AGV fault data display method and apparatus, and computer program product

Abstract

The invention provides an AGV fault data display method and apparatus, and a computer program product. The method comprises the steps of obtaining a point cloud map of an AGV moving site; the thermodynamic diagram is generated on the point cloud map, the thermodynamic blocks of the thermodynamic diagram are associated with the fault point data of the area, covered by the thermodynamic blocks, of the point cloud map, the fault point data comprise the fault types and the fault times, the thermodynamic blocks are the areas on the thermodynamic diagram, and the problem that distribution of fault data is difficult to visually display through text logs in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of visualization technology, and in particular to a method, device and computer program product for displaying AGV fault data. Background Art

[0002] With the development of automation technology, more and more companies are beginning to use AGV (automatic guided vehicle) for intelligent handling in the production process. This intelligent handling vehicle can efficiently complete material transportation tasks and improve the automation level and work efficiency of the production line. However, in actual applications, AGV may encounter various faults during operation, such as navigation errors, sensor failures, battery problems, etc. Timely identification and resolution of these faults are essential to ensure the continuity of production and the normal operation of equipment. In order to better troubleshoot and solve AGV fault problems, it is necessary to comprehensively collect and analyze AGV fault data and information. These data include but are not limited to the time, location, type, and related environmental parameters of the fault. Through the analysis of fault data, common fault modes and potential problems can be identified, so that targeted measures can be taken for improvement and prevention. In traditional methods, fault analysis is usually carried out by viewing the operation log of the AGV. The log records detailed fault information, including the time, location, type, and specific description of the fault. Technicians identify and troubleshoot faults by analyzing these log information. As the amount of data increases, the log information becomes very lengthy and complex, and it is not easy to read and understand. Technicians need to spend a lot of time looking for and screening relevant information. Text logs cannot visually display the distribution of fault data, and users cannot quickly identify the concentrated areas and high-incidence periods of faults. It is difficult to discover potential fault modes and patterns from text logs, especially when the data volume is large. Summary of the invention

[0003] The main purpose of the present application is to provide a method, device and computer program product for displaying AGV fault data, so as to at least solve the problem in the prior art that it is difficult to intuitively display the distribution of fault data in text logs.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for displaying AGV fault data is provided, including: obtaining a point cloud map of the AGV mobile site; generating a heat map on the point cloud map, so that the thermal block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the thermal block, the fault point data including the fault type and the number of faults, and the thermal block is the area on the heat map.

[0005] Optionally, after generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes: in response to an operation of zooming in, zooming out or moving the heat map, updating the heat block so that the updated heat block is associated with the fault point data of the area of ​​the point cloud map covered by the updated heat block.

[0006] Optionally, a heat map is generated on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, including: obtaining multiple groups of the fault point data, the fault point data also including fault point coordinates, the fault point coordinates being the actual location coordinates of the fault; determining each fault location on the point cloud map according to each fault point coordinate, one fault location corresponding to a group of fault point data; generating an initial heat map on the point cloud map, and dividing the initial heat map into multiple identical and non-overlapping first candidate thermal blocks; determining the corresponding thermal blocks in the heat map according to each fault location, deleting the first candidate thermal blocks other than the thermal blocks, the thermal blocks being the first candidate thermal blocks covering the fault location; associating the thermal blocks with the corresponding fault point data to obtain the heat map.

[0007] Optionally, in response to an operation of zooming in, zooming out or moving the heat map, the thermal block is updated so that the updated thermal block is associated with the fault point data of the area of ​​the point cloud map covered by the updated thermal block, including: in response to an operation of zooming in, zooming out or moving the heat map, an updated thermal block is obtained; the updated thermal map is divided into a plurality of identical and non-overlapping second candidate thermal blocks; the corresponding target thermal block in the thermal map is determined according to each fault occurrence location, and the second candidate thermal blocks other than the target thermal block are deleted, the target thermal block is the second candidate thermal block covering the fault occurrence location, and one fault occurrence location corresponds to a group of the fault point data; the target thermal block is associated with the corresponding fault point data to obtain the updated thermal block.

