Map updating method and device, computer readable storage medium, and processor

Abstract

The present invention discloses a map updating method and device, a computer-readable storage medium, and a processor. The method includes: upon receiving a map update signal, locking the target map resources of all automated guided vehicles in the automated guided system, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all automated guided vehicles are located, map resources corresponding to the next path point where all automated guided vehicles are located, and remaining map resources from the target point; after determining that the target map resources are locked successfully, updating the map of the automated guided system to obtain an updated map. The present invention solves the technical problem in the related art that when the map of the automated guided vehicle is updated online, the resources used by the automated guided vehicle are easily deleted by mistake, which in turn affects the normal production.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to a map updating method and device thereof, a computer-readable storage medium, and a processor. Background Art

[0002] Automated Guided Vehicles, or AGVs for short, are usually equipped with an automatic guidance mechanism that guides the AGV to run along a predetermined path. It can also modify the route according to new instructions to complete the function of removing materials or goods.

[0003] As the scale of production increases, the area of ​​the AGV operation map gradually increases, and the number of AGVs increases accordingly. If the system stops running when the map is modified, and the system resumes running after the map modification is completed, this will seriously affect production efficiency. In the past, online map updates did not take into account the existence of message queue caches when multiple vehicles are running, resulting in the failure to update the resources for map modifications in a timely manner, which resulted in deleted routes in the routes planned by the vehicles and task anomalies. In addition, it did not take into account that the resources (points / edges) that the current AGV was about to apply for were mistakenly deleted, resulting in task anomalies. After the map was updated, the optimal path was not judged, resulting in the failure to restore the AGV task in a timely and orderly manner, which may lead to inefficiency.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a map updating method and device, a computer-readable storage medium, and a processor, so as to at least solve the technical problem in the related art that when the map of the automated guided vehicle is updated online, the resources used by the automated guided vehicle are easily deleted by mistake, thereby affecting the normal production.

[0006] According to one aspect of an embodiment of the present invention, a map updating method is provided, comprising: upon receiving a map update signal, locking target map resources of all automated guided vehicles in an automated guided vehicle system, wherein the target map resources include at least one of the following: map resources corresponding to a current point where all automated guided vehicles are located, map resources corresponding to a next path point where all automated guided vehicles are located, and remaining map resources from the target point; after determining that the target map resources have been successfully locked, updating the map of the automated guided vehicle system to obtain an updated map.

[0007] Optionally, the target map resources of all the automated guided vehicles in the automated guided vehicle system are locked, including: during the operation of the automated guided vehicle system, sending a waiting signal to all the automated guided vehicles based on the map update signal, wherein the waiting signal is used to notify all the automated guided vehicles to enter a waiting state; after determining that the waiting signal has been sent successfully, recording the target map resources of all the automated guided vehicles in a temporary resource storage medium, and using the temporary resource storage medium to lock the target map resources.

[0008] Optionally, after sending a waiting signal to all the automatic guided transport vehicles based on the map update signal, the method further includes: controlling the target automatic guided transport vehicle to run to a next path point corresponding to the current path point, wherein the target automatic guided transport vehicle is a vehicle that is performing a task among all the automatic guided transport vehicles; and when it is determined that the target automatic guided transport vehicle runs to the next path point, modifying the state of the target automatic guided transport vehicle to a waiting state.

[0009] Optionally, after changing the state of the target automated guided transport vehicle to a waiting state, the method further includes: retaining map resources of the target automated guided transport vehicle at the next path point, and adjusting the task thread corresponding to the task being executed by the target automated guided transport vehicle to a suspended state.

[0010] Optionally, after updating the map of the automatic guided vehicle system to obtain an updated map, the method further includes: adjusting the task thread of the target automatic guided vehicle from a suspended state to a wake-up state.

[0011] Optionally, after updating the map of the automatic guided vehicle system and obtaining the updated map, the method further includes: unlocking the target map resources recorded in the temporary resource storage medium; after the target map resources are successfully unlocked, sending a waiting release signal to all the automatic guided vehicles to trigger all the automatic guided vehicles to enter a waiting release state.

