Map monitoring method, device and equipment for magnetic navigation type automatic guided vehicle and medium

Abstract

The invention discloses a map monitoring method, device and equipment for a magnetic navigation type automatic guided vehicle, and a medium, and the method comprises the steps: obtaining an identifier of a to-be-added automatic guided vehicle, and adding a new automatic guided vehicle map on the edge of a canvas based on the identifier of the to-be-added automatic guided vehicle; performing path animation processing on the new automated guided vehicle chartlet to generate a driving path; when the automatic guided vehicle map in the canvas is triggered, highlighting a driving path corresponding to the automatic guided vehicle map in the canvas to obtain a highlighting path set; and when a non-automated guided vehicle mapping area in the canvas is triggered, cancelling highlight display in the highlight path set. According to the invention, map monitoring of the automatic guided vehicle is realized, browser websites do not need to be deployed repeatedly, the real-time path of the automatic guided vehicle can be fed back in time, and improvement of map monitoring efficiency of the automatic guided vehicle is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of path monitoring technology, and in particular to a map monitoring method, device, equipment and medium for a magnetic navigation type automatic guided vehicle. Background Art

[0002] X6 is a graph editing engine under AntV, which provides a series of out-of-the-box interactive components and easy-to-use node customization capabilities, allowing developers to quickly build applications such as DAG graphs, ER graphs, and flowcharts. The magnetic navigation automatic guided vehicle map is mainly composed of cards and magnetic tape tracks connecting two cards. The map can be regarded as a directed cyclic graph. On the other hand, X6 provides application program interfaces such as path animation and highlight display. It is feasible to develop a magnetic navigation automatic guided vehicle map monitoring method based on X6.

[0003] The existing map monitoring method of automated guided vehicles requires form deployment for each user in the browser when performing map monitoring on each automated guided vehicle, resulting in multiple deployments when multiple users monitor in the browser, making it difficult to provide timely feedback on the real-time path of the automated guided vehicle, resulting in low map monitoring efficiency. Summary of the invention

[0004] The embodiments of the present invention provide a map monitoring method, device, equipment and medium for a magnetic navigation automatic guided vehicle, which does not require repeated deployment of browser websites, timely feeds back the real-time path of the automatic guided vehicle, and improves the map monitoring efficiency of the automatic guided vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a map monitoring method for a magnetic navigation automatic guided vehicle, which comprises:

[0006] Obtaining an identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle texture to the edge of the canvas based on the identifier of the automatic guided vehicle to be added;

[0007] Performing path animation processing on the new automatic guided vehicle map to generate a driving path;

[0008] When the automatic guided vehicle map in the canvas is triggered, the driving path corresponding to the automatic guided vehicle map in the canvas is highlighted to obtain a highlighted path set;

[0009] When a non-automatic guided vehicle mapping area in the canvas is triggered, the highlight display in the highlight path set is cancelled.

[0010] In a second aspect, an embodiment of the present invention provides a map monitoring device for a magnetic navigation automatic guided vehicle, comprising:

[0011] A texture adding unit, used for obtaining the identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle texture on the edge of the canvas based on the identifier of the automatic guided vehicle to be added;

[0012] A path animation unit, used for performing path animation processing on the new automatic guided vehicle map to generate a driving path;

[0013] A highlight generating unit, configured to highlight a driving path corresponding to the automatic guided vehicle map in the canvas when the automatic guided vehicle map in the canvas is triggered, so as to obtain a highlighted path set;

[0014] A highlight canceling unit is used to cancel the highlight display in the highlight path set when a non-automatic guided vehicle mapping area in the canvas is triggered.

[0015] In a third aspect, an embodiment of the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the map monitoring method for a magnetic navigation automatic guided vehicle as described in the first aspect above is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the map monitoring method for a magnetic navigation automatic guided vehicle described in the first aspect above.