[0008] Optionally, the updated thermal map is divided into a plurality of identical and non-overlapping second thermal blocks to be selected, including: obtaining a scaling factor corresponding to the operation of enlarging, reducing or moving the thermal map, the scaling factor being the inverse of the magnification factor of the thermal map; calculating the ratio of the width of the first thermal block to be selected and the scaling factor to obtain the width of the second thermal block to be selected, calculating the ratio of the height of the first thermal block to be selected and the scaling factor to obtain the height of the second thermal block to be selected; and dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected according to the width and height of the second thermal block to be selected.

[0009] Optionally, in response to an operation of zooming in, reducing or moving the heat map, an updated heat map is obtained, including: in response to a zoom-in operation of zooming in on the heat map, synchronously zooming in on the heat map until the zoom-in operation ends or the heat map coincides with the point cloud map; or in response to a zoom-out operation of zooming out on the heat map, synchronously zooming out on the heat map until the zoom-out operation ends or the coverage area of ​​the heat map reaches a minimum coverage area, and the minimum coverage area is the minimum display area set for the point cloud map; or in response to a move operation of moving the heat map, synchronously moving the heat map until the move operation ends or an edge of the heat map coincides with a boundary of the point cloud map.

[0010] Optionally, after generating a heat map on the point cloud map so that the thermal block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the thermal block, the method further includes: in response to a query operation acting on the thermal block, displaying a pie chart of the proportion of each fault type, the proportion of the fault type being the ratio of the number of faults corresponding to one fault type to the sum of the number of faults corresponding to all the fault types.

[0011] Optionally, after a heat map is generated on the point cloud map so that the thermal blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the thermal blocks, the method further includes: obtaining the number of groups of the fault point data associated with each of the thermal blocks; determining the display color of the thermal block based on the number of groups, one display color corresponding to one group number interval.

[0012] According to another aspect of the present application, a display device for AGV fault data is provided, including: a first acquisition unit, used to acquire a point cloud map of an AGV mobile site; a generation unit, used to generate a heat map on the point cloud map, so that the thermal block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the thermal block, the fault point data including the fault type and the number of faults, and the thermal block is the area on the heat map.

[0013] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, any one of the methods described above is implemented.

[0014] By applying the technical solution of the present application, in the above-mentioned method for displaying AGV fault data, the method generates a heat map on the point cloud map of the AGV mobile site, so that the thermal blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the thermal blocks. The fault point data of the area covered by the thermal blocks can be found according to the thermal blocks, including the fault type and the number of faults. The distribution and regularity of the faults can be intuitively understood, which solves the problem that it is difficult for text logs in the prior art to intuitively display the distribution of fault data. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for displaying AGV fault data provided in an embodiment of the present application is shown;

[0016] Figure 2 A schematic diagram of a flow chart of a method for displaying AGV fault data provided according to an embodiment of the present application is shown;

[0017] Figure 3 A schematic diagram showing a flow chart of another method for displaying AGV fault data provided according to an embodiment of the present application;

[0018] Figure 4 A structural block diagram of a device for displaying AGV fault data provided according to an embodiment of the present application is shown.

[0019] The above drawings include the following reference numerals:

[0020] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] As introduced in the background technology, it is difficult for text logs in the prior art to intuitively display the distribution of fault data. To solve this technical problem, the embodiments of the present application provide a method, device, computer-readable storage medium and computer program product for displaying AGV fault data.

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0026] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a method for displaying AGV fault data according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0027] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the display method of AGV fault data in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] In this embodiment, a method for displaying AGV fault data running on a mobile terminal, a computer terminal or a similar computing device 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.

[0029] Figure 2 FIG. 1 is a flow chart of a method for displaying AGV fault data according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0030] Step S201, obtaining a point cloud map of the AGV moving site;

[0031] Step S202, generating a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

[0032] In the above-mentioned method for displaying AGV fault data, the method generates a heat map on the point cloud map of the AGV mobile site, so that the thermal blocks of the heat map are associated with the fault point data of the area of ​​the above-mentioned point cloud map covered by the above-mentioned thermal blocks. The fault point data of the area covered by the thermal blocks can be found according to the thermal blocks, including the fault type and the number of faults. The distribution and regularity of the faults can be intuitively understood, which solves the problem that it is difficult for text logs in the prior art to intuitively display the distribution of fault data.

