configured to obtain a connection line in the AGV map, determine at least one first grid area through which the connection line passes, determine an extended grid of the first grid area through which the connection line passes based on the first grid area, and associate the end point of the connection line contained in the extended grid with the extended grid and the first grid area contained therein. The excluding unit is configured to exclude a reference point with a non-minimum distance to the current AGV coordinate based on the reference point or the end point of the connection line associated with the extended grid and the first grid area contained therein.

6. The apparatus of claim 5, wherein, The device further comprises: The first area division unit is configured to determine a first grid area in which each reference point in the AGV map is located, expand the first grid area along edges of the first grid area to a grid surrounding the first grid area to obtain an extended grid, and record the same reference point in the first grid area and the remaining first grid areas in the extended grid.

7. The apparatus of claim 5, wherein, The excluding unit is further configured to: determine all reference points or end points of the connection line associated with the first grid areas or the extended grids, and calculate distances between the reference points or the end points of the connection line and center points of the corresponding first grid areas or the extended grids; sort the calculated distances in ascending order, and sequentially determine differences between adjacent distances, and delete all first grid areas or extended grids after a first grid area or an extended grid when the difference between adjacent distances is greater than a diagonal line length of the first grid area or the extended grid.

8. The apparatus of claim 5, wherein, When the first grid region is a square grid, B first grid region units are extended along the edge line of the first grid region to form an extended grid, and the extended grid contains (1+2B) 2 first grid regions.

9. An electronic device, comprising: The device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory is configured to store a computer program; and the processor is configured to execute the program stored in the memory to implement the steps of the reference point searching method of the AGV map according to any one of claims 1-4.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the reference point searching method of the AGV map according to any one of claims 1-4.

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