[0012] Optionally, after updating the map of the automatic guided vehicle system to obtain an updated map, the method further includes: regenerating a new transport path based on the target map resources and the updated map; and sending the new transport path to all the automatic guided vehicles so that all the automatic guided vehicles reapply for map resources.

[0013] According to another aspect of an embodiment of the present invention, a map updating device is also provided, including: a locking module, used to lock the target map resources of all automatic guided vehicles in the automatic guided vehicle system when a map update signal is received, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all the automatic guided vehicles are located, map resources corresponding to the next path point where all the automatic guided vehicles are located, and remaining map resources from the target point; an updating module, used to update the map of the automatic guided vehicle system after determining that the target map resources have been successfully locked to obtain an updated map.

[0014] Optionally, the locking module includes: a first sending unit, used to send a waiting signal to all the automatic guided transport vehicles based on the map update signal during the operation of the automatic guided transport system, wherein the waiting signal is used to notify all the automatic guided transport vehicles to enter a waiting state; a recording unit, used to record the target map resources of all the automatic guided transport vehicles in a temporary resource storage medium after determining that the waiting signal is sent successfully, and use the temporary resource storage medium to lock the target map resources.

[0015] Optionally, the device also includes: a control unit, used to control the target automatic guided transport vehicle to run to a next path point corresponding to the current path point after sending a waiting signal to all the automatic guided transport vehicles based on the map update signal, wherein the target automatic guided transport vehicle is a vehicle that is performing a task among all the automatic guided transport vehicles; and a modification unit, used to modify the state of the target automatic guided transport vehicle to a waiting state when it is determined that the target automatic guided transport vehicle runs to the next path point.

[0016] Optionally, the device also includes: a reservation unit, which is used to reserve the map resources of the target automated guided transport vehicle at the next path point after changing the state of the target automated guided transport vehicle to a waiting state, and adjust the task thread corresponding to the task being executed by the target automated guided transport vehicle to a suspended state.

[0017] Optionally, the device further comprises: an adjustment unit, configured to adjust the task thread of the target automated guided vehicle from a suspended state to a wake-up state after updating the map of the automated guided vehicle system to obtain an updated map.

[0018] Optionally, after updating the map of the automatic guided vehicle system and obtaining the updated map, the device further includes: an unlocking unit for unlocking the target map resources recorded in the temporary resource storage medium; and a second sending unit for sending a waiting release signal to all the automatic guided vehicles after the target map resources are successfully unlocked, so as to trigger all the automatic guided vehicles to enter a waiting release state.

[0019] Optionally, the device also includes: a generation unit, which is used to update the map of the automatic guided vehicle system and regenerate a new transportation path based on the target map resources and the updated map after obtaining the updated map; and a third sending unit, which is used to send the new transportation path to all the automatic guided vehicles so that all the automatic guided vehicles reapply for map resources.

[0020] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located is controlled to execute any of the above-mentioned map updating methods.

[0021] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a computer program, wherein the computer program executes any one of the above-mentioned map updating methods when running.

[0022] In an embodiment of the present invention, when a map update signal is received, the target map resources of all automated guided vehicles in the automated guided vehicle system are locked, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all automated guided vehicles are located, map resources corresponding to the next path point where all automated guided vehicles are located, and remaining map resources from the target point; after determining that the target map resources are locked successfully, the map of the automated guided vehicle system is updated to obtain an updated map. The map update method provided by the embodiment of the present invention achieves the purpose of updating the map of the automated guided vehicle system after locking the target map resources of all automated guided vehicles in the automated guided vehicle system when a map update signal is received, thereby achieving the technical effect of reducing the failure rate of map updates, and further solving the technical problem in the related art that when the map of the automated guided vehicle is updated online, the resources used by the automated guided vehicle are easily deleted by mistake, thereby affecting the normal production. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flowchart of a map updating method according to an embodiment of the present invention;

[0025] Figure 2 is a flow chart of online map updating according to an embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a map updating device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Example 1

[0030] According to an embodiment of the present invention, a method embodiment of a map updating method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a flow chart of a map updating method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0032] Step S102, upon receiving a map update signal, locking target map resources of all automated guided vehicles in the automated guided vehicle system, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all automated guided vehicles are located, map resources corresponding to the next path point where all automated guided vehicles are located, and remaining map resources from the target point;

[0033] Optionally, in the above steps, after receiving the map update signal, the target map resources in all AGVs in the AGV system are locked to prevent the map resources from being accidentally deleted.