[0033] In order to achieve flexible viewing of fault distribution, in an optional implementation, after generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes:

[0034] Step S301, in response to the operation of zooming in, zooming out or moving the above-mentioned heat map, the above-mentioned heat block is updated, so that the updated heat block is associated with the fault point data of the area of ​​the above-mentioned point cloud map covered by the above-mentioned updated heat block.

[0035] In the above implementation, the area covered by the heat map of the point cloud map is not fixed, and it can cover the whole or part of it, that is, the heat map can be enlarged, reduced or moved, and the heat block can be dynamically updated, so that users can choose the coverage area according to their needs and flexibly view and analyze data.

[0036] In order to facilitate viewing of fault distribution, in an optional implementation, the above step S202 includes:

[0037] Step S2021, obtaining multiple groups of the above-mentioned fault point data, wherein the above-mentioned fault point data also includes the fault point coordinates, and the above-mentioned fault point coordinates are the actual position coordinates of the fault occurrence;

[0038] Step S2022, determining each fault location on the point cloud map according to the coordinates of each fault point, wherein one fault location corresponds to a group of fault point data;

[0039] Step S2023, generating an initial heat map on the point cloud map, and dividing the initial heat map into a plurality of identical and non-overlapping first heat blocks to be selected;

[0040] Step S2024, determining the thermal blocks corresponding to the thermal map according to the fault locations, deleting the first thermal blocks to be selected other than the thermal blocks, and the thermal blocks are the first thermal blocks to be selected covering the fault locations;

[0041] Step S2025, associating the above-mentioned thermal block with the corresponding above-mentioned fault point data to obtain the above-mentioned thermal map.

[0042] In the above implementation, the point cloud map displays the AGV moving site, and an initial heat map is generated on the above point cloud map, so that the thermal blocks in the heat map display the distribution of the fault locations, that is, the thermal blocks are associated with the fault point data corresponding to the covered fault locations, so that the fault data has a more intuitive display in space, and users can understand and analyze the data more easily through a graphical interface.

[0043] In order to flexibly view the fault distribution, in an optional implementation manner, the above step S203 includes:

[0044] Step S2031, in response to the operation of zooming in, zooming out or moving the heat map, obtaining an updated heat map;

[0045] Step S2032, dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected;

[0046] Step S2033, determining the target thermal block corresponding to the thermal map according to each fault location, deleting the second thermal block to be selected other than the target thermal block, the target thermal block being the second thermal block to be selected covering the fault location, and one fault location corresponding to a set of fault point data;

[0047] Step S2034, associating the target thermal block with the corresponding fault point data to obtain the updated thermal block.

[0048] In the above implementation, through the zoom function, the user can freely adjust the size and display range of the heat map, so as to better view and analyze the data. This dynamic adjustment method enables users to flexibly view and analyze data according to their needs, improving the efficiency and accuracy of data analysis. Dynamic interactive functions for fault data are realized, such as zooming, panning, hovering to display details, etc. This interactive method allows users to flexibly adjust and view data according to their needs, improving the user experience.

[0049] In order to adjust the range of data display, in an optional implementation, the above step S2032 includes:

[0050] Step S20321, obtaining a scaling factor corresponding to the operation of enlarging, reducing or moving the heat map, where the scaling factor is the inverse of the magnification of the heat map;

[0051] Step S20322, calculating the ratio of the width of the first thermal block to be selected and the scaling factor to obtain the width of the second thermal block to be selected, and calculating the ratio of the height of the first thermal block to be selected and the scaling factor to obtain the height of the second thermal block to be selected;

[0052] Step S20323: dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected according to the width and height of the second thermal blocks to be selected.

[0053] In the above implementation, when the user zooms out of the heat map, the larger heat block will be divided into multiple smaller blocks, thereby refining the granularity of data display; and when the user zooms in on the heat map, the smaller heat blocks will be merged into larger blocks, thereby integrating the scope of data display.

