Magnetic stripe navigation simulation processing method and device, equipment and storage medium

Abstract

The invention relates to a magnetic stripe navigation simulation processing method and device, computer equipment, a storage medium and a computer program product. The method comprises the steps that a canvas is obtained, a simulation magnetic navigation sensor and a simulation guide magnetic strip are arranged in the canvas, the simulation magnetic navigation sensor is provided with a plurality of detection points, and the color value of pixel points, covered by the simulation guide magnetic strip, of the canvas is a preset color value; in the canvas, simulating a scene in which the magnetic navigation sensor moves above the guide magnetic strip based on the simulation magnetic navigation sensor and the simulation guide magnetic strip, and detecting coordinates of each detection point in the canvas in the simulation process; for each detection point, determining a detection area of the detection point in the canvas according to the coordinate of the detection point; and performing color value detection on the canvas pixel points covered by the detection area, and determining a simulation guide magnetic stripe detection result of the detection point by comparing the detected color value with a preset color value. By adopting the method, the development efficiency of a magnetic stripe navigation AGV control algorithm can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of automated navigation simulation technology, and in particular to a magnetic stripe navigation simulation processing method, device, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of AGV (Automated Guided Vehicle) technology, among all the navigation methods involved in AGV technology, magnetic stripe navigation has been widely used due to its high stability, simple operation and low cost. Magnetic stripe navigation is specifically as follows: a guide magnetic stripe is laid on the ground of the path, and a sensor that can detect magnetic field signals, namely a magnetic navigation sensor, is set at the bottom of the AGV body. The magnetic field signal detected by the magnetic navigation sensor is used to detect the deviation of the body relative to the guide magnetic stripe, and the deviation is input into the vehicle controller, which then outputs a control instruction to the vehicle drive motor after calculation, so as to control the vehicle to always move along the guide magnetic stripe.

[0003] At present, when most AGV manufacturers develop magnetic stripe navigation AGV control algorithms, if they want to collect test data of the vehicle moving on the guiding magnetic stripe, they usually test and collect the data on the physical AGV, which requires time-consuming production and assembly of the physical AGV, resulting in low development efficiency of the magnetic stripe navigation AGV control algorithm. Summary of the invention

[0004] Based on this, it is necessary to provide a magnetic stripe navigation simulation processing method, device, computer equipment, computer-readable storage medium and computer program product to address the technical problem of low development efficiency of the above-mentioned magnetic stripe navigation AGV control algorithm.

[0005] In a first aspect, the present application provides a magnetic stripe navigation simulation processing method, comprising:

[0006] Acquire a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic strip are arranged, the simulated magnetic navigation sensor is arranged with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value;

[0007] In the canvas, based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, a scene of the magnetic navigation sensor moving above the guide magnetic strip is simulated, and during the simulation process, the coordinates of each detection point in the canvas are detected;

[0008] For each detection point, determine the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point;

[0009] The color value of the canvas pixel points covered by the detection area is detected, and the simulation-guided magnetic stripe detection result of the detection point is determined by comparing the detected color value with the preset color value.

[0010] In one embodiment, detecting the coordinates of each detection point in the canvas includes:

[0011] Selecting a first detection point from a plurality of detection points and using the remaining detection points as second detection points;

[0012] Acquire a preset coordinate system in the canvas, detect the coordinates of the first detection point in the preset coordinate system, and obtain the coordinates of the first detection point in the canvas;

[0013] For each second detection point, a coordinate conversion relationship between the second detection point and the first detection point is obtained, and the coordinates of the second detection point in the canvas are determined according to the coordinate conversion relationship and the coordinates of the first detection point in the canvas.

[0014] In one embodiment, the plurality of detection points are on the same straight line, which is a detection line of a simulated magnetic navigation sensor; and the coordinate transformation relationship between each second detection point and the first detection point is constructed in the following manner:

[0015] Determine the deflection angle between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system;

[0016] For each second detection point, the detection point spacing between the second detection point and the first detection point is obtained, and a coordinate transformation relationship between the second detection point and the first detection point is constructed according to the detection point spacing and the deflection angle.

