Map Optimization Method, Non-Volatile Storage Medium, and Map Optimization System

Abstract

The present invention provides a map optimization method, a non-volatile storage medium, and a map optimization system. The map optimization method is used to obtain a transportation map of a transportation mechanism in a transportation interval according to the transportation conditions of the transportation mechanism. The map optimization method includes: obtaining initial map information of the transportation interval, where the initial map is drawn based on the positions of all the stopping stations of the transportation mechanism in the transportation interval; obtaining the storage information of all the materials in the transportation interval, and marking the initial map according to the storage information of all the materials to form a material identification map; obtaining the transportation information of the transportation mechanism, and screening the material identification map according to the transportation information of the transportation mechanism to obtain a transportation map. Through the technical solution provided by the present invention, the technical problem of low transportation efficiency in the prior art can be solved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-carrying map optimization, and in particular, to a map optimization method, a non-volatile storage medium, and a map optimization system. Background Art

[0002] Currently, an AGV (Automated Guided Vehicle) automatic guided vehicle refers to a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical means. The AGV receives instructions and runs along a specified path, and can safely and efficiently complete a series of tasks such as cargo delivery, automatic charging, and automatic docking, and does not require an actual driver. It realizes the high automation and intelligence of modern industrial logistics.

[0003] However, in order to achieve high automation, the original AGV scheduling system often only creates a specific map and plans all fixed driving areas of AGVs on the map, such as the material parking area and the transportable area of AGVs. Due to the different transport states (with materials / without materials) of different AGVs and the different environments of the actual operating areas, in order to prevent various safety problems from occurring when the AGV in the state of carrying materials and the AGV receiving an emergency task drive in special operating areas (for example, there is a risk of material collision when the AGV carrying materials runs in the material parking area), the design of the map may sacrifice many available areas to meet the common use of all AGVs, but it reduces the available routes for AGVs to run and sacrifices the transport efficiency. Summary of the Invention

[0004] The main object of the present invention is to provide a map optimization method, a non-volatile storage medium, and a map optimization system to solve the technical problem of low transport efficiency in the prior art.

[0005] To achieve the above object, according to one aspect of the present invention, a map optimization method is provided. The map optimization method is used to obtain a transport map of a transport mechanism in a transport interval according to the transport situation of the transport mechanism. The map optimization method includes: obtaining initial map information of the transport interval, where the initial map is drawn based on the positions of all stop stations of the transport mechanism in the transport interval; obtaining the storage information of all materials in the transport interval, and marking the initial map according to the storage information of all materials to form a material identification map; obtaining the transport information of the transport mechanism, and screening the material identification map according to the transport information of the transport mechanism to obtain a transport map.

[0006] Further, the initial map is marked according to the storage information of all materials to form a material identification map, including: obtaining the storage location information and storage attribute information of all materials in the transportation section, where the storage attribute information includes the form information, weight information, and danger level information of the materials; marking all the docking stations on the initial map according to the storage location information of all materials in the transportation section and the corresponding storage attribute information.

[0007] Further, marking all the docking stations on the initial map according to the storage location information of all materials in the transportation section and the corresponding storage attribute information includes: comparing the storage location information with the location information of the docking stations, and determining whether there are materials stored at the docking stations according to the comparison result of the storage location information and the location information of the docking stations; when it is determined that there are materials stored at the docking station, marking the corresponding storage attribute information at the docking station; when it is determined that there are no materials stored at the docking station, abandoning the marking of the docking station.

[0008] Further, obtaining the transportation information of the transportation mechanism, including: obtaining the location information of the docking station corresponding to the starting point of the transportation of the transportation mechanism, the location information of the docking station corresponding to the end point of the transportation of the transportation mechanism, and the material attribute information of the materials transported by the transportation mechanism.

[0009] Further, screening the material identification map according to the transportation information of the transportation mechanism to obtain a transportation map, including: classifying and screening the material identification map using the decision tree classification algorithm, and combining the classified map with the transportation information of the transportation mechanism to obtain a transportation map.

[0010] Further, classifying and screening the docking stations on the material identification map using the decision tree classification algorithm includes: classifying the docking stations on the material identification map according to whether they are marked, the size of the weight, the form situation, and whether they are dangerous goods using the decision tree classification algorithm, and screening the classified docking stations.