[0054] For ease of operation, in an optional implementation, the above step S2031 includes:

[0055] Step S20311, in response to the zoom-in operation of zooming in the heat map, zooming in the heat map synchronously until the zoom-in operation is completed or the heat map overlaps with the point cloud map; or

[0056] Step S20312, in response to a zoom-out operation of the heat map, the heat map is zoomed out synchronously until the zoom-out operation is completed or the coverage area of ​​the heat map reaches a minimum coverage area, where the minimum coverage area is the minimum display area set for the point cloud map; or

[0057] Step S20313, in response to the moving operation of moving the above-mentioned heat map, synchronously move the above-mentioned heat map until the above-mentioned moving operation is completed or an edge of the above-mentioned heat map coincides with the boundary of the above-mentioned point cloud map.

[0058] In the above implementation, when the user operates the heat map to zoom in and out, the heat map zooms in and out synchronously with the operation, and stops zooming when the operation is stopped, which is convenient for the user to operate according to needs, and when the heat map is zoomed in to the maximum, the heat map coincides with the point cloud map, and when the heat map is minimized, the coverage area of ​​the heat map reaches the minimum coverage area. Similarly, when the user operates the heat map to move, the heat map moves synchronously with the operation, and stops moving when the operation is stopped, which is convenient for the user to operate according to needs, and in order to prevent the heat map from crossing the boundary of the point cloud map, the heat map stops moving when one edge coincides with the boundary of the point cloud map.

[0059] In order to facilitate the analysis of fault patterns, in an optional implementation, after a heat map is generated on the point cloud map, so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes:

[0060] Step S401, in response to a query operation on the thermal block, displays a pie chart showing the proportion of each fault type, wherein the proportion of each fault type is the ratio of the number of faults corresponding to one fault type to the sum of the number of faults corresponding to all fault types.

[0061] In the above implementation, when the user clicks on the thermal block to query, the pie chart of Echarts is used to display the relevant fault types and corresponding proportions to facilitate the analysis of fault patterns.

[0062] In order to display the fault density, in an optional implementation, after generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes:

[0063] Step S501, obtaining the number of groups of the above-mentioned fault point data associated with each of the above-mentioned thermal blocks;

[0064] Step S502, determining the display color of the thermal block according to the group number, one display color corresponds to one group number interval.

[0065] In the above implementation, scaling the heat map will change the size of the heat block and display the total number of fault points corresponding to each block at different block ratios. The heat map will be rendered in different shades of color depending on how many fault points each block contains.

[0066] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the method for displaying AGV fault data of the present application will be described in detail below in combination with specific embodiments.

[0067] This embodiment relates to a specific method for displaying AGV fault data, such as Figure 3 As shown, the following steps are included:

[0068] Step S1: Create HTML <svg>element, and set the corresponding length and width through the element attributes width and height, determine the conversion variable pixel_rate between pixels and real length, 1 meter in reality is equal to pixel_rate pixels; the initial thermal block width and height defaultRldWidth, defaultRldHeight.

[0069] Step S2: Use the d3.select() method to capture the svg element created in step S1. Use the d3.append('g') method to add a g element to the svg element, and use the d3.append('g').attr() method to set different class names for the point cloud map, coordinate axis, and heat map to distinguish the corresponding g layers.

[0070] Step S3: Create the x-axis by d3.scaleLinear().domain(0, width / pixel_rate).range(0, width) and the y-axis by d3.scaleLinear().domain(0, height / pixel_rate).range(0, height).

[0071] Step S4: Create a zoom object based on d3.zoom(), and then use the scaleExtent() method of the zoom object to control the zoom range; use the on('zoom') method of the zoom object to listen to the events of the zoom process. The zoom event will provide a transform object. The transform object has an attribute called the zoom factor k. The width realtimeRldWidth and height realtimeRldHeight of the real-time thermal block are obtained through defaultRldWidth / k and defaultRldHeight / k. The domain and scale of the scale are updated through scale(transform.rescaleX(x)) and scale(transform.rescaleY(y)) of the coordinate axis created in step S3; use the on('end') method of the zoom object, which will be triggered after the zoom event ends. In this event, the scale of the scaled coordinate axis is obtained, and then the heat map under the corresponding scale is rendered according to the obtained scale.

