Automatic Mapping Method, System, Medium and Device for Tracking Ground Pattern Markings

Abstract

The present invention discloses an automatic mapping method, system, medium and device for tracking ground texture markings. The method includes the following steps: obtaining the basic speed ratio of the left and right wheels of the AGV vehicle; obtaining the ground texture marking image captured by the ground texture camera arranged at the movement center of the AGV vehicle at the mapping starting point of the ground texture markings to be tracked; performing straight line recognition on the ground texture marking image to obtain the target tracking straight line; obtaining the target tracking speeds of the left and right wheels of the AGV vehicle for running and mapping along the target tracking straight line according to the basic speed ratio of the left and right wheels; when it is detected that the center of the ground texture camera coincides with the target tracking straight line after the AGV vehicle runs at the target tracking speeds of the left and right wheels, controlling the left and right wheel speeds of the AGV vehicle to travel along the target tracking straight line at the basic tracking speed of the AGV vehicle; thus, the influence of manual operation on the mapping accuracy can be compensated, and the human consumption can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ground texture, and particularly relates to an automatic mapping method, system, medium and device for tracking ground texture markings. Background Art

[0002] In the current industry, ground texture navigation is widely used due to its high navigation accuracy and good consistency. When performing ground texture navigation mapping, it is often necessary to paste markings on the ground to facilitate map modification and further improve accuracy. When performing mapping, the common practice in the current industry is to manually control an AGV (Automated Guided Vehicle) to travel along the markings. This method is time-consuming and laborious, and due to vehicle assembly and other problems, it is often difficult to strictly follow the markings. Therefore, there are often mapping errors when mapping ground texture markings.

[0003] Therefore, in view of the above problems, it is necessary to design an automatic mapping method for tracking ground texture markings to solve the problem that it is difficult for an AGV to strictly travel along the ground texture markings when manually controlled. Summary of the Invention

[0004] The present invention provides an automatic mapping method, system, medium and device for tracking ground texture markings, which can solve the problem that it is difficult for an AGV to strictly travel along the markings when manually controlled.

[0005] In a first aspect, an automatic mapping method for tracking ground texture markings is provided, including the following steps:

[0006] Obtain the basic speed ratio of the left and right wheels of the AGV.

[0007] Obtain the ground texture marking image captured by a ground texture camera disposed at the movement center of the AGV at the mapping starting point of the ground texture markings to be tracked.

[0008] Perform straight line recognition of the ground texture markings on the ground texture marking image to obtain a target tracking straight line.

[0009] According to the basic speed ratio of the left and right wheels, obtain the target tracking speeds of the left and right wheels of the AGV for running and mapping along the target tracking straight line.

[0010] When it is detected that the center of the ground texture camera coincides with the target tracking straight line after the AGV runs at the target tracking speeds of the left and right wheels, control the left and right wheel speeds of the AGV to travel along the target tracking straight line at the basic tracking speed of the AGV.

[0011] According to the first aspect, in a first possible implementation manner of the first aspect, the step of "obtaining the basic speed ratio of the left and right wheels of the AGV" specifically includes the following steps:

[0012] Obtain the average angular velocity when the AGV vehicle travels a preset distance at the same preset speed for the left and right wheels, and obtain the basic ratio of the left and right wheel speeds based on the average angular velocity, the vehicle wheelbase, and the preset speed of the left wheel.

[0013] According to the first possible implementation manner of the first aspect, in the second possible implementation manner of the first aspect, the step of "obtaining the basic ratio of the left and right wheel speeds based on the average angular velocity, the vehicle wheelbase, and the preset speed of the left wheel" specifically includes the following steps:

[0014] Based on the average angular velocity W, the vehicle wheelbase wd, and the preset speed v' of the left wheel, the calculation formula for the basic ratio K of the left and right wheel speeds is as follows:

[0015] K = 1 + (W * wd) / v'.

[0016] According to the first aspect, in the third possible implementation manner of the first aspect, the step of "performing straight line recognition on the ground texture marking image to obtain the target tracking straight line" specifically includes the following steps:

[0017] Based on the opencv algorithm, convert the ground texture marking image into a grayscale image, extract the contour lines in all the grayscale images, and detect the straight lines in all the contour lines based on the Hough straight line detection algorithm;

[0018] Calculate the difference in the starting point coordinates and the difference in angles of all the detected straight lines. When the differences in the starting point coordinates and the differences in angles between two detected straight lines are both less than their respective preset thresholds, they are regarded as the same straight line, and the straight lines with an angle greater than the preset angle are removed, and the straight lines with an angle within the preset deviation range from the angle of the AGV vehicle are retained to obtain the target tracking straight line.