[0011] Further, classifying the docking stations on the material identification map according to whether they are marked, the size of the weight, the form situation, and whether they are dangerous goods using the decision tree classification algorithm includes: determining whether the docking station is marked; when the docking station is marked, determining the docking station as a marked point; when the docking station is not marked, determining the docking station as a common point; determining the size of the weight of the marked point to classify the material weight of the marked point into light, medium, and heavy; determining the form situation of the marked point to classify the material form of the marked point into gaseous, solid, and liquid; determining whether the marked point is a dangerous good to classify the materials at the marked point into dangerous goods and safe goods.

[0012] Further, the classified docking stations are screened, including: removing the identification points of materials different from the transported materials of the transport mechanism, and retaining the common points and the identification points of materials the same as the transported materials of the transport mechanism to form a transport map.

[0013] According to another aspect of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium includes a program, and the program adopts the map optimization method provided above.

[0014] According to another aspect of the present invention, a map optimization system is provided. The map optimization system is used to obtain a transport map of a transport mechanism in a transport interval according to the transport situation of the transport mechanism. The map optimization system includes: a first acquisition module for acquiring initial map information of the transport interval; a second acquisition module for acquiring the storage information of all materials in the transport interval; a first optimization module for identifying the initial map according to the storage information of all materials to form a material identification map; a third acquisition module for acquiring the transport information of the transport mechanism; and a second optimization module for screening the material identification map according to the transport information of the transport mechanism to obtain a transport map.

[0015] Applying the technical solution of the present invention can facilitate screening of the docking stations according to the material storage situation and transported material information in the transport interval to filter out special areas that cannot be walked through, allowing different materials to be transported in specific areas, thereby greatly improving transport safety and also enhancing production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 shows a schematic overall flow chart of map optimization provided by an embodiment of the present invention;

[0018] Figure 2 shows a screening flow chart of a decision tree classification algorithm provided by an embodiment of the present invention;

[0019] Figure 3 shows a route planning diagram provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0021] As Figures 1 to 3As shown in the figure, Embodiment 1 of the present invention provides a map optimization method. The map optimization method is used to obtain the transportation map of the transportation agency in the transportation interval according to the transportation situation of the transportation agency. The map optimization method includes: obtaining the initial map information of the transportation interval, where the initial map is drawn based on the positions of all the stopping stations of the transportation agency in the transportation interval; obtaining the storage information of all the materials in the transportation interval, and marking the initial map according to the storage information of all the materials to form a material identification map; obtaining the transportation information of the transportation agency, and screening the material identification map according to the transportation information of the transportation agency to obtain the transportation map.

[0022] By using the map optimization method provided in this embodiment, it is possible to facilitate the screening of the stopping stations according to the material storage situation and the transported material information in the transportation interval, so as to filter out special areas that cannot be walked through, and allow different materials to be transported in specific areas, thereby greatly improving the transportation safety and also enhancing the production efficiency.

[0023] In this embodiment, marking the initial map according to the storage information of all the materials to form a material identification map includes: obtaining the storage location information and storage attribute information of all the materials in the transportation interval, where the storage attribute information includes the form information, weight information, and danger degree information of the materials; marking all the stopping stations on the initial map according to the storage location information of all the materials in the transportation interval and the corresponding storage attribute information. By using such a method, it is possible to facilitate better marking of the map.

[0024] Specifically, in this embodiment, marking all the stopping stations on the initial map according to the storage location information of all the materials in the transportation interval and the corresponding storage attribute information includes: comparing the storage location information with the location information of the stopping stations, and determining whether there is a material stored at the stopping station according to the comparison result of the storage location information and the location information of the stopping stations; when it is determined that there is a material stored at the stopping station, marking the corresponding storage attribute information at the stopping station; when it is determined that there is no material stored at the stopping station, giving up marking the stopping station. By using such a method, it is possible to facilitate improving the accuracy of material identification, so as to improve the accuracy of transportation.

[0025] In this embodiment, obtaining the transportation information of the transportation agency includes: obtaining the location information of the stopping station corresponding to the starting point of the transportation of the transportation agency, the location information of the stopping station corresponding to the end point of the transportation of the transportation agency, and the material attribute information of the materials transported by the transportation agency. By using such a method, it is possible to facilitate understanding the transportation situation of the transportation agency by combining the above multiple pieces of information, so as to facilitate screening and classification.

[0026] Specifically, the material identification map is screened according to the transportation information of the transportation mechanism to obtain a transportation map, including: classifying and screening the material identification map using a decision tree classification algorithm, and combining the classified map with the transportation information of the transportation mechanism to obtain a transportation map. By adopting such a method, it is convenient to obtain a transportation map corresponding to the transportation information, so as to select a suitable transportation route according to the transportation map, improving the transportation efficiency.