[0017] An embodiment of the present invention provides a map monitoring method, device, equipment and medium for a magnetic navigation automatic guided vehicle. The method includes: obtaining an identifier of an automatic guided vehicle to be added, and adding a new automatic guided vehicle map on the edge of a canvas based on the identifier of the automatic guided vehicle to be added; performing path animation processing on the new automatic guided vehicle map to generate a driving path; when the automatic guided vehicle map in the canvas is triggered, highlighting the driving path corresponding to the automatic guided vehicle map in the canvas to obtain a highlighted path set; when a non-automatic guided vehicle map area in the canvas is triggered, canceling the highlighting in the highlighted path set. The embodiment of the present invention can add a new automatic guided vehicle map on the edge of the canvas according to the identification of the automatic guided vehicle to be added, and realize the path animation of the automatic guided vehicle map; at the same time, when the automatic guided vehicle map in the canvas is triggered, the nodes and edges of the driving path corresponding to the automatic guided vehicle map can be highlighted, and the highlighting can be cancelled in time when it is needed, thereby realizing map monitoring of the automatic guided vehicle, without the need to repeatedly deploy the browser website, and the real-time path of the automatic guided vehicle can be fed back in time, which is conducive to improving the map monitoring efficiency of the automatic guided vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0019] Figure 1 A schematic diagram of a flow chart of a map monitoring method for a magnetic navigation type automatic guided vehicle provided by an embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0021] Figure 3 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0022] Figure 4 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0023] Figure 5 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0024] Figure 6 An animated schematic diagram of a magnetic navigation automatic guided vehicle path provided by an embodiment of the present invention;

[0025] Figure 7 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0026] Figure 8 A schematic diagram of node highlighting of a driving path of an automated guided vehicle provided in an embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of edge highlighting of a driving path of an automated guided vehicle provided by an embodiment of the present invention;

[0028] Fig.10 A schematic diagram of a sub-process of a map monitoring method for a magnetic navigation type automatic guided vehicle provided in an embodiment of the present invention;

[0029] Fig.11 A schematic block diagram of a map monitoring device for a magnetic navigation type automatic guided vehicle provided by an embodiment of the present invention;

[0030] Fig.12 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0033] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0034] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0035] See also Figure 1 , Figure 1 A flowchart of a map monitoring method for a magnetic navigation type automatic guided vehicle provided by an embodiment of the present invention. The map monitoring method for a magnetic navigation type automatic guided vehicle provided by an embodiment of the present invention is applied to a computer device.

[0036] S1: Obtain an identifier of the automatic guided vehicle to be added, and add a new automatic guided vehicle texture on the edge of the canvas based on the identifier of the automatic guided vehicle to be added.

[0037] The embodiment of the present application is a magnetic navigation type automatic guided vehicle map monitoring method developed based on AntV X62.x. It only needs to deploy a browser website for magnetic navigation type automatic guided vehicle map monitoring once, which can achieve the effect of multiple users using the browser and improve the map monitoring efficiency of the automatic guided vehicle. Among them, AntV is a set of data visualization solutions open sourced by Ant Financial, which includes multiple visualization libraries, aiming to help developers easily build various data visualization charts and graphics. X6 is a graph editing engine under AntV, which provides a series of out-of-the-box interactive components and easy-to-use node customization capabilities, making it convenient for developers to quickly build DAG diagrams, ER diagrams, flow charts and other applications. An automated guided vehicle (AGV) is a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, which can travel along a specified guidance path and has safety protection and various transfer functions.

[0038] Specifically, when a new automated guided vehicle needs to be added to the edge of the canvas, the identifier of the automated guided vehicle to be added is obtained, and the identifier is the name of the automated guided vehicle; then a new automated guided vehicle map is added to the edge of the canvas according to the identifier of the automated guided vehicle to be added.

[0039] The canvas refers to the X6 canvas, which is the core component of the AntV graph editing engine X6. It provides rich functions and flexible scalability, and provides strong support for developers to build and customize various graph applications. The automated guided vehicle map represents an automated guided vehicle on a track. The automated guided vehicle logo refers to the markup in the X6 canvas, which is mainly used to define the SVG or HTML fragments used when rendering nodes or edges. These fragments describe the specific representation of graphic elements (such as nodes, edges, etc.) on the canvas, including their shape, size, position, and other elements that may be contained (such as text labels).