[0017] In one embodiment, the first detection point is located at the center of the simulated magnetic navigation sensor, and a plurality of second detection points are arranged at equal intervals on both sides of the first detection point, and each second detection point is provided with a detection point sequence number value associated with the distribution position, and the detection point sequence numbers of two second detection points with symmetrical distribution positions are opposite to each other;

[0018] Obtaining the detection point distance between the second detection point and the first detection point, including:

[0019] Determine a preset interval between adjacent detection points;

[0020] The product of the detection point sequence number value of the second detection point and the preset detection point interval is used as the detection point interval between the second detection point and the first detection point.

[0021] In one embodiment, color value detection is performed on canvas pixel points covered by the detection area, and the detection result of the simulated guided magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value, including:

[0022] Through the color value decomposition function, the color value of each canvas pixel point covered by the detection area is detected respectively, and the three primary color parameters of each canvas pixel point covered by the detection area are obtained;

[0023] When there is a canvas pixel point among the canvas pixels covered by the detection area whose three primary color parameters are the same as the three primary color parameters of the preset color value, it is determined that the detection point detects the simulated guide magnetic stripe.

[0024] In one of the embodiments, a visual identifier representing a simulated magnetic navigation sensor is provided in the canvas, and the visual identifier includes a plurality of sub-identifiers, and each sub-identifier represents a detection point;

[0025] The magnetic stripe navigation simulation processing method further includes:

[0026] For each detection point, if it is determined that the detection point detects the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to the first color value;

[0027] If it is determined that the detection point does not detect the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to a second color value.

[0028] In a second aspect, the present application also provides a magnetic stripe navigation simulation processing device, comprising:

[0029] A simulated canvas acquisition module is used to acquire a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided, the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value;

[0030] A simulation process processing module is used to simulate the scene of the magnetic navigation sensor moving above the guide magnetic strip in the canvas based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, and detect the coordinates of each detection point in the canvas during the simulation process;

[0031] A detection area determination module is used to determine, for each detection point, the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point;

[0032] The detection result determination module is used to detect the color value of the canvas pixel points covered by the detection area, and determine the simulation guide magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value.

[0033] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned magnetic stripe navigation simulation processing method when executing the computer program.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the magnetic stripe navigation simulation processing method described above is implemented.

[0035] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the magnetic stripe navigation simulation processing method is implemented.

[0036] The above-mentioned magnetic stripe navigation simulation processing method, device, computer equipment, storage medium and computer program product first obtain a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided, and the simulated magnetic navigation sensor is provided with multiple detection points, and the color value of the canvas pixel covered by the simulated guide magnetic strip is a preset color value. Based on this, in the canvas, based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, the scene of the magnetic navigation sensor moving above the guide magnetic strip can be simulated, and during the simulation process, the coordinates of each detection point in the canvas are detected. Furthermore, for each detection point, the detection area corresponding to the detection point in the canvas can be determined according to the coordinates of the detection point, and then the color value of the canvas pixel covered by the detection area is detected, and the detection result of the simulated guide magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value. Therefore, by adopting the above-mentioned magnetic stripe navigation simulation processing method, the following process can be simulated using a canvas built according to the magnetic stripe navigation environment: during the AGV control process, the guide magnetic stripe laid on the ground of the path is detected by the magnetic navigation sensor at the bottom of the vehicle body, and the detection data of each detection point in the magnetic navigation sensor is obtained, without the need to test on the physical AGV to collect the detection data of each detection point in the magnetic navigation sensor. That is, by adopting the above-mentioned magnetic stripe navigation simulation processing method, there is no need to spend time making and assembling a real magnetic stripe navigation environment, but the canvas built according to the magnetic stripe navigation environment can be used for simulation, so as to efficiently obtain the detection data of each detection point in the magnetic navigation sensor, so as to invest in the development of the magnetic stripe navigation AGV control algorithm. Compared with the method of testing and collecting data on the physical AGV, the development efficiency of the magnetic stripe navigation AGV control algorithm can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG1 is an application environment diagram of a magnetic stripe navigation simulation processing method in one embodiment;