[0027] In this embodiment, classifying and screening the material identification map using a decision tree classification algorithm includes: classifying the docking stations on the material identification map according to whether they are identified, the weight size, the morphological situation, and whether they are dangerous goods using a decision tree classification algorithm, and screening the classified docking stations.

[0028] Specifically, classifying the docking stations on the material identification map according to whether they are identified, the weight size, the morphological situation, and whether they are dangerous goods using a decision tree classification algorithm includes: determining whether a docking station is identified; when the docking station is identified, determining the docking station as an identified point; when the docking station is not identified, determining the docking station as a common point; determining the weight size of the identified point to classify the material weight of the identified point into light, medium, and heavy; determining the morphological situation of the identified point to classify the material form of the identified point into gaseous, solid, and liquid; determining whether the identified point is a dangerous good to classify the material of the identified point into dangerous goods and safe goods.

[0029] In this embodiment, screening the classified docking stations includes: eliminating the identified points of materials different from the transported materials of the transportation mechanism, and retaining the common points and the identified points of materials the same as the transported materials of the transportation mechanism to form a transportation map.

[0030] Embodiment 2 of the present invention provides a non-volatile storage medium, which includes a program that adopts the above-provided map optimization method.

[0031] Embodiment 3 of the present invention provides a map optimization system, which is used to obtain a transportation map of a transportation mechanism in a transportation section according to the transportation situation of the transportation mechanism. The map optimization system includes a first acquisition module, a second acquisition module, a first optimization module, a third acquisition module, and a second optimization module. The first acquisition module is used to acquire the initial map information of the transportation section; the second acquisition module is used to acquire the storage information of all materials in the transportation section; the first optimization module is used to identify the initial map according to the storage information of all materials to form a material identification map; the third acquisition module is used to acquire the transportation information of the transportation mechanism; the second optimization module is used to screen the material identification map according to the transportation information of the transportation mechanism to obtain a transportation map.

[0032] The proposed invention provides an AGV map optimization method based on resource screening. According to different material types, such as light solid dangerous goods materials, medium solid dangerous goods materials, etc., the AGV map resources are marked and secondarily edited, and cached inside the scheduling system. After the task is issued, based on the material information and the possible transportation status of the AGV, the scheduling system screens the material information according to the decision tree classification algorithm, filters out special areas where it is not possible to walk, etc., generates a suitable map for the current task, and then plans the optimal route according to the existing path planning algorithm, enabling different materials to be transported in specific areas and AGVs in different states to be transported on different routes, greatly improving transportation safety and production efficiency.

[0033] The specific implementation method of the present invention is as follows:

[0034] S1 Secondarily edit the map and mark the material identification:

[0035] After drawing a complete map route on-site, the map is secondarily edited according to the material information. Each type of material corresponds to a material identification, which is marked on the map. After completing the required markings and ensuring they are correct, the map file is saved. When the scheduling system starts initialization, the map file is loaded into the system internal cache. The markings are based on material attributes such as form, degree of danger, and weight. The details of the markings are as follows:

[0036] The identifications include: no identification (common point), light solid material (dangerous goods / non-dangerous goods), light liquid material (dangerous goods / non-dangerous goods), light gas material (dangerous goods / non-dangerous goods), medium solid material (dangerous goods / non-dangerous goods), medium liquid material (dangerous goods / non-dangerous goods), medium gas material (dangerous goods / non-dangerous goods), heavy solid material (dangerous goods / non-dangerous goods), heavy liquid material (dangerous goods / non-dangerous goods), heavy gas material (dangerous goods / non-dangerous goods).

[0037] Among them, the marking identification implementation method is: in the map file, select the points and edges to be marked and assign them the attribute identifications corresponding to each material type. Single markings can be made according to path points, or markings can be made by area classification.

[0038] S2 Set the material type and issue the task:

[0039] After the system starts, first add the material information to be transported on the material management module of the system. Secondly, when creating a transportation order, select the corresponding material information on the system according to the material information carried by the current trolley. Among them, the material management data is stored in the database, so each time the system starts, the added material types can be read.

[0040] S3 The system selects a suitable map according to the material information and plans the optimal route:

[0041] S31 Classify the map marking resources:

[0042] As Figure 3 shown, this figure is a partial schematic map. The triangles are the markings of Material A (hazardous area of heavy solid materials), the squares are the markings of Material B (non-hazardous area of medium gas materials), the hexagons are the markings of Material C (hazardous area of medium gas materials), and the circles are the common points.