[0019] According to the first aspect, in the fourth possible implementation manner of the first aspect, the step of "obtaining the target tracking speeds of the left and right wheels of the AGV vehicle for map building along the target tracking straight line based on the basic ratio of the left and right wheel speeds" specifically includes the following steps:

[0020] Calculate the distance from the ground texture camera to the target tracking straight line, and obtain the speed difference between the left and right wheels of the AGV vehicle based on the distance and the control adjustment speed coefficient;

[0021] Based on the speed difference between the left and right wheels and the basic tracking speed of the AGV vehicle, obtain the target tracking speeds of the left and right wheels of the AGV vehicle for map building along the target tracking straight line.

[0022] According to the fourth possible implementation manner of the first aspect, in the fifth possible implementation manner of the first aspect, the calculation formula for the distance d from the ground texture camera to the target tracking straight line is as follows:

[0023] d = (y1 + y2) / 2 - y0;

[0024] Wherein, y1 and y2 are respectively the y-axis coordinate values of the starting point of the target tracking line; y0 is the y-axis coordinate value of the center of the ground pattern camera screen.

[0025] According to the fourth possible implementation manner of the first aspect, in the sixth possible implementation manner of the first aspect, the calculation formulas for the left and right wheel target tracking speeds of the AGV vehicle running and mapping along the target tracking line are as follows:

[0026] The left wheel target tracking speed vl = v + delta;

[0027] The right wheel target tracking speed vr = (v - delta) * K;

[0028] Wherein, delta is the speed difference between the left and right wheels; v is the basic tracking speed of the AGV vehicle; K is the basic speed ratio of the left and right wheels.

[0029] In a second aspect, a ground pattern marking tracking and automatic mapping system is provided, including:

[0030] A ratio acquisition module, configured to acquire the basic speed ratio of the left and right wheels of the AGV vehicle;

[0031] An image acquisition module, configured to acquire a ground pattern marking image captured by a ground pattern camera disposed at the center of the movement of the AGV vehicle at the mapping starting point of the ground pattern marking to be tracked;

[0032] An identification module, communicatively connected to the image acquisition module, configured to perform straight line identification of the ground pattern marking on the ground pattern marking image to obtain a target tracking line;

[0033] A target tracking speed acquisition module, communicatively connected to the ratio acquisition module and the identification module, configured to acquire the left and right wheel target tracking speeds of the AGV vehicle running and mapping along the target tracking line according to the basic speed ratio of the left and right wheels; and,

[0034] A control driving module, communicatively connected to the target tracking speed acquisition module, configured to control the left and right wheel speeds of the AGV vehicle to travel along the target tracking line at the basic tracking speed of the AGV vehicle when it is detected that the center of the ground pattern camera coincides with the target tracking line after the AGV vehicle runs at the left and right wheel target tracking speeds.

[0035] Compared with the prior art, the advantages of the present invention are as follows: Due to the insufficient straightness of the vehicle caused by wheel wear, installation errors, component errors, etc., it is necessary to obtain the basic speed ratio of the left and right wheels of the AGV vehicle, so that the vehicle can travel with a higher straightness and reduce the deviation caused by the vehicle body itself during the recognition process; then, the ground pattern camera at the bottom of the AGV is used to identify and track the ground pattern marking to obtain the target tracking speeds of the left and right wheels for the AGV vehicle to run and map along the target tracking straight line, thus solving the problem that it is difficult for the AGV vehicle to strictly follow the marking during manual control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a schematic flowchart of an automatic mapping method for tracking ground pattern markings according to the present invention;

[0037] Figure 2 is a schematic diagram of the position of the ground pattern camera and the AGV vehicle according to the present invention;

[0038] Figure 3 is a schematic diagram of the positions of the ground pattern camera, the AGV vehicle and the ground pattern marking according to the present invention;

[0039] Figure 4 is a schematic diagram of the coordinates of the ground pattern marking and the AGV vehicle according to the present invention;

[0040] Figure 5 is a schematic structural diagram of an automatic mapping system for tracking ground pattern markings according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0041] Now, specific embodiments of the present invention will be described in detail, and examples of the present invention are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the described embodiments. On the contrary, it is intended to cover modifications, variations, and equivalents included within the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of both.