[0034] The map resources corresponding to the current point where all the above-mentioned automated guided vehicles are located are the resources currently occupied by the AGVs (i.e., automated guided vehicles) in an idle state. The map resources corresponding to the next path point where all the above-mentioned automated guided vehicles are located and the remaining map resources from the target point are the map resources currently occupied by the AGVs in operation and the map resources occupied by the remaining path to the target point.

[0035] By locking the target map resources in the above manner to prevent the map resources from being accidentally deleted, the rationality of map resource editing can be improved and map editing is also facilitated.

[0036] In addition, it should be noted that, in the embodiment of the present invention, the AGV system will also record the current point resources of all AGV vehicles (ie, AGV vehicles in a non-operating state and in an operating state) in order to realize the subsequent task recovery.

[0037] Step S104, after determining that the target map resource is locked successfully, the map of the automatic guidance system is updated to obtain an updated map.

[0038] As can be seen from the above, in an embodiment of the present invention, first, when a map update signal is received, the target map resources of all automated guided vehicles in the automated guided vehicle system can be locked, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all automated guided vehicles are located, map resources corresponding to the next path point where all automated guided vehicles are located, and remaining map resources from the target point; finally, after determining that the target map resources are locked successfully, the map of the automated guided vehicle system can be updated to obtain an updated map. The map update method provided by the embodiment of the present invention achieves the purpose of updating the map of the automated guided vehicle system after locking the target map resources of all automated guided vehicles in the automated guided vehicle system when a map update signal is received, thereby achieving the technical effect of reducing the failure rate of map updates, and further solving the technical problem in the related art that when the map of the automated guided vehicle is updated online, the resources used by the automated guided vehicle are easily deleted by mistake, thereby affecting the normal production.

[0039] As an optional embodiment, the target map resources of all automated guided vehicles in the automated guided vehicle system are locked, including: during the operation of the automated guided vehicle system, sending a waiting signal to all automated guided vehicles based on a map update signal, wherein the waiting signal is used to notify all automated guided vehicles to enter a waiting state; after determining that the waiting signal has been sent successfully, recording the target map resources of all automated guided vehicles in a temporary resource storage medium, and using the temporary resource storage medium to lock the target map resources.

[0040] In the above optional embodiment, the AGV state can be first changed to a waiting state, and the system retains the AGV current point resources so that the map resources are locked to prevent accidental deletion.

[0041] Specifically, when the system receives a map update signal, the bus notifies the AGV that it is in a waiting state. The system determines whether the AGV is executing a task. If the AGV is currently idle, the AGV changes from an idle state to a waiting state. The system retains the AGV's current point resources and records the AGV's current point resources in a temporary resource table to ensure that the AGV state is not lost and the task is running normally.

[0042] As an optional embodiment, after sending a waiting signal to all automatic guided transport vehicles based on the map update signal, the map update method also includes: controlling the target automatic guided transport vehicle to run to the next path point corresponding to the current path point, wherein the target automatic guided transport vehicle is the vehicle that is performing a task among all automatic guided transport vehicles; when it is determined that the target automatic guided transport vehicle runs to the next path point, the state of the target automatic guided transport vehicle is changed to a waiting state.

[0043] In the above optional embodiment, when the AGV stops at the next path point, the AGV state is changed to a waiting state, the system reserves the next path point resources of the AGV, suspends the task thread, and stops resource application to save system operating resources.

[0044] As an optional embodiment, after changing the state of the target automated guided transport vehicle to a waiting state, the map update method further includes: retaining the map resources of the target automated guided transport vehicle at the next path point, and adjusting the task thread corresponding to the task being executed by the target automated guided transport vehicle to a suspended state.