[0043] S32. Screen the map resources according to the task order:

[0044] There is an order for non-hazardous gas materials weighing 300 kg, which needs to be transported from Site E2 to Site A7. After issuing the task order, the system is screened through the decision tree classification algorithm. According to the material information of this task order, it is classified as medium gas non-hazardous material type. Therefore, the system will not include the path points and edges marked in other special areas in the map of this task order, avoiding considering the special area sections during planning to ensure transportation safety. Therefore, the finally planned route is the route with a solid triangle arrow at the end as shown in the figure. If the above mechanism is not added, the dispatching system will plan the route with a solid line arrow as shown in the figure, passing through the special area of Material C, which may lead to safety accidents such as collision and material spillage and gas leakage.

[0045] Among them, the screening process of the decision tree classification algorithm is as follows: As Figure 2 shown, each leaf node represents a classification. According to the material identification of the task, the screening starts. First, the system will self-check whether all point and edge elements are marked. If not marked, they will be classified as common points first. If marked, first perform the material weight screening. Set three thresholds for classification. Materials in the range of 0 - 100 kg belong to light materials, those in the range of 100 - 500 kg belong to medium materials, and those above 500 kg belong to heavy materials. Secondly, after classifying according to the material weight, make the final classification according to the material form (solid, liquid, gas) and whether it is a hazardous material, and finally give the correct classification of the task material identification to screen out a suitable map.

[0046] Among them, the classification rule is that the marked points and edges are the exclusive point and edge elements of each map, and the unmarked points and edges are the points and edges included in each map, that is, common point and edge elements. Therefore, the maps after screening are as follows: A complete map refers to a map that contains all existing point and edge elements, including both marked and unmarked points and edges. Multiple maps only contain their respective exclusive material identifications and unmarked points and edges (common points and edges).

[0047] Through the above steps, S4 acts on a scheduling method for realizing the autonomous selection of the optimal map route. Compared with the previous scheduling methods, it can combine factors such as material types, greatly improving the safety of different material transports in different scenarios. Moreover, through the monitoring of the AGV state and the screening of paths, the transport efficiency of the AGV is also effectively improved.

[0048] The application object of the present invention is not limited to AGV cars, and can also be applied to similar transport scheduling tools with map coordinates as moving points, such as two-dimensional code AGVs, laser AGVs, etc.

[0049] The problems solved by the present invention are as follows: preventing the reduction of the routes available for AGVs due to restrictions in special environmental areas and improving the transport efficiency of the cars. For general production scenarios with high density, the lifting states of AGVs are different, and the available routes are restricted. For example, in the material temporary parking area, due to frequent inbound and outbound of materials, the placement positions of the materials are uncertain. Although empty cars without racks can pass under the materials, in order to prevent AGVs with racks from also planning such routes and causing rack collisions, it is necessary to plan an independent area as the storage location, sacrificing efficiency; for example, in some scenarios, a separate passage is planned to transport emergency materials. After creating multiple maps, a part of the area is set with a no-pass mark for AGVs with racks. When selecting a route, AGVs with racks filter out the routes with the set marks, so that empty cars can still pass under the shelves, thus improving efficiency. Solving the safety problem of AGV collision and material dumping. Avoiding AGVs carrying materials from entering other areas for transporting materials or areas where carrying materials is not allowed. For certain specific areas, in order to prevent collision and material dumping accidents and ensure safety, it is stipulated that AGVs are not allowed to pass through with materials, such as the intensive area of material outbound operations, etc., or other operating areas for other material types stipulate that other AGVs carrying materials are not allowed to pass through. Therefore, under the mechanism of multiple maps, AGV cars can select the corresponding transport map according to the identifier of the issued task and filter out the routes that are not allowed to pass through, thus ensuring safety and stability.

[0050] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects: A series of experiments are carried out based on industrial AGVs. According to different production scenarios, the weights of the weight, size, and danger level of the transported materials are divided. Finally, some lines of the map are marked and cached in the scheduling system. When receiving the transport task of a specified material, based on the material information and the possible transport states of the AGVs, special areas such as dangerous areas are screened and a map is generated according to the decision tree classification algorithm, greatly improving the safety of different material transports in different scenarios. Moreover, through the monitoring of the AGV state and the screening of paths, the transport efficiency of the AGV is also effectively improved.

[0051] Note that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprises" and / or "comprising" are used in this specification, they specify the presence of the stated features, steps, operations, devices, components, and / or combinations thereof.