[0038] FIG2 is a schematic diagram of a flow chart of a magnetic stripe navigation simulation processing method in one embodiment;

[0039] FIG3 is a schematic diagram of a simulated magnetic navigation sensor in one embodiment;

[0040] FIG4 is a schematic diagram of a detection line of a simulated magnetic navigation sensor in one embodiment;

[0041] FIG5 is a schematic diagram of the angle between the detection line and the horizontal axis of the preset coordinate system in one embodiment;

[0042] FIG6 is a schematic diagram of a simulated magnetic navigation sensor with detection point sequence values ​​marked in one embodiment;

[0043] FIG7 is a schematic diagram of a simulated magnetic navigation sensor in another embodiment;

[0044] FIG8 is a schematic diagram of a simulated magnetic navigation sensor in yet another embodiment;

[0045] FIG9 is a schematic diagram showing a detection result of a simulated magnetic navigation sensor in a visual manner when a simulated guide magnetic strip is detected at a detection point at a negative end in one embodiment;

[0046] FIG10 is a schematic diagram showing a detection result of a simulated magnetic navigation sensor in a visual manner when a simulated guide magnetic strip is detected at a detection point at the positive end in one embodiment;

[0047] FIG11 is a schematic diagram showing, in one embodiment, a visual display of detection results of a simulated magnetic navigation sensor when simulated guide magnetic strips are detected at both the positive and negative detection points;

[0048] FIG12 is a schematic diagram showing a detection result of a simulated magnetic navigation sensor in a visual manner when a simulated guide magnetic strip is detected at a negative end and a detection point at a center position in one embodiment;

[0049] FIG13 is a schematic diagram showing a visual display of detection results of a simulated magnetic navigation sensor when simulated guide magnetic strips are detected at all detection points in an embodiment;

[0050] FIG14 is a schematic flow chart of a magnetic stripe navigation simulation processing method in another embodiment;

[0051] FIG15 is a schematic diagram of a process of feeding back detection results of detection points during a simulation process in one embodiment;

[0052] FIG16 is a module diagram of a magnetic stripe navigation simulation processing device in one embodiment;

[0053] FIG. 17 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] The magnetic stripe navigation simulation processing method provided in the embodiment of the present application can be applied in the application environment shown in FIG1. ​​Specifically, the user can set up a simulation environment on the terminal device 102 in advance, and create a canvas for carrying out simulation, wherein a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided in the canvas, the simulated magnetic navigation sensor is provided with multiple detection points, and the color value of the canvas pixel covered by the simulated guide magnetic strip is a preset color value. Further, in the process of developing the magnetic stripe navigation AGV control algorithm, the user can directly use the terminal device 102 to trigger the simulation start instruction for the canvas, or use other control devices 104 to trigger the simulation start instruction for the canvas, and the control device 104 sends the simulation start instruction to the terminal device 102. Further, the terminal device 102 can respond to the simulation start instruction to obtain the pre-created canvas, and in the canvas, based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, simulate the scene of the magnetic navigation sensor moving above the guide magnetic strip, and in the simulation process, detect the coordinates of each detection point in the canvas. For each detection point, the terminal device 102 can determine the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point, and then perform color value detection on the canvas pixels covered by the detection area, and determine the simulation guidance magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value. Among them, the simulation guidance magnetic stripe detection results of each detection point in the simulation magnetic navigation sensor can be used to combine with the simulation data of the AGV body, and then applied to the development of the magnetic stripe navigation AGV control algorithm. The terminal device 102 and the control device 104 can be, but are not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices, etc.

[0056] In one embodiment, as shown in FIG. 2 , a magnetic stripe navigation simulation processing method is provided, and the method is applied to the terminal device 102 in FIG. 1 as an example for description, including the following steps:

[0057] Step 202, obtaining a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided, the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value.