[0045] In the above optional embodiment, if the current AGV uses a temporary table cache mechanism when executing a task, when the AGV stops at the next requested path point and returns to the state of waiting for map modification, the AGV changes from the running state to the waiting state, and the system reserves the next requested path point resource of the AGV. At this time, the system suspends the AGV task thread, stops resource application, and records the current point resources and the remaining route resources of the task to the temporary resource table. Before updating the map, lock the recorded resources in the temporary resource table to prevent the occurrence of resource deletion and task anomalies, so as to ensure that the running state AGV task resumes in an orderly manner after the map is updated.

[0046] As an optional embodiment, after updating the map of the automatic guided vehicle system to obtain the updated map, the map updating method further includes: adjusting the task thread of the target automatic guided vehicle from a suspended state to a wake-up state.

[0047] In the above optional embodiment, after the update is completed, the temporary resource table is unlocked, and the system (ie, the AGV system) notifies the AGV through the event bus to release the waiting state and restore the state before the map update. The system wakes up the AGV task thread that was in the running state before the map update.

[0048] As an optional embodiment, after updating the map of the automatic guided vehicle system and obtaining the updated map, the map updating method further includes: unlocking the target map resources recorded in the temporary resource storage medium; after the target map resources are successfully unlocked, sending a waiting release signal to all automatic guided vehicles to trigger all automatic guided vehicles to enter a waiting release state.

[0049] In the above optional embodiment, before the map is updated, the remaining path resources of the running AGV task are recorded in the temporary resource table, and these resources are locked before the map is modified, ensuring that after the AGV task is restored, at least one path (the optimal path before the map is modified) can reach the task end point through the optimal algorithm, that is, the AGV thread regenerates the optimal path through the optimal path algorithm, and multiple AGVs compete for resources again and resume system operation. This ensures the flexibility of online deletion of map elements and the correctness of the system operation logic.

[0050] As an optional embodiment, after updating the map of the automatic guided vehicle system and obtaining the updated map, the map updating method also includes: regenerating a new transport path based on the target map resources and the updated map; sending the new transport path to all automatic guided vehicles so that all automatic guided vehicles reapply for map resources.

[0051] Through the description of the above embodiments, in the map updating method provided by the embodiment of the present invention, when judging whether the AGV car performs the task, the resources that the AGV system needs to retain and record (AVG current point resources) and the resources that need to be locked are determined based on the judgment result. Specifically, before the map is updated: the AGV is in an idle and taskless state, and will retain the resources of its current point, and lock its current point resources through a temporary record table; when the AGV is in a non-idle state, the idle AGV car will first stop at the next resource point (i.e., path point), and feedback that the AGV has stopped at the next resource point, and then it is in a waiting state. Because in the embodiment of the present invention, for the AGV car in the running state, the resources of the next path point corresponding to the current point and the remaining route resources (the remaining route resources refer to the routes that have been generated but not completed before the map is modified) are recorded, and they are locked to prevent accidental deletion, which ensures that the AGV has at least one optimal path before the map modification to reach the task end after the map is modified, and the smooth progress of production is ensured.

[0052] Furthermore, the map updating method provided by the embodiment of the present invention can also add bus notification logic. For example, when receiving a map modification signal, the AGV is notified by the event bus in the form of a communication protocol, so that the AGV is in a state of waiting for map modification, and after receiving the information that the AGV has returned the waiting state, the task thread of the AGV is notified by the event bus to be modified to a suspended state, and the resources of the AGV are recorded in a temporary resource table. After all AGVs have completed the operation, the map is modified. When the map is modified, it is determined whether there are records in the resource table. If there are records, these resources of the map are locked, and these resources are prohibited from being modified during the modification. After the map modification is completed, the AGV is notified by the event bus to restore to the normal operating state, and the task thread of the AGV is awakened to re-plan the optimal path. The AGV re-enters the resource competition state to resume the previous task operation. After multiple tests, online map modification prevents the resources that the task is about to apply for from being deleted by mistake, greatly reduces the task exception rate, and improves the system stability. Moreover, by means of bus notification, the map is modified after all AGVs are in a waiting state, ensuring that the data inconsistency caused by the delay is eliminated, reducing the task exception rate, and improving the efficiency of map modification.