[0072] Step S5: Use HTTP request to obtain the coordinates of the upper left corner, the coordinates of the lower right corner of the point cloud map, the Base64 data imgBase64 of the point cloud map image, the coordinates of the fault point, the fault type, and the number of faults.

[0073] Step S6: Calculate the width and length of the point cloud image in svg. Because the coordinates obtained in step S5 are real coordinates, they need to be converted into svg coordinates img_left_top and img_right_bottom through the coordinate axis method created in step S3. img_left_top is the origin of the image img_x and img_y, and then the width of the image is obtained by subtracting the x coordinates of img_left_top and img_right_bottom, and the height of the icon is obtained by subtracting the y coordinates; then the point cloud image is loaded into svg through the method d3.select().attr('xlink:href',imgBase64).attr('x',img_x).attr('y',img_y).attr('width',img_width).attr('height',img_height).

[0074] Step S7: After step S5 obtains the fault point data, the zoom event of step S4 will be triggered. The end event of zoom will calculate the scale tickSize after zooming, tickSize = pixel_rate*k, and call the method of rendering the heat map joinRld(tickSize). This method filters the fault point data obtained by S5 according to tickSize and obtains the array rldArray under the corresponding tickSize; then use d3.select().data().join() to render the heat map. select() obtains the heat map created in step S2. The g element of the figure, the value passed in data() is rldArray; join() is responsible for controlling the increase, decrease, and update of the rect element; the width of the rect element is realtimeRldWidth*tickSize, and the height is realtimeRldHeigth*tickSize. The positioning of rect is set according to the conversion of the actual x, y coordinates of the fault point into svg coordinates; use the on('clicl') method to set a click listening event for rect. After clicking the corresponding block, send an HTTP request to obtain the detailed data of the corresponding block, and use the Echarts pie chart to render the data.

[0075] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0076] The embodiment of the present application also provides a display device for AGV fault data. It should be noted that the display device for AGV fault data in the embodiment of the present application can be used to execute the display method for AGV fault data provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0077] The following is an introduction to the display device for AGV fault data provided in an embodiment of the present application.

[0078] Figure 4 1 is a structural block diagram of a device for displaying AGV fault data according to an embodiment of the present application. Figure 4 As shown, the device comprises:

[0079] A first acquisition unit 10 is used to acquire a point cloud map of the AGV moving site;

[0080] The generation unit 20 is used to generate a heat map on the above-mentioned point cloud map, so that the thermal block of the above-mentioned heat map is associated with the fault point data of the area of ​​the above-mentioned point cloud map covered by the above-mentioned thermal block, the above-mentioned fault point data includes the fault type and the number of faults, and the above-mentioned thermal block is the area on the above-mentioned heat map.

[0081] In the above-mentioned AGV fault data display device, the device generates a heat map on the point cloud map of the AGV mobile site, so that the thermal blocks of the heat map are associated with the fault point data of the area of ​​the above-mentioned point cloud map covered by the above-mentioned thermal blocks. The fault point data of the area covered by the thermal blocks can be found according to the thermal blocks, including the fault type and the number of faults, so the distribution and regularity of the faults can be intuitively understood, which solves the problem that it is difficult for text logs in the prior art to intuitively display the distribution of fault data.

[0082] In order to flexibly view the fault distribution, in an optional implementation manner, the above device further includes:

[0083] An updating unit is used to generate a heat map on the point cloud map so that after the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, in response to the operation of zooming in, zooming out or moving the heat map, update the heat block so that the updated heat block is associated with the fault point data of the area of ​​the point cloud map covered by the updated heat block.

[0084] In the above implementation, the area covered by the heat map of the point cloud map is not fixed, and it can cover the whole or part of it, that is, the heat map can be enlarged, reduced or moved, and the heat block can be dynamically updated, so that users can choose the coverage area according to their needs and flexibly view and analyze data.