[0042] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0043] Note: The examples to be introduced next are only specific examples and are not intended to limit that the embodiments of the present invention must be the following specific steps, numerical values, conditions, data, sequences, etc. Those skilled in the art can use the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0044] See Figure 1As shown, an automatic mapping method for tracking ground texture markings provided by an embodiment of the present invention includes the following steps:

[0045] S100. Obtain the basic speed ratio of the left and right wheels of the AGV vehicle.

[0046] S200. Obtain the ground texture marking image captured by the ground texture camera disposed at the movement center of the AGV vehicle at the mapping starting point of the ground texture markings to be tracked.

[0047] S300. Perform straight line recognition on the ground texture marking image to obtain the target tracking straight line.

[0048] S400. According to the basic speed ratio of the left and right wheels, obtain the target tracking speeds of the left and right wheels of the AGV vehicle for mapping along the target tracking straight line.

[0049] S500. When it is detected that the center of the ground texture camera coincides with the target tracking straight line after the AGV vehicle runs at the target tracking speeds of the left and right wheels, control the left and right wheel speeds of the AGV vehicle to travel along the target tracking straight line at the basic tracking speed of the AGV vehicle.

[0050] Specifically, in this embodiment, due to the insufficient straightness of the vehicle caused by wheel wear, installation error, component error, etc., it is necessary to obtain the basic speed ratio of the left and right wheels of the AGV vehicle, so that the vehicle can travel with higher straightness and reduce the deviation caused by the vehicle body itself during the recognition process; then, the ground texture markings are recognized and tracked by the ground texture camera at the bottom of the AGV to obtain the target tracking speeds of the left and right wheels for the AGV vehicle to run and map along the target tracking straight line, thus solving the problem that it is difficult for the AGV vehicle to strictly follow the markings during manual control.

[0051] Preferably, in another embodiment of the present application, the step of "S100. Obtain the basic speed ratio of the left and right wheels of the AGV vehicle" specifically includes the following steps:

[0052] Obtain the average angular velocity when the AGV vehicle travels a preset distance at the same preset speeds of the left and right wheels, and obtain the basic speed ratio of the left and right wheels according to the average angular velocity, the vehicle wheelbase, and the preset speed of the left wheel.

[0053] Specifically, in this embodiment, the same speed v is sent to the left and right wheels of the vehicle, it travels 10 meters, and the driving time delta_t is calculated. After stopping, the angle deviation delta_th between the vehicle and the starting direction is measured, then the average angular velocity of the vehicle during this section of the journey can be calculated as w = delta_th / delta_t.

[0054] Since the wheelbase of the vehicle is wheel_distance (wd), according to the calculation formula, the angular velocity = (right wheel speed - left wheel speed) / vehicle wheelbase, then the right wheel speed = left wheel speed + angular velocity * vehicle wheelbase, that is, the right wheel speed = left wheel speed + w * wheel_distance. The basic ratio K of the left and right wheel speeds can be calculated as K = right wheel speed / left wheel speed = 1 + (w * wheel_distance) / left wheel speed v'. Using this ratio K, the offset caused by the vehicle body can be compensated, thereby reducing the number of adjustments in subsequent steps.

[0055] Preferably, in another embodiment of the present application, the step of "S300, performing straight line recognition on the ground pattern marking image to obtain the target tracking line" specifically includes the following steps:

[0056] Based on the opencv algorithm, convert the ground pattern marking image into a grayscale image, extract the contour lines in all the grayscale images, and detect the straight lines in all the contour lines based on the Hough straight line detection algorithm;

[0057] Calculate the differences in the starting point coordinates and the angle differences of all the detected straight lines. When both the difference in the starting point coordinates and the angle difference between two detected straight lines are less than their respective preset thresholds, they are regarded as the same straight line, and the straight lines with an angle greater than the preset angle are removed, and the straight lines with an angle within the preset deviation range from the agv vehicle angle are retained to obtain the target tracking line.

[0058] Specifically, in this embodiment, refer to Figure 2 As shown, from the top view, use the right - hand coordinate system, that is, the front - head direction is the positive x - direction, and the left - hand side of the vehicle is the positive y - direction. Install the ground pattern camera at the motion center of the vehicle body, that is, the center of the connection line of the two differential wheels.