[0053] Figure 2 is a flow chart of online map updating according to an embodiment of the present invention. Figure 2 As shown, first, the map can be updated online to make the system run normally. Multiple AGVs are in an idle state or in a task execution state. At this time, the map online update task is issued to maintain the various states of the AGV. Then the bus notifies the AGV to be in a waiting state to determine whether the AGV is executing a task. If it is not executing a task, the AGV state is changed to a waiting state. The system reserves the current point resources of the AGV and records the current point resources. Then the temporary resource table records the resources to be locked; if it is executing a task, the AGV is stopped at the next path point, and the AGV state is changed to a waiting state. The system reserves the next path point resources of the AGV, the task thread is suspended, the resource application is stopped, and the current point resources and the remaining route resources of the task are recorded. The temporary resource table records the resources to be locked, then the recorded resources are locked first, and the map update is triggered. After confirming that the map update is completed, the temporary resource table is unlocked, and then the bus notifies the AGV to release the waiting state, resume the running state, and wake up the task thread. Finally, the AGV regenerates the path through the optimal path algorithm, competes for resources again, and enables the system to continue running, repeating the above process.

[0054] As can be seen from the above, the method provided by the embodiment of the present invention uses a bus combined with a resource lock strategy to ensure the orderly and efficient operation of tasks before and after multiple AGVs modify the map online, and to lock as few currently non-updatable map resources as possible, thereby ensuring that more map elements can be updated online, greatly improving the stability of the system before and after online map updates and the map update efficiency; and the map update method provided by the embodiment of the present invention also solves the following technical problems:

[0055] 1. Solve the problem of task exceptions for deleted routes when multiple AGV maps are updated online. In the past, the map modification logic was modified because the message queue cache was not considered in the actual operation of multiple vehicles, resulting in the failure to update the map modification resources in time, which led to the existence of deleted routes in the routes planned by the vehicles, resulting in task exceptions. Through the event bus mechanism, the message status is kept consistent, the AGV status is guaranteed to be consistent with the actual situation, and the online map update is completed accurately.

[0056] 2. Solve the problem of task exceptions when the resources to be applied for are accidentally deleted when the AGV map is updated. Use the temporary resource table mechanism to record the resources currently occupied by the AGV and the resources to be applied for by the AGV task, and lock the existing resources in the temporary resource table before modifying the map. By locking the resources, the resources (points / edges) to be applied for by the AGV in the task before the map is updated can be prevented from being accidentally deleted, which improves the stability of the system after the map is modified and ensures the normal progress of the AGV task.

[0057] 3. Solve the problem of low production efficiency when the AGV system performs online map updates. Specifically, use the bus message consistency and resource lock mechanism, use a temporary table to record AGV tasks, ensure the normal progress of various tasks during the AGV map update process, and avoid the problem of low production efficiency caused by system shutdown and restart to update the map, so as to smoothly perform online map updates and efficient production work.

[0058] 4. Solve the problem that after the AGV map is updated, the optimal path is not planned, resulting in inefficient task execution. Specifically, the temporary thread suspension mechanism is adopted to save the operating status of the AGV before the map is updated. When the map is updated, the system suspends the executing AGV task thread in advance. After the task is completed, the thread is re-awakened, and the system re-plans the optimal path for the AGV on the updated map and competes for resources. This method of timely resuming AGV operation after the map is updated and using the updated map to plan the optimal path ensures that the AGV task is restored in an orderly manner and runs more efficiently after the map is updated.

[0059] Therefore, the embodiment of the present invention provides an online map update method for an AGV system based on a bus and a resource lock. When receiving a message to update the map, the event bus mechanism is used to ensure the consistency of the message state, and a notification of preparing to modify the map is sent to each AGV. Using a temporary table cache mechanism, when the AGV returns to the state of waiting for map modification, for the idle AGV, the current point resource of the AGV is retained and recorded in the temporary resource table. For the running AGV, the AGV task thread is suspended, the next point resource of the AGV is retained, and the remaining path resources of the task are recorded in the temporary table to prevent accidental deletion of resources. When all AGVs complete the resource recording operation, when modifying the map, it is determined whether there are recorded resources in the temporary resource table, and the recorded resources are locked to prohibit modification. After the modification is completed, the AGV is notified through the event bus to end the waiting state for map modification. At the same time, the system wakes up the AGV task thread, allowing the AGV to re-plan the optimal path from the current point according to the optimal path algorithm in the updated map, and re-compete for resources, so as to improve the stability of the multi-AGV system tasks before and after the map update, and complete the efficient operation of the multi-AGV system scheduling.