[0085] In order to facilitate viewing of fault distribution, in an optional implementation manner, the generation unit includes:

[0086] An acquisition step is used to acquire multiple groups of the above-mentioned fault point data, wherein the above-mentioned fault point data also includes the fault point coordinates, and the above-mentioned fault point coordinates are the actual position coordinates of the fault;

[0087] The first determination step is used to determine each fault location on the point cloud map according to the coordinates of each fault point, and each fault location corresponds to a group of fault point data;

[0088] A generating step, for generating an initial heat map on the point cloud map, and dividing the initial heat map into a plurality of identical and non-overlapping first heat blocks to be selected;

[0089] A processing step for determining the corresponding thermal blocks in the thermal map according to the locations of the faults, deleting the first thermal blocks to be selected other than the thermal blocks, the thermal blocks being the first thermal blocks to be selected covering the locations of the faults;

[0090] The first association step is used to associate the above-mentioned thermal block with the corresponding above-mentioned fault point data to obtain the above-mentioned thermal map.

[0091] In the above implementation, the point cloud map displays the AGV moving site, and an initial heat map is generated on the above point cloud map, so that the thermal blocks in the heat map display the distribution of the fault locations, that is, the thermal blocks are associated with the fault point data corresponding to the covered fault locations, so that the fault data has a more intuitive display in space, and users can understand and analyze the data more easily through a graphical interface.

[0092] In order to flexibly view the fault distribution, in an optional implementation manner, the updating unit includes:

[0093] An updating module, configured to obtain an updated heat map in response to an operation of zooming in, zooming out or moving the heat map;

[0094] A division module, used for dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected;

[0095] A second determination module is used to determine the target thermal block corresponding to the thermal map according to each fault location, and delete the second thermal block to be selected other than the target thermal block, wherein the target thermal block is the second thermal block to be selected covering the fault location, and one fault location corresponds to a set of fault point data;

[0096] The second association step is used to associate the above-mentioned target thermal block with the corresponding above-mentioned fault point data to obtain the above-mentioned updated thermal block.

[0097] In the above implementation, through the zoom function, the user can freely adjust the size and display range of the heat map, so as to better view and analyze the data. This dynamic adjustment method enables users to flexibly view and analyze data according to their needs, improving the efficiency and accuracy of data analysis. Dynamic interactive functions for fault data are realized, such as zooming, panning, hovering to display details, etc. This interactive method allows users to flexibly adjust and view data according to their needs, improving the user experience.

[0098] In order to adjust the scope of data display, in an optional implementation, the above-mentioned division module includes:

[0099] An acquisition submodule, used to acquire a scaling factor corresponding to an operation of enlarging, reducing or moving the heat map, where the scaling factor is the inverse of the magnification of the heat map;

[0100] A calculation submodule, used for calculating the ratio of the width of the first thermal block to be selected and the scaling factor to obtain the width of the second thermal block to be selected, and calculating the ratio of the height of the first thermal block to be selected and the scaling factor to obtain the height of the second thermal block to be selected;

[0101] The division submodule is used to divide the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected according to the width and height of the second thermal blocks to be selected.

[0102] In the above implementation, when the user zooms out of the heat map, the larger heat block will be divided into multiple smaller blocks, thereby refining the granularity of data display; and when the user zooms in on the heat map, the smaller heat blocks will be merged into larger blocks, thereby integrating the scope of data display.

[0103] For ease of operation, in an optional implementation, the update module includes:

[0104] a first updating submodule, configured to, in response to a zoom-in operation of zooming in on the heat map, synchronously zoom in on the heat map until the zoom-in operation is completed or the heat map overlaps with the point cloud map; or

[0105] a second updating submodule, for responding to a zoom-out operation of the heat map, synchronously zooming out the heat map until the zoom-out operation is completed or the coverage area of ​​the heat map reaches a minimum coverage area, where the minimum coverage area is a minimum display area set for the point cloud map; or

[0106] The third updating submodule is used to synchronously move the heat map in response to a moving operation of moving the heat map, until the moving operation is completed or an edge of the heat map coincides with a boundary of the point cloud map.