[0040] See also Figure 2 , Figure 2 A specific implementation of step S1 is shown, which is described in detail as follows:

[0041] S11: Obtain all identifiers of the edges in the canvas to obtain an identifier set.

[0042] S12: Traverse each identifier in the identifier set, and determine whether there is an identifier in the identifier set that is the same as the automatic guided vehicle to be added.

[0043] Specifically, before adding an automated guided vehicle map to the edge of the canvas, it is necessary to determine whether the automated guided vehicle to be added already exists on this edge, that is, multiple automated guided vehicles with the same name are not allowed to appear on the map. Therefore, in an embodiment of the present application, all the identifiers of the edge are obtained by calling the edge.getMarkup() method of X6 to obtain an identifier set. If the selector attribute of one of the identifiers is the name of the automated guided vehicle to be added, that is, if there is an identifier identical to the automated guided vehicle to be added in the identifier set, it is considered that this automated guided vehicle already exists on the map, and there is no need to repeat the addition of the automated guided vehicle map. If there is no identifier identical to the automated guided vehicle to be added in the identifier set, step S13 is executed to add a new automated guided vehicle map.

[0044] S13: If there is no identifier identical to the automated guided vehicle to be added in the identifier set, a new automated guided vehicle texture is added on the edge of the canvas based on the identifier of the automated guided vehicle to be added.

[0045] See also Figure 3 , Figure 3 A specific implementation of step S13 is shown, which is described in detail as follows:

[0046] S131: If the identifier identical to the automatic guided vehicle to be added does not exist in the identifier set, the identifiers in the identifier set are copied to obtain an identifier set copy.

[0047] S132: Add the identifier of the to-be-added automated guided vehicle to the identifier set copy to obtain a new identifier set copy.

[0048] S133: Reapply the new copy of the identification set to the edge of the canvas, and set the texture properties of the edge of the canvas to add the new automated guided vehicle texture to the edge of the canvas.

[0049] Specifically, a deep copy of the identification set is performed by calling concat() to obtain all identification copies of this edge and obtain an identification set copy. Then the push() method is called to add an identification to the identification set copy, and the selector attribute of the identification is set to the name of the automatic guided vehicle to be added. Finally, the new identification set copy is reapplied to the edge of the canvas, and the texture attribute of the edge of the canvas is set to add a new automatic guided vehicle texture to the edge of the canvas.

[0050] See also Figure 4 , Figure 4 A specific implementation of step S133 is shown, which is described in detail as follows:

[0051] S1331: modify the selection attribute of the automatic guided vehicle logo in the new logo set copy, and reapply the new logo set copy to the edge of the canvas.

[0052] S1332: Setting the texture properties of the edge of the canvas by inserting a JSON object to add the new automated guided vehicle texture on the edge of the canvas.

[0053] Specifically, by calling the push() method to add a label to the copy of the label set, and setting the selector attribute of the label to the name of the automatic guided vehicle to be added, the selection attribute of the label of the automatic guided vehicle in the new copy of the label set is changed. Then call the edge.setMarkup() method of X6 to reapply the new copy of the label set to the edge of the canvas. Finally, call the setAttrs() method of X6 to insert a JSON object named the name of the automatic guided vehicle to be added. This JSON object contains attributes such as width, height, rx, ry, x, y, atConnectionRatio, stroke, fill, event, etc., thereby realizing the drawing of a map of an automatic guided vehicle object.

[0054] Among them, atConnectionRatio specifies where the AGV map is located on the line segment. Since the animation is usually started at the starting position of the line segment, it is generally set to 0. The Event attribute value is the AGV name, and its exposed name is a custom event of the AGV name, which is used to respond to mouse events later. The reason why the edge identifier is reset after a deep copy in the embodiment of the present application is that using the push() method directly to the edge identifier will not trigger the redrawing of the map.