[0052] Unless otherwise specifically stated, the relative arrangements of components and steps, numerical expressions, and values set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the sake of convenience of description, the dimensions of the various parts shown in the drawings are not drawn in actual proportional relationships. Technologies, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be regarded as part of the authorized specification. In all the examples shown and discussed herein, any specific value should be construed as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, further discussion thereof is not required in subsequent drawings.

[0053] In the description of the present application, it should be understood that the orientation or positional relationships indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal", and "top, bottom" are generally based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus should not be construed as limiting the protection scope of the present application; the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0054] For ease of description, spatial relative terms, such as "above", "over", "on the upper surface", "upper", etc., may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as shown in the figures. It should be understood that the spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "beneath" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the corresponding explanations for the spatial relative descriptions used herein will be made accordingly.

[0055] In addition, it should be noted that the use of terms such as "first" and "second" to define components is only for the convenience of differentiating the corresponding components. Without additional statements, these terms have no special meanings, and thus should not be construed as limiting the protection scope of the present application.

[0056] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for map optimization, characterized in that, The map optimization method is used to obtain the transportation map of the transportation agency in the transportation section according to the transportation situation of the transportation agency. The map optimization method includes: Obtain the initial map information of the transportation section. The initial map is drawn based on the positions of all the stop stations of the transportation agency in the transportation section; Obtain the storage information of all the materials in the transportation section, and identify the initial map according to the storage information of all the materials to form a material identification map; Obtain the transportation information of the transportation agency, and screen the material identification map according to the transportation information of the transportation agency to obtain the transportation map; Identifying the initial map according to the storage information of all the materials to form a material identification map, including: Obtain the storage location information and storage attribute information of all the materials in the transportation section. The storage attribute information includes the form information of the material, the weight information of the material, and the danger degree information of the material; Identify all the stop stations on the initial map according to the storage location information of all the materials in the transportation section and the corresponding storage attribute information, including: Compare the storage location information with the location information of the stop station, and determine whether there is any material stored at the stop station according to the comparison result of the storage location information and the location information of the stop station; When it is determined that there is material stored at the stop station, mark the corresponding storage attribute information at the stop station; When it is determined that there is no material stored at the stop station, abandon the identification of the stop station.

2. The map optimization method according to claim 1, characterized in that, Obtain the transportation information of the transportation agency, including: Obtain the location information of the stop station corresponding to the starting point of the transportation of the transportation agency, the location information of the stop station corresponding to the end point of the transportation of the transportation agency, and the material attribute information of the materials carried by the transportation agency.

3. The map optimization method according to claim 1, wherein Screen the material identification map according to the transportation information of the transportation agency to obtain the transportation map, including: Use the decision tree classification algorithm to classify and screen the material identification map, and combine the classified map with the transportation information of the transportation agency to obtain the transportation map.

4. The map optimization method according to claim 3, characterized in that Using the decision tree classification algorithm to classify and screen the material identification map, including: Use the decision tree classification algorithm to classify the stop stations on the material identification map according to whether they are marked, the size of the weight, the form situation, and whether they are dangerous goods, and screen the classified stop stations.

5. The map optimization method according to claim 4, characterized in that Using the decision tree classification algorithm to classify the stop stations on the material identification map according to whether they are marked, the size of the weight, the form situation, and whether they are dangerous goods, including: Determine whether the stop station is marked; when the stop station is marked, determine that the stop station is a marked point; when the stop station is not marked, determine that the stop station is a common point; Determine the weight size of the marked point to classify the material weight of the marked point into light, medium, and heavy; Determine the form situation of the marked point to classify the material form of the marked point into gaseous, solid, and liquid; Determine whether the identification points are dangerous goods, so as to classify the materials at the identification points into dangerous goods and safe goods.

6. The map optimization method according to claim 5, wherein Screen the classified docking stations, including: Eliminate the identification points of materials different from the transported materials of the transport mechanism, and retain the common points and the identification points of materials the same as the transported materials of the transport mechanism to form the transport map.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a program, and the program adopts the map optimization method described in any one of claims 1 to 6.

8. A map optimization system, characterized in that, The map optimization system adopts the map optimization method described in any one of claims 1 to 6. The map optimization system is used to obtain the transport map of the transport mechanism in the transport interval according to the transport situation of the transport mechanism. The map optimization system includes: A first acquisition module, configured to acquire the initial map information of the transport interval; A second acquisition module, configured to acquire the storage information of all materials in the transport interval; A first optimization module, configured to identify the initial map according to the storage information of all materials to form a material identification map; A third acquisition module, configured to acquire the transport information of the transport mechanism; A second optimization module, configured to screen the material identification map according to the transport information of the transport mechanism to obtain the transport map.

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