[0060] Example 2

[0061] According to another aspect of the embodiment of the present invention, a map updating device is provided. Figure 3 is a schematic diagram of a map updating device according to an embodiment of the present invention. Figure 3 As shown, it includes: a locking module 31 and an updating module 33.

[0062] The locking module 31 is used to lock the target map resources of all the automated guided vehicles in the automated guided vehicle system when receiving the map update signal, wherein the target map resources include at least one of the following: the map resources currently being used by all the automated guided vehicles and the map resources to be used by all the automated guided vehicles;

[0063] The updating module 33 is used to update the map of the automatic guidance system after determining that the target map resource is locked successfully to obtain an updated map.

[0064] It should be noted that the locking module 31 and the updating module 33 correspond to steps S102 to S104 in Embodiment 1, and the examples and application scenarios implemented by the modules and the corresponding steps are the same, but are not limited to the contents disclosed in Embodiment 1. It should be noted that the modules as part of the device can be executed in a computer system such as a set of computer executable instructions.

[0065] As can be seen from the above, in the embodiment of the present invention, firstly, the target map resources of all the automated guided vehicles in the automated guided vehicle system can be locked with the help of the locking module 31 when the map update signal is received, wherein the target map resources include at least one of the following: the map resources corresponding to the current point where all the automated guided vehicles are located, the map resources corresponding to the next path point where all the automated guided vehicles are located, and the remaining map resources from the target point; finally, after determining that the target map resources are locked successfully, the map of the automated guided vehicle system can be updated with the help of the updating module 33 to obtain an updated map. The map updating device provided by the embodiment of the present invention achieves the purpose of updating the map of the automated guided vehicle system after locking the target map resources of all the automated guided vehicles in the automated guided vehicle system when the map update signal is received, thereby achieving the technical effect of reducing the failure rate of map update, and further solving the technical problem in the related art that when the map of the automated guided vehicle is updated online, the resources used by the automated guided vehicle are easily deleted by mistake, thereby affecting the normal production.

[0066] Optionally, the locking module includes: a first sending unit, used to send a waiting signal to all automatic guided transport vehicles based on a map update signal during the operation of the automatic guided system, wherein the waiting signal is used to notify all automatic guided transport vehicles to enter a waiting state; a recording unit, used to record the target map resources of all automatic guided transport vehicles in a temporary resource storage medium after determining that the waiting signal has been sent successfully, and use the temporary resource storage medium to lock the target map resources.

[0067] Optionally, the map updating device also includes: a control unit, which is used to control the target automatic guided transport vehicle to run to the next path point corresponding to the current path point after sending a waiting signal to all automatic guided transport vehicles based on the map update signal, wherein the target automatic guided transport vehicle is the vehicle that is performing a task among all automatic guided transport vehicles; and a modification unit, which is used to modify the state of the target automatic guided transport vehicle to a waiting state when it is determined that the target automatic guided transport vehicle runs to the next path point.

[0068] Optionally, the map updating device also includes: a reservation unit, which is used to reserve the map resources of the target automated guided transport vehicle at the next path point after changing the state of the target automated guided transport vehicle to a waiting state, and adjust the task thread corresponding to the task being executed by the target automated guided transport vehicle to a suspended state.

[0069] Optionally, the map updating device further includes: an adjusting unit, which is used to adjust the task thread of the target automatic guided vehicle from a suspended state to a wake-up state after the map of the automatic guided vehicle system is updated and the updated map is obtained.

[0070] Optionally, after updating the map of the automatic guided vehicle system and obtaining the updated map, the map updating device also includes: an unlocking unit, used to unlock the target map resources recorded in the temporary resource storage medium; a second sending unit, used to send a waiting release signal to all automatic guided vehicles after the target map resources are successfully unlocked, so as to trigger all automatic guided vehicles to enter a waiting release state.