[0055] S2: Performing path animation processing on the new automatic guided vehicle map to generate a driving path.

[0056] Specifically, after adding an automatic reversing map, the edge.transition(path,target,options) method of X6 is used to start the path animation and generate the driving path.

[0057] See also Figure 5 and Figure 6 , Figure 5 A specific implementation of step S2 is shown. Figure 6 The following is a schematic diagram of an animated path of a magnetic navigation automatic guided vehicle provided by an embodiment of the present invention, as detailed below:

[0058] S21: Identify the starting position of the new automated guided vehicle map on the line segment.

[0059] S22: performing path animation processing on the new automatic guided vehicle map according to the starting position based on a preset delay time.

[0060] S23: traversing the respective identifiers of all edges in the canvas at a regular interval, and if the attribute value of the identifier is a preset value, determining that the animation is finished, deleting the texture at the end of the animation, and generating the driving path.

[0061] Specifically, identify the starting position of the new automatic guided vehicle map on the line segment, pass the starting position of the automatic guided vehicle map on the line segment through the parameter path, and pass the current position of the automatic guided vehicle map on the line segment, that is, pass the string: 'attrs / '+agv name+' / atConnectionRatio'. The parameter target passes the animation end position, which is generally 1; the parameter options is a json object, and the delay attribute specifies how many milliseconds the animation delay starts, which is generally 0; duration specifies the animation duration, that is, the estimated time it takes for the automatic guided vehicle to walk to the next station. In the embodiment of the present application, after reaching the preset delay time, the animation is extended and transferred on the line segment according to the starting position. When the guided animation duration is obtained, the automatic guided vehicle arrives at the next station; then, each identifier of all edges in the canvas is traversed periodically. If the attribute value of the identifier is the preset value, the animation is determined to be over, and the map at the end of the animation is deleted to generate a driving path. Since the end point of the automatic guided vehicle map animation is basically 1, the timer traverses each mark on each side. If there is an automatic guided vehicle with an atConnectionRatio value of 1, it is considered that the automatic guided vehicle has ended its movement and the mark is deleted, that is, the automatic guided vehicle map is removed after the animation ends.

[0062] S3: When the automatic guided vehicle map in the canvas is triggered, the driving path corresponding to the automatic guided vehicle map in the canvas is highlighted to obtain a highlighted path set.

[0063] Specifically, when the user triggers the AGV sticker in the canvas in the browser, the custom event is determined to be triggered. After the event is triggered, the backend is requested to list the remaining paths for the AGV to take. Each path list contains the RFID of the starting station of the path and the RFID of the ending station of the path. The corresponding points and edges are found on the map based on these two RFIDs for highlighting, and each highlighted node and edge is recorded to obtain a set of highlighted nodes and edges.

[0064] See also Figures 7 to 9 , Figure 6 A specific implementation of step S3 is shown. Figure 8 A schematic diagram of node highlighting of a driving path of an automated guided vehicle provided in an embodiment of the present invention, Fig. 9The schematic diagram of edge highlighting of the driving path of the automatic guided vehicle provided by the embodiment of the present invention is described in detail as follows:

[0065] S31: When the automatic guided vehicle map in the canvas is triggered, the starting node and the ending node of each driving path corresponding to the automatic guided vehicle in the canvas are obtained.

[0066] S32: traverse each of the starting nodes and the ending nodes, highlight each of the starting nodes and the ending nodes, obtain a highlighted node set, and record the highlighted node set.

[0067] S33: Determine edges to be highlighted based on the starting node and the ending node, perform highlighting processing on each edge to be highlighted to obtain the highlighted edge set, and record the highlighted edge set.