[0107] In the above implementation, when the user operates the heat map to zoom in and out, the heat map zooms in and out synchronously with the operation, and stops zooming when the operation is stopped, which is convenient for the user to operate according to needs, and when the heat map is zoomed in to the maximum, the heat map coincides with the point cloud map, and when the heat map is minimized, the coverage area of ​​the heat map reaches the minimum coverage area. Similarly, when the user operates the heat map to move, the heat map moves synchronously with the operation, and stops moving when the operation is stopped, which is convenient for the user to operate according to needs, and in order to prevent the heat map from crossing the boundary of the point cloud map, the heat map stops moving when one edge coincides with the boundary of the point cloud map.

[0108] In order to facilitate the analysis of fault rules, in an optional implementation manner, the above device further includes:

[0109] A display unit is used to generate a heat map on the point cloud map, so that after the thermal block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the thermal block, a pie chart of the proportion of each of the above fault types is displayed in response to a query operation acting on the thermal block, and the proportion of the above fault types is the ratio of the number of faults corresponding to one of the above fault types to the sum of the number of faults corresponding to all the above fault types.

[0110] In the above implementation, when the user clicks on the thermal block to query, the pie chart of Echarts is used to display the relevant fault types and corresponding proportions to facilitate the analysis of fault patterns.

[0111] In order to demonstrate the fault density, in an optional implementation manner, the above device further includes:

[0112] A second acquisition unit is used to generate a heat map on the point cloud map, so that after the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the number of groups of the fault point data associated with each of the heat blocks is acquired;

[0113] The determination unit is used to determine the display color of the thermal block according to the group number, and one display color corresponds to one group number interval.

[0114] In the above implementation, scaling the heat map will change the size of the heat block and display the total number of fault points corresponding to each block at different block ratios. The heat map will be rendered in different shades of color depending on how many fault points each block contains.

[0115] The above-mentioned AGV fault data display device includes a processor and a memory. The above-mentioned first acquisition unit, generation unit and update unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in any combination.

[0116] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem that the text log in the prior art is difficult to intuitively display the distribution of fault data can be solved by adjusting the kernel parameters.

[0117] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0118] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for displaying AGV fault data.

[0119] Specifically, the display method of AGV fault data includes:

[0120] Step S201, obtaining a point cloud map of the AGV moving site;

[0121] Step S202, generating a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

[0122] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the method for displaying AGV fault data is executed when the program is running.

[0123] Specifically, the display method of AGV fault data includes:

[0124] Step S201, obtaining a point cloud map of the AGV moving site;

[0125] Step S202, generating a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

[0126] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0127] Step S201, obtaining a point cloud map of the AGV moving site;

[0128] Step S202, generating a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

[0129] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0130] Step S201, obtaining a point cloud map of the AGV moving site;

[0131] Step S202, generating a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

[0132] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0133] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0134] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0135] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0136] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0137] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0138] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0139] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0140] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the existence of other identical elements in the process, method, commodity or device including the element.

[0141] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0142] 1) In the method for displaying AGV fault data of the present application, the method generates a heat map on the point cloud map of the AGV mobile site, so that the thermal blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the thermal blocks. The fault point data of the area covered by the thermal blocks can be found according to the thermal blocks, including the fault type and the number of faults. The distribution and regularity of the faults can be intuitively understood, the heat map can be enlarged, reduced or moved, and the thermal blocks can be dynamically updated, so that users can flexibly view and analyze data according to their needs, which solves the problem that it is difficult for text logs in the prior art to intuitively display the distribution of fault data.

[0143] 2) In the display device of AGV fault data of the present application, the device generates a heat map on the point cloud map of the AGV mobile site, so that the thermal block of the heat map is associated with the fault point data of the area of ​​the above point cloud map covered by the above thermal block. The fault point data of the area covered by the thermal block can be found according to the thermal block, including the fault type and the number of faults. The distribution and regularity of the faults can be intuitively understood, the heat map can be enlarged, reduced or moved, and the thermal block can be dynamically updated, so that users can flexibly view and analyze data according to their needs, which solves the problem that it is difficult for text logs in the prior art to intuitively display the distribution of fault data.