[0071] Optionally, the map updating device also includes: a generation unit, which is used to update the map of the automatic guided vehicle system and regenerate a new transport path based on the target map resources and the updated map after obtaining the updated map; and a third sending unit, which is used to send the new transport path to all automatic guided vehicles so that all automatic guided vehicles reapply for map resources.

[0072] Example 3

[0073] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored computer program, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located is controlled to execute any one of the above-mentioned map updating methods.

[0074] Example 4

[0075] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a computer program, wherein the computer program executes any one of the above map updating methods when running.

[0076] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0077] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0078] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0079] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0080] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0081] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0082] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A map updating method, characterized in that: include: Upon receiving a map update signal, target map resources of all automated guided vehicles in the automated guided vehicle system are locked, wherein the target map resources include at least one of the following: map resources corresponding to the current point where all the automated guided vehicles are located, map resources corresponding to the next path point where all the automated guided vehicles are located, and remaining map resources from the target point; After determining that the target map resource is locked successfully, updating the map of the automatic guidance system to obtain an updated map; Among them, locking the target map resources of all automatic guided vehicles in the automatic guided vehicle system includes: during the operation of the automatic guided vehicle system, sending a waiting signal to all the automatic guided vehicles based on the map update signal, wherein the waiting signal is used to notify all the automatic guided vehicles to enter a waiting state; after determining that the waiting signal is sent successfully, recording the target map resources of all the automatic guided vehicles in a temporary resource storage medium, and using the temporary resource storage medium to lock the target map resources.

2. The method according to claim 1, characterized in that After sending a waiting signal to all the automated guided transport vehicles based on the map update signal, the method further includes: Controlling a target automated guided transport vehicle to run to a next path point corresponding to the current path point, wherein the target automated guided transport vehicle is a vehicle that is currently performing a task among all the automated guided transport vehicles; When it is determined that the target automated guided transport vehicle runs to the next path point, the state of the target automated guided transport vehicle is modified to a waiting state.

3. The method according to claim 2, characterized in that After changing the state of the target automated guided transport vehicle to a waiting state, the method further includes: The map resource of the target automated guided transport vehicle at the next path point is retained, and the task thread corresponding to the task being executed by the target automated guided transport vehicle is adjusted to a suspended state.

4. The method according to claim 3, characterized in that After updating the map of the automatic guidance system to obtain an updated map, the method further includes: The task thread of the target automated guided transport vehicle is adjusted from a suspended state to a wake-up state.

5. The method according to claim 1, characterized in that After updating the map of the automatic guidance system to obtain an updated map, the method further includes: Unlocking the target map resource recorded in the temporary resource storage medium; After the target map resource is unlocked successfully, a waiting release signal is sent to all the automatic guided transport vehicles to trigger all the automatic guided transport vehicles to enter a waiting release state.

6. The method according to any one of claims 1 to 5, characterized in that After updating the map of the automatic guidance system to obtain an updated map, the method further includes: regenerate a new transportation route based on the target map resource and the updated map; The new transport path is sent to all the automated guided transport vehicles, so that all the automated guided transport vehicles reapply for map resources.

7. A map updating device, characterized in that: include: A locking module, configured to lock target map resources of all automated guided vehicles in the automated guided vehicle system upon receiving a map update signal, wherein the target map resources include at least one of the following: map resources corresponding to a current point where all the automated guided vehicles are located, map resources corresponding to a next path point where all the automated guided vehicles are located, and remaining map resources from the target point; An updating module, configured to update the map of the automatic guidance system after determining that the target map resource is locked successfully, to obtain an updated map; Among them, the locking module includes: a first sending unit, used to send a waiting signal to all the automatic guided transport vehicles based on the map update signal during the operation of the automatic guided system, wherein the waiting signal is used to notify all the automatic guided transport vehicles to enter a waiting state; a recording unit, used to record the target map resources of all the automatic guided transport vehicles in a temporary resource storage medium after determining that the waiting signal is sent successfully, and use the temporary resource storage medium to lock the target map resources.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed by a processor, the device where the computer-readable storage medium is located is controlled to execute the map updating method described in any one of claims 1 to 6.

9. A processor, characterized in that: The processor is used to run a computer program, wherein the computer program executes the map updating method according to any one of claims 1 to 6 when running.

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