[0068] Specifically, fromPosi and toPosi are used to represent the RFID of the starting node and the ending station of the i-th edge that the AGV needs to walk next. First, each node represented by fromPosi and toPosi is highlighted, and the highlighted nodes are recorded for easy clearing of the highlights later. Then, each node represented by fromPosi is traversed, and the getOutgoingEdges() method of X6 is called to obtain all the edges starting from the node represented by romPosi, and the edge whose end point is the node represented by toPosi is found, and this edge is highlighted. At the same time, the highlighted edges need to be recorded for easy clearing of the highlights later. That is, in the embodiment of the present application, when the automatic guided vehicle map in the canvas is triggered, the starting node and the ending node of each driving path of the automatic guided vehicle are obtained; each starting node and the ending node are traversed, each starting node and the ending node are highlighted, a highlighted node set is obtained, and the highlighted node set is recorded; the edges to be highlighted are determined based on the starting node and the ending node, each edge to be highlighted is highlighted, a highlighted edge set is obtained, and the highlighted edge set is recorded, and a highlighted path set is generated based on the highlighted node set and the highlighted edge set. Among them, the highlighted path set includes a highlighted node set and a highlighted edge set.

[0069] S4: When a non-automatic guided vehicle mapping area in the canvas is triggered, the highlight display in the highlight path set is canceled.

[0070] Specifically, when the user triggers the non-AGV map area in the canvas in the browser, it indicates that the user needs to cancel the highlighted portion in the canvas, so the highlighting of the highlight point set and the highlight edge set is canceled one by one to cancel the highlighting in the highlight path set.

[0071] See also Fig.10 , Fig.10 A specific implementation of step S4 is shown, which is described in detail as follows:

[0072] S41: When a non-automatic guided vehicle mapping area in the canvas is triggered, the highlighted node set and the highlighted edge set are obtained.

[0073] S42: Clear the highlighted display of nodes and edges in the highlighted point set and the highlighted edge set one by one to cancel the highlighted display in the highlighted path set.

[0074] Specifically, when the non-automatic guided vehicle mapping area in the canvas is triggered, the highlighted node set and the highlighted edge set recorded in the above steps are obtained, and then the highlights of the nodes and edges in the highlighted point set and the highlighted edge set are cleared one by one to cancel the highlight display in the highlighted path set.

[0075] In an embodiment of the present application, an identification of an automated guided vehicle to be added is obtained, and a new automated guided vehicle texture is added to the edge of the canvas based on the identification of the automated guided vehicle to be added; path animation processing is performed on the new automated guided vehicle texture to generate a driving path; when the automated guided vehicle texture in the canvas is triggered, the driving path corresponding to the automated guided vehicle texture in the canvas is highlighted to obtain a highlighted path set; when a non-automated guided vehicle texture area in the canvas is triggered, the highlighting in the highlighted path set is canceled. The embodiment of the present invention can add a new automatic guided vehicle map on the edge of the canvas according to the identification of the automatic guided vehicle to be added, and realize the path animation of the automatic guided vehicle map; at the same time, when the automatic guided vehicle map in the canvas is triggered, the nodes and edges of the driving path corresponding to the automatic guided vehicle map can be highlighted, and the highlighting can be cancelled in time when it is needed, thereby realizing map monitoring of the automatic guided vehicle, without the need to repeatedly deploy the browser website, and the real-time path of the automatic guided vehicle can be fed back in time, which is conducive to improving the map monitoring efficiency of the automatic guided vehicle.

[0076] The embodiment of the present invention further provides a map monitoring device for a magnetic navigation type automatic guided vehicle, and the map monitoring device for a magnetic navigation type automatic guided vehicle is used to execute any embodiment of the map monitoring method for a magnetic navigation type automatic guided vehicle. Fig.11 , Fig.11 A schematic block diagram of a map monitoring device for a magnetic navigation automatic guided vehicle provided in an embodiment of the present invention.

[0077] Among them, Fig.11 As shown, the map monitoring device 5 of the magnetic navigation automatic guided vehicle includes a map adding unit 51, a path animation unit 52, a highlight generating unit 53 and a highlight canceling unit 54.