[0058] Among them, the magnetic navigation sensor is a magnetic field signal detection device. The guide magnetic strip can be laid on the driving path of the AGV (Automated Guided Vehicle) to detect the magnetic field signal generated by the guide magnetic strip through the magnetic navigation sensor, determine the position and direction of the vehicle body on the path, and then realize the AGV guidance. Simulate the multiple detection points set in the magnetic navigation sensor, that is, simulate the multiple detection heads set on the magnetic navigation sensor. Canvas refers to a visual space for displaying and operating graphics, images or other visual elements. It can be a window, a page or a virtual plane on which users can draw, modify and operate graphics. Canvas can be used to create various applications, such as graphic design tools, drawing applications, game development, etc. In addition, the canvas usually has a coordinate system that can help users place and operate graphic elements at specific locations. The canvas can also provide some basic drawing functions, such as drawing lines, rectangles, circles and other shapes, filling colors, adding text, etc. The canvas can also interact with the user, accept mouse clicks, drags and other operations, and respond accordingly based on the user's input. In the canvas of this embodiment, the simulated guide magnetic strip can be fixedly arranged on the canvas, and the simulated magnetic navigation sensor can be moved in the canvas under program control.

[0059] Optionally, regarding the construction of the simulation environment, the user can pre-build a canvas based on the .NET platform, using the C# programming language and WPF (Windows Presentation Foundation) technology to visualize and simulate the scene of "the magnetic navigation sensor moving over the guide magnetic stripe", and the user can configure the interface controls on the canvas, such as configuring the simulated magnetic navigation sensor and the simulated guide magnetic stripe. Among them, .NET is a free cross-platform open source developer platform for generating various types of applications. .NET can run programs written in multiple languages, among which C# is the most commonly used language. WPF is a Windows-based user interface framework that can provide a multimedia interactive user graphical interface, provide users with a rich interface control and layout system, and enable users to quickly build beautiful and efficient desktop applications.

[0060] Based on this, after the user uses the terminal device to build a visual canvas and configures the visual interface controls (simulated magnetic navigation sensor and simulated guide magnetic strip) for the canvas, if simulation needs to be carried out, the terminal device can respond to the received simulation start instruction, directly obtain the pre-built canvas, and carry out simulation based on the simulated magnetic navigation sensor and simulated guide magnetic strip configured in the canvas.

[0061] Step 204: In the canvas, based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, a scene of the magnetic navigation sensor moving above the guide magnetic strip is simulated. During the simulation, the coordinates of each detection point in the canvas are detected.

[0062] Among them, a preset coordinate system is set in the canvas.

[0063] Optionally, in the canvas, the terminal device can simulate the scene of the magnetic navigation sensor moving above the guide magnetic strip based on the simulated magnetic navigation sensor and the simulated guide magnetic strip. For example, through the simulation software, the simulated magnetic navigation sensor is controlled to move along the simulated guide magnetic strip to simulate the scene of the AGV body (with a magnetic navigation sensor disposed at the bottom of the body) moving above the guide magnetic strip. During the simulation process, the terminal device can detect the coordinates of each detection point in the simulated magnetic navigation sensor in the canvas in real time according to the preset coordinate system in the canvas through a preset coordinate detection program.

[0064] Exemplarily, the construction process of the preset coordinate system can be specifically as follows: select any pixel point from the canvas as the origin of the coordinate system, and determine the X-axis direction and the Y-axis direction respectively, and ensure that the scale of the preset coordinate system meets the simulation requirements. Furthermore, during the simulation process, the coordinates of each detection point in the simulated magnetic navigation sensor in the preset coordinate system can be detected in real time according to the preset coordinate system, and used as the coordinates in the canvas, and this process is continuously repeated during the simulation process to achieve continuous detection.

[0065] Step 206: for each detection point, determine the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point.

[0066] Among them, in the actual magnetic navigation sensor, each detection head on the magnetic navigation sensor has its own covered detection area. Therefore, in the canvas, each detection point in the simulated magnetic navigation sensor also has its own covered detection area.

[0067] Optionally, in the simulated magnetic navigation sensor, each detection point has its own configured detection area size, so for each detection point, when the simulated magnetic navigation sensor moves over the simulated guide magnetic stripe, the terminal device can determine the detection area covered by the detection point in the canvas based on the coordinates of the detection point and the detection area size. In addition, when the simulated magnetic navigation sensor moves over the simulated guide magnetic stripe, the detection area covered by each detection point changes in real time.