[0059] Then drive the agv above the ground pattern marking so that the ground pattern marking can be seen from the ground pattern camera. Specifically refer to Figure 3 As shown.

[0060] Read the frame of the picture cyclically from the ground pattern camera and perform the following processing: Use opencv to convert the image into a grayscale image, use opencv to extract the contours in the picture, use the Hough straight line detection to detect the straight lines in the picture, and obtain the starting point coordinates (x1, y1), (x2, y2) of all the straight lines and the straight line angle th.

[0061] Then, compare all the obtained straight lines. All the straight lines with similar starting points and straight line angles are regarded as the same straight line. Specifically: the differences between the starting point coordinates and the angle differences of all the straight lines are regarded as the same straight line when their respective corresponding differences are less than the threshold. At the same time, filter out the straight lines with larger angles and only retain the straight lines with angles similar to the vehicle body angle. Finally, obtain the target tracking straight line to be tracked.

[0062] Preferably, in another embodiment of the present application, the step of "S400, obtaining the left and right wheel target tracking speeds for the agv vehicle to run and map along the target tracking straight line according to the basic ratio of the left and right wheel speeds" specifically includes the following steps:

[0063] Calculate the distance from the ground texture camera to the target tracking straight line, and obtain the left and right wheel speed differences of the agv vehicle according to the distance and the control adjustment speed coefficient;

[0064] According to the left and right wheel speed differences and the basic tracking speed of the agv vehicle, obtain the left and right wheel target tracking speeds for the agv vehicle to run and map along the target tracking straight line.

[0065] Specifically, in this embodiment, after obtaining the target tracking straight line to be tracked, the starting point coordinates (x1, y1), (x2, y2) and the angle th of this target tracking straight line in the camera screen can be obtained. And the coordinates (x0, y0) of the center of the screen can be obtained, where x0 = 1 / 2 * weight, y0 = 1 / 2 * height, where weight is the width of the screen and height is the height of the screen. For details, see Figure 4 as shown.

[0066] Preferably, in another embodiment of the present application, the calculation formula for the distance d from the ground texture camera to the target tracking straight line is as follows:

[0067] d = (y1 + y2) / 2 - y0;

[0068] In the formula, y1 and y2 are the y-axis coordinate values of the starting points of the target tracking straight line respectively; y0 is the y-axis coordinate value of the center of the ground texture camera screen.

[0069] Preferably, in another embodiment of the present application, calculate the left and right wheel speed difference delta = kp * d, where kp is the control adjustment speed coefficient.

[0070] Preferably, in another embodiment of the present application, the calculation formula for the left and right wheel target tracking speeds of the agv vehicle to run and map along the target tracking straight line is as follows:

[0071] The left wheel target tracking speed vl = v + delta;

[0072] The right - wheel target tracking speed \(v_r=(v - \delta)\times K\);

[0073] Where \(\delta\) is the speed difference between the left and right wheels; \(v\) is the basic tracking speed of the AGV vehicle; \(K\) is the basic speed ratio of the left and right wheels.

[0074] When the AGV vehicle runs at the right - wheel target tracking speed, the AGV vehicle can gradually approach the ground texture marking, and finally travel along the ground texture marking; since the right - wheel speed is greater than the left - wheel speed, the vehicle body deflects in the positive y - direction. When the camera center coincides with the straight line, the distance from the ground texture camera to the target tracking straight line is 0. At this time, the speed difference \(\delta\) between the left and right wheels of the AGV vehicle is 0, and the left and right wheel speeds are the same, and it travels along the target tracking straight line at the basic tracking speed of the AGV vehicle, that is, travels along the ground texture marking.

[0075] See also Figure 5 As shown, an automatic mapping system for tracking ground texture markings provided by an embodiment of the present invention includes:

[0076] A ratio acquisition module, configured to acquire the basic speed ratio of the left and right wheels of the AGV vehicle;

[0077] An image acquisition module, configured to acquire a ground texture marking image captured by a ground texture camera disposed at the center of the AGV vehicle movement at the mapping starting point of the ground texture marking to be tracked;

[0078] An identification module, communicatively connected to the image acquisition module, configured to perform straight - line identification of the ground texture marking on the ground texture marking image to obtain a target tracking straight line;

[0079] A target tracking speed acquisition module, communicatively connected to the ratio acquisition module and the identification module, configured to acquire the left and right wheel target tracking speeds of the AGV vehicle for running and mapping along the target tracking straight line according to the basic speed ratio of the left and right wheels; and,

[0080] A control driving module, communicatively connected to the target tracking speed acquisition module, configured to control the left and right wheel speeds of the AGV vehicle to travel along the target tracking straight line at the basic tracking speed of the AGV vehicle when it is detected that the center of the ground texture camera coincides with the target tracking straight line after the AGV vehicle runs at the left and right wheel target tracking speeds.