[0078] A texture adding unit 51, used for obtaining the identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle texture on the edge of the canvas based on the identifier of the automatic guided vehicle to be added;

[0079] A path animation unit 52, used for performing path animation processing on the new automated guided vehicle map to generate a driving path;

[0080] A highlight generating unit 53, configured to highlight a driving path corresponding to the automatic guided vehicle map in the canvas when the automatic guided vehicle map in the canvas is triggered, so as to obtain a highlighted path set;

[0081] The highlight canceling unit 54 is used to cancel the highlight display in the highlight path set when a non-automatic guided vehicle mapping area in the canvas is triggered.

[0082] Furthermore, the map adding unit 51 includes:

[0083] An identification set acquisition unit, used to acquire all identifications of edges in the canvas to obtain an identification set;

[0084] A judging unit, configured to traverse each identifier in the identifier set and judge whether there is an identifier in the identifier set that is the same as the automated guided vehicle to be added;

[0085] The adding unit is used to add a new automatic guided vehicle texture on the edge of the canvas based on the identifier of the automatic guided vehicle to be added if there is no identifier identical to the automatic guided vehicle to be added in the identifier set.

[0086] Further, the adding unit comprises:

[0087] a copying unit, configured to copy the identifier of the identifier set to obtain a copy of the identifier set if the identifier identical to the identifier of the automated guided vehicle to be added does not exist in the identifier set;

[0088] An identification adding unit, used for adding the identification of the automatic guided vehicle to be added to the identification set copy to obtain a new identification set copy;

[0089] The identification application unit is used to reapply the new identification set copy to the edge of the canvas and set the texture attribute of the edge of the canvas to add the new automatic guided vehicle texture to the edge of the canvas.

[0090] Furthermore, the identification application unit includes:

[0091] an attribute changing unit, configured to change the selected attribute of the identification of the automatic guided vehicle in the new identification set copy, and reapply the new identification set copy to the edge of the canvas;

[0092] The object insertion unit is used to set the texture property of the edge of the canvas by inserting a JSON object, so as to add the new automatic guided vehicle texture on the edge of the canvas.

[0093] Further, the path animation unit 52 includes:

[0094] A starting position identification unit, used to identify the starting position of the new automated guided vehicle map on the line segment;

[0095] An animation processing unit, used for performing path animation processing on the new automatic guided vehicle map according to the starting position based on a preset delay time;

[0096] The animation ending unit is used to periodically traverse the various identifiers of all edges in the canvas, and if the attribute value of the identifier is a preset value, determine that the animation is ended, delete the texture of the animation end, and generate the driving path.

[0097] Further, the highlight generation unit 53 includes:

[0098] A mapping triggering unit, used for obtaining a starting node and an ending node corresponding to each driving path of the automatic guided vehicle in the canvas when the automatic guided vehicle mapping in the canvas is triggered;

[0099] A node highlighting unit, used for traversing each of the starting nodes and the ending nodes, highlighting each of the starting nodes and the ending nodes, obtaining a highlighted node set, and recording the highlighted node set;

[0100] An edge highlighting unit is used to determine the edges to be highlighted based on the starting node and the ending node, perform highlighting processing on each edge to be highlighted to obtain the highlighted edge set, and record the highlighted edge set.

[0101] Further, the highlight canceling unit 54 comprises:

[0102] A data acquisition unit, configured to acquire the highlighted node set and the highlighted edge set when a non-automatic guided vehicle mapping area in the canvas is triggered;

[0103] The highlight canceling unit is used to clear the highlighting display of the nodes and edges in the highlight point set and the highlight edge set one by one, so as to cancel the highlighting display in the highlight path set.