[0144] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.< / svg>

Claims

1. A method for displaying AGV fault data, characterized in that: include: Get the point cloud map of the AGV moving site; A heat map is generated on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

2. The method according to claim 1, characterized in that After generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes: In response to an operation of zooming in, zooming out or moving the heat map, the heat block is updated so that the updated heat block is associated with the fault point data of the area of ​​the point cloud map covered by the updated heat block.

3. The method according to claim 1, characterized in that: Generating a heat map on the point cloud map so that a heat block of the heat map is associated with fault point data of an area of ​​the point cloud map covered by the heat block, comprising: Acquire multiple groups of the fault point data, wherein the fault point data further includes fault point coordinates, and the fault point coordinates are actual position coordinates of the fault; Determine each fault location on the point cloud map according to the coordinates of each fault point, wherein one fault location corresponds to a group of fault point data; Generating an initial thermal map on the point cloud map, and dividing the initial thermal map into a plurality of identical and non-overlapping first thermal blocks to be selected; Determine the thermal block corresponding to the thermal map according to each fault occurrence location, delete the first thermal block to be selected other than the thermal block, and the thermal block is the first thermal block to be selected that covers the fault occurrence location; The thermal block is associated with the corresponding fault point data to obtain the thermal map.

4. The method according to claim 2, characterized in that: In response to an operation of zooming in, zooming out, or moving the heat map, updating the heat block so that the updated heat block is associated with the fault point data of the area of ​​the point cloud map covered by the updated heat block, including: In response to an operation of zooming in, zooming out, or moving the heat map, an updated heat map is obtained; Dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected; Determine the target thermal block corresponding to the thermal map according to each fault location, delete the second thermal block to be selected other than the target thermal block, the target thermal block is the second thermal block to be selected covering the fault location, and one fault location corresponds to a group of fault point data; The target thermal block is associated with the corresponding fault point data to obtain the updated thermal block.

5. The method according to claim 4, characterized in that Dividing the updated thermal map into a plurality of identical and non-overlapping second thermal blocks to be selected includes: Obtaining a scaling factor corresponding to an operation of zooming in, zooming out, or moving the heat map, where the scaling factor is the inverse of a magnification of the heat map; Calculating the ratio of the width of the first thermal block to be selected and the scaling factor to obtain the width of the second thermal block to be selected, and calculating the ratio of the height of the first thermal block to be selected and the scaling factor to obtain the height of the second thermal block to be selected; The updated thermal map is divided into a plurality of identical and non-overlapping second thermal blocks to be selected according to the width and height of the second thermal blocks to be selected.

6. The method according to claim 4, characterized in that In response to the operation of zooming in, zooming out or moving the heat map, an updated heat map is obtained, including: In response to a zoom-in operation of zooming in on the heat map, the heat map is zoomed in synchronously until the zoom-in operation ends or the heat map overlaps with the point cloud map; or In response to a zoom-out operation of zooming out the heat map, the heat map is zoomed out synchronously until the zoom-out operation ends or the coverage area of ​​the heat map reaches a minimum coverage area, where the minimum coverage area is a minimum display area set for the point cloud map; or In response to a move operation of moving the heat map, the heat map is synchronously moved until the move operation ends or an edge of the heat map coincides with a boundary of the point cloud map.

7. The method according to claim 1, characterized in that After generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes: In response to a query operation acting on the thermal block, a pie chart showing the proportion of each fault type is displayed, wherein the proportion of each fault type is the ratio of the number of faults corresponding to one fault type to the sum of the number of faults corresponding to all fault types.

8. The method according to claim 1, characterized in that After generating a heat map on the point cloud map so that the heat blocks of the heat map are associated with the fault point data of the area of ​​the point cloud map covered by the heat blocks, the method further includes: Obtaining the number of groups of the fault point data associated with each of the thermal blocks; The display color of the thermal block is determined according to the group number, and one display color corresponds to one group number interval.

9. A display device for AGV fault data, characterized in that: include: A first acquisition unit is used to acquire a point cloud map of the AGV moving site; A generating unit is used to generate a heat map on the point cloud map, so that the heat block of the heat map is associated with the fault point data of the area of ​​the point cloud map covered by the heat block, the fault point data includes the fault type and the number of faults, and the heat block is the area on the heat map.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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