[0081] Due to the insufficient straightness of the vehicle caused by wheel wear, installation errors, component errors, etc., it is necessary to acquire the basic speed ratio of the left and right wheels of the AGV vehicle, which can enable the vehicle to travel with higher straightness and reduce the deviation caused by the vehicle body itself during the recognition process; then, the ground texture markings are identified and tracked through the ground texture camera at the bottom of the AGV to obtain the left and right wheel target tracking speeds for the AGV vehicle to run and map along the target tracking straight line. Therefore, the problem that it is difficult for the AGV vehicle to strictly travel according to the markings during manual control is solved.

[0082] Specifically, this embodiment corresponds one-to-one with the above method embodiment, and the functions of each module have been described in detail in the corresponding method embodiment, so they will not be elaborated one by one here.

[0083] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all or some of the method steps of the above method are implemented.

[0084] To implement all or part of the processes in the above method, the present invention can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate forms, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0085] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor. A computer program running on the processor is stored on the memory. When the processor executes the computer program, all or some of the method steps of the above method are implemented.

[0086] The so-called processor may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The processor is the control center of the computer device, and connects various parts of the entire computer device through various interfaces and lines.

[0087] The memory can be used to store computer programs and / or modules. The processor realizes various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by calling the data stored in the memory. The memory may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0088] Those skilled in the art should understand that the embodiments of the present invention may be provided as a method, a system, a server, or a computer program product. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0089] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0090] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or multiple blocks.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. An automatic mapping method for tracking ground texture markings, characterized in that, It includes the following steps: Obtain the basic speed ratio of the left and right wheels of the AGV vehicle; Obtain the ground pattern marking image captured by the ground pattern camera set at the movement center of the AGV vehicle at the mapping starting point of the ground pattern marking to be tracked; Perform straight line recognition of the ground pattern marking on the ground pattern marking image to obtain the target tracking straight line; According to the basic speed ratio of the left and right wheels, obtain the target tracking speeds of the left and right wheels of the AGV vehicle for mapping along the target tracking straight line; When it is detected that the center of the ground pattern camera coincides with the target tracking straight line after the AGV vehicle runs at the target tracking speeds of the left and right wheels, then control the left and right wheel speeds of the AGV vehicle to travel along the target tracking straight line at the basic tracking speed of the AGV vehicle; The step of "obtaining the basic speed ratio of the left and right wheels of the AGV vehicle" specifically includes the following steps: Obtain the average angular velocity when the AGV vehicle travels a preset distance at the same preset speeds of the left and right wheels, and according to the average angular velocity, vehicle wheelbase and the preset speed of the left wheel, obtain the basic speed ratio of the left and right wheels; The step of "obtaining the basic speed ratio of the left and right wheels according to the average angular velocity, vehicle wheelbase and the preset speed of the left wheel" specifically includes the following steps: According to the average angular velocity W, vehicle wheelbase wd and the preset speed v' of the left wheel, the calculation formula for the basic speed ratio K of the left and right wheels is as follows: K = 1 + (W * wd) / v'; The step of "obtaining the target tracking speeds of the left and right wheels of the AGV vehicle for mapping along the target tracking straight line according to the basic speed ratio of the left and right wheels" specifically includes the following steps: Calculate the distance from the ground pattern camera to the target tracking straight line, and according to the distance and the control adjustment speed coefficient, obtain the speed difference between the left and right wheels of the AGV vehicle; According to the speed difference between the left and right wheels and the basic tracking speed of the AGV vehicle, obtain the target tracking speeds of the left and right wheels of the AGV vehicle for mapping along the target tracking straight line; The calculation formula for the target tracking speeds of the left and right wheels of the AGV vehicle for mapping along the target tracking straight line is as follows: The target tracking speed of the left wheel vl = v + delta; The target tracking speed of the right wheel vr = (v - delta) * K; In the formula, delta is the speed difference between the left and right wheels; v is the basic tracking speed of the AGV vehicle; K is the basic speed ratio of the left and right wheels.