[0104] In an embodiment of the present application, an identification of an automated guided vehicle to be added is obtained, and a new automated guided vehicle texture is added to the edge of the canvas based on the identification of the automated guided vehicle to be added; path animation processing is performed on the new automated guided vehicle texture to generate a driving path; when the automated guided vehicle texture in the canvas is triggered, the driving path corresponding to the automated guided vehicle texture in the canvas is highlighted to obtain a highlighted path set; when a non-automated guided vehicle texture area in the canvas is triggered, the highlighting in the highlighted path set is canceled. The embodiment of the present invention can add a new automatic guided vehicle map on the edge of the canvas according to the identification of the automatic guided vehicle to be added, and realize the path animation of the automatic guided vehicle map; at the same time, when the automatic guided vehicle map in the canvas is triggered, the nodes and edges of the driving path corresponding to the automatic guided vehicle map can be highlighted, and the highlighting can be cancelled in time when it is needed, thereby realizing map monitoring of the automatic guided vehicle, without the need to repeatedly deploy the browser website, and the real-time path of the automatic guided vehicle can be fed back in time, which is conducive to improving the map monitoring efficiency of the automatic guided vehicle.

[0105] The map monitoring device of the magnetic navigation type automatic guided vehicle can be implemented in the form of a computer program. Fig.12 Runs on the computer device shown.

[0106] See also Fig.12 , Fig.12 5 is a schematic block diagram of a computer device provided by an embodiment of the present invention. The computer device 500 includes a processor 502 , a memory and a network interface 505 connected via a device bus 501 , wherein the memory may include a storage medium 503 and an internal memory 504 .

[0107] The storage medium 503 can store an operating device 5031 and a computer program 5032. When the computer program 5032 is executed, the processor 502 can execute a map monitoring method for a magnetic navigation type automatic guided vehicle.

[0108] The processor 502 is used to provide computing and control capabilities to support the operation of the entire computer device 500 .

[0109] The internal memory 504 provides an environment for the operation of the computer program 5032 in the storage medium 503. When the computer program 5032 is executed by the processor 502, the processor 502 can execute the map monitoring method of the magnetic navigation automatic guided vehicle.

[0110] The network interface 505 is used for network communication, such as providing transmission of data information, etc. Those skilled in the art can understand that the structure shown in the embodiment of the present application is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 500 to which the solution of the present invention is applied. The specific computer device 500 may include more or less components than those shown in the figure, or combine some components, or have a different arrangement of components.

[0111] The processor 502 is used to run the computer program 5032 stored in the memory to implement the map monitoring method of the magnetic navigation automatic guided vehicle disclosed in the embodiment of the present invention.

[0112] Those skilled in the art will appreciate that the embodiments of the computer device shown in the embodiments of the present application do not constitute a limitation on the specific configuration of the computer device. In other embodiments, the computer device may include more or fewer components than shown, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are consistent with the above-described embodiments, and will not be described in detail herein.

[0113] It should be understood that in the embodiment of the present invention, the processor 502 may be a central processing unit (CPU), and the processor 502 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0114] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the map monitoring method for a magnetic navigation type automatic guided vehicle disclosed in an embodiment of the present invention is implemented.

[0115] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, devices and units can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0116] In the several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, devices or units, or may be an electrical, mechanical or other form of connection.

[0117] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0118] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0119] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a background server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program codes.

[0120] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A map monitoring method for a magnetic navigation automatic guided vehicle, characterized in that: include: Obtaining an identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle texture to the edge of the canvas based on the identifier of the automatic guided vehicle to be added; Performing path animation processing on the new automatic guided vehicle map to generate a driving path; When the automatic guided vehicle map in the canvas is triggered, the driving path corresponding to the automatic guided vehicle map in the canvas is highlighted to obtain a highlighted path set; When a non-automatic guided vehicle mapping area in the canvas is triggered, the highlight display in the highlight path set is cancelled.

2. The map monitoring method for a magnetic navigation type automatic guided vehicle according to claim 1, characterized in that: The obtaining the identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle map on the edge of the canvas based on the identifier of the automatic guided vehicle to be added, includes: Obtain all identifiers of edges in the canvas to obtain an identifier set; Traversing each identifier in the identifier set, and determining whether there is an identifier in the identifier set that is identical to the automatic guided vehicle to be added; If the identifier that is identical to the automated guided vehicle to be added does not exist in the identifier set, a new automated guided vehicle texture is added to the edge of the canvas based on the identifier of the automated guided vehicle to be added.