[0068] Exemplarily, if the area covered by the entire simulated magnetic navigation sensor in the canvas is regarded as a rectangle, a simulated magnetic navigation sensor including 15 detection points is taken as an example (the 15 detection points in the simulated magnetic navigation sensor are arranged at equal intervals), as shown in FIG3 , a schematic diagram of the simulated magnetic navigation sensor is provided, and the simulated magnetic navigation sensor can be divided into 15 small areas, each of which represents a detection area covered by a detection point, and each detection point is located at the center of the covered detection area.

[0069] Step 208 , performing color value detection on the canvas pixel points covered by the detection area, and determining the simulation-guided magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value.

[0070] The simulated guide magnetic strip is fixedly set in the canvas, and the color of the canvas pixel covered by the simulated guide magnetic strip in the canvas is a preset color value. The simulated magnetic navigation sensor is not fixedly set in the canvas, and the simulated magnetic navigation sensor can move in the canvas under the control of a preset simulation program to simulate the movement of the AGV vehicle on the guide magnetic strip, and as the simulated magnetic navigation sensor moves, the simulated magnetic navigation sensor will cover different canvas pixels.

[0071] Based on this, during the simulation process, for each detection point, after determining in real time the canvas pixels within the detection area covered by the detection point in the canvas, the terminal device can perform color value detection on the canvas pixels covered by the detection area in real time, and determine the simulation-guided magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value.

[0072] Exemplarily, if n canvas pixels are covered in real time in the detection area of ​​a certain detection point, and the color value of at least one canvas pixel among the n pixels is a preset color value, the terminal device can determine that the detection point has detected the simulated guide magnetic stripe. If the color value of no canvas pixel among the n pixels is the preset color value, the terminal device can determine that the detection point has not detected the simulated guide magnetic stripe.

[0073] The above-mentioned magnetic stripe navigation simulation processing method first obtains a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic stripe are provided, and the simulated magnetic navigation sensor is provided with multiple detection points, and the color value of the canvas pixel covered by the simulated guide magnetic stripe is a preset color value. Based on this, within the canvas, the scene of the magnetic navigation sensor moving above the guide magnetic stripe can be simulated based on the simulated magnetic navigation sensor and the simulated guide magnetic stripe, and during the simulation process, the coordinates of each detection point in the canvas are detected. Furthermore, for each detection point, the detection area corresponding to the detection point in the canvas can be determined according to the coordinates of the detection point, and then the color value of the canvas pixel covered by the detection area is detected, and the detection result of the simulated guide magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value. Therefore, by adopting the above-mentioned magnetic stripe navigation simulation processing method, the following process can be simulated using a canvas built according to the magnetic stripe navigation environment: during the AGV control process, the guide magnetic stripe laid on the ground of the path is detected by the magnetic navigation sensor at the bottom of the vehicle body, and the detection data of each detection point in the magnetic navigation sensor is obtained, without the need to test on the physical AGV to collect the detection data of each detection point in the magnetic navigation sensor. That is, by adopting the above-mentioned magnetic stripe navigation simulation processing method, there is no need to spend time making and assembling a real magnetic stripe navigation environment, but the canvas built according to the magnetic stripe navigation environment can be used for simulation, so as to efficiently obtain the detection data of each detection point in the magnetic navigation sensor, so as to invest in the development of the magnetic stripe navigation AGV control algorithm. Compared with the method of testing and collecting data on the physical AGV, the development efficiency of the magnetic stripe navigation AGV control algorithm can be effectively improved.

[0074] In one embodiment, detecting the coordinates of each detection point in the canvas includes:

[0075] Selecting a first detection point from a plurality of detection points and using the remaining detection points as second detection points;

[0076] Acquire a preset coordinate system in the canvas, detect the coordinates of the first detection point in the preset coordinate system, and obtain the coordinates of the first detection point in the canvas;

[0077] For each second detection point, a coordinate conversion relationship between the second detection point and the first detection point is obtained, and the coordinates of the second detection point in the canvas are determined according to the coordinate conversion relationship and the coordinates of the first detection point in the canvas.

[0078] The coordinate transformation relationship will be different if