2. The automatic mapping method for tracking ground texture markings according to claim 1, wherein The step of "performing straight line recognition of the ground pattern marking on the ground pattern marking image to obtain the target tracking straight line" specifically includes the following steps: Based on the opencv algorithm, convert the ground pattern marking image into a grayscale image, extract the contour lines in all the grayscale images, and detect the straight lines in all the contour lines based on the Hough straight line detection algorithm; Calculate the differences in the starting point coordinates and angle differences of all the detected straight lines. When the differences in the starting point coordinates and angle differences between two straight lines are both less than their respective preset thresholds, they are regarded as the same straight line, and the straight lines with angles greater than the preset angle are removed, and the straight lines with angles within the preset deviation range from the angle of the AGV vehicle are retained to obtain the target tracking straight line.

3. The automatic mapping method for tracking ground texture markings according to claim 1, characterized in that, The calculation formula for the distance d from the ground pattern camera to the target tracking straight line is as follows: d = (y1 + y2) / 2 - y0; Wherein, y1 and y2 are respectively the y-axis coordinate values of the starting points of the target tracking line; y0 is the y-axis coordinate value of the center of the ground texture camera screen.

4. An automatic mapping system for tracking ground texture markings, characterized in that, Including: A ratio acquisition module, configured to acquire the basic ratio of the left and right wheel speeds of the AGV vehicle; An image acquisition module, configured to acquire an image of the ground texture marking taken by a ground texture camera disposed at the movement center of the AGV vehicle at the map building starting point of the ground texture marking to be tracked; An identification module, communicatively connected to the image acquisition module, configured to perform straight line identification of the ground texture marking on the ground texture marking image to obtain a target tracking line; A target tracking speed acquisition module, communicatively connected to the ratio acquisition module and the identification module, configured to acquire the left and right wheel target tracking speeds of the AGV vehicle for map building along the target tracking line according to the basic ratio of the left and right wheel speeds; and, A control driving module, communicatively connected to the target tracking speed acquisition module, configured to control the left and right wheel speeds of the AGV vehicle to travel along the target tracking line at the basic tracking speed of the AGV vehicle when it is detected that the center of the ground texture camera coincides with the target tracking line after the AGV vehicle travels at the left and right wheel target tracking speeds; The step of "acquiring the basic ratio of the left and right wheel speeds of the AGV vehicle" specifically includes the following steps: Acquire the average angular velocity when the AGV vehicle travels a preset distance at the same preset speeds of the left and right wheels, and obtain the basic ratio of the left and right wheel speeds according to the average angular velocity, the vehicle wheelbase, and the preset speed of the left wheel; The step of "obtaining the basic ratio of the left and right wheel speeds according to the average angular velocity, the vehicle wheelbase, and the preset speed of the left wheel" specifically includes the following steps: According to the average angular velocity W, the vehicle wheelbase wd, and the preset speed v' of the left wheel, the calculation formula for the basic ratio K of the left and right wheel speeds is as follows: K = 1 + (W * wd) / v'; The step of "acquiring the left and right wheel target tracking speeds of the AGV vehicle for map building along the target tracking line according to the basic ratio of the left and right wheel speeds" specifically includes the following steps: Calculate the distance from the ground texture camera to the target tracking line, and obtain the left and right wheel speed difference of the AGV vehicle according to the distance and the control adjustment speed coefficient; Obtain the left and right wheel target tracking speeds of the AGV vehicle for map building along the target tracking line according to the left and right wheel speed difference and the basic tracking speed of the AGV vehicle; The calculation formula for the left and right wheel target tracking speeds of the AGV vehicle for map building along the target tracking line is as follows: The left wheel target tracking speed vl = v + delta; The right wheel target tracking speed vr = (v - delta) * K; Wherein, delta is the left and right wheel speed difference; v is the basic tracking speed of the AGV vehicle; K is the basic ratio of the left and right wheel speeds.

5. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the automatic map building method for tracking ground texture markings as described in any one of claims 1 to 3.

6. An electronic device, comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that, When the processor runs the computer program, it implements the automatic map building method for tracking ground texture markings as described in any one of claims 1 to 3.

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