3. The map monitoring method for a magnetic navigation type automatic guided vehicle according to claim 2, characterized in that: If there is no identification in the identification set that is identical to the automatic guided vehicle to be added, adding a new automatic guided vehicle map on the edge of the canvas based on the identification of the automatic guided vehicle to be added, including: If the identifier that is identical to the automatic guided vehicle to be added does not exist in the identifier set, copying the identifiers in the identifier set to obtain an identifier set copy; Adding the identifier of the automatic guided vehicle to be added to the identifier set copy to obtain a new identifier set copy; The new copy of the identification set is reapplied to the edge of the canvas, and the texture properties of the edge of the canvas are set to add the new automated guided vehicle texture to the edge of the canvas.

4. The map monitoring method for a magnetic navigation type automatic guided vehicle according to claim 3, characterized in that: The step of reapplying the new copy of the identification set to the edge of the canvas and setting the texture attribute of the edge of the canvas to add the new automatic guided vehicle texture to the edge of the canvas includes: Modify the selection attribute of the automatic guided vehicle logo in the new logo set copy, and reapply the new logo set copy to the edge of the canvas; By inserting a JSON object, the texture property of the edge of the canvas is set to add the new automated guided vehicle texture on the edge of the canvas.

5. The map monitoring method for a magnetic navigation type automatic guided vehicle according to claim 1, characterized in that: The performing path animation processing on the new automatic guided vehicle map to generate a driving path includes: Identify the starting position of the new automated guided vehicle map on the line segment; Performing path animation processing on the new automatic guided vehicle map based on the starting position and a preset delay time; The respective identifiers of all edges in the canvas are traversed periodically, and if the attribute value of the identifier is a preset value, the animation is determined to be finished, and the texture of the finished animation is deleted to generate the driving path.

6. The map monitoring method for a magnetic navigation type automatic guided vehicle according to any one of claims 1 to 5, characterized in that: The highlighted path set includes a highlighted node set and a highlighted edge set. When the automatic guided vehicle map in the canvas is triggered, the driving path corresponding to the automatic guided vehicle map in the canvas is highlighted to obtain a highlighted path set, including: When the automatic guided vehicle map in the canvas is triggered, the starting node and the ending node of each driving path of the automatic guided vehicle in the canvas are obtained; Traversing each of the starting nodes and the ending nodes, highlighting each of the starting nodes and the ending nodes to obtain a highlighted node set, and recording the highlighted node set; The edges to be highlighted are determined based on the starting node and the ending node, each edge to be highlighted is highlighted to obtain the highlighted edge set, and the highlighted edge set is recorded.

7. The map monitoring method for a magnetic navigation type automatic guided vehicle according to claim 6, characterized in that: When the non-automatic guided vehicle mapping area in the canvas is triggered, canceling the highlight display of the highlight path set includes: When a non-automatic guided vehicle mapping area in the canvas is triggered, obtaining the highlighted node set and the highlighted edge set; The highlighted display of nodes and edges in the highlighted point set and the highlighted edge set is cleared one by one to cancel the highlighted display in the highlighted path set.

8. A map monitoring device for a magnetic navigation automatic guided vehicle, characterized in that: include: A texture adding unit, used for obtaining the identifier of the automatic guided vehicle to be added, and adding a new automatic guided vehicle texture on the edge of the canvas based on the identifier of the automatic guided vehicle to be added; A path animation unit, used for performing path animation processing on the new automatic guided vehicle map to generate a driving path; A highlight generating unit, configured to highlight a driving path corresponding to the automatic guided vehicle map in the canvas when the automatic guided vehicle map in the canvas is triggered, so as to obtain a highlighted path set; A highlight canceling unit is used to cancel the highlight display in the highlight path set when a non-automatic guided vehicle mapping area in the canvas is triggered.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the map monitoring method for the magnetic navigation type automatic guided vehicle according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, causes the processor to execute the map monitoring method for a magnetic navigation type automatic guided vehicle according to any one of claims 1 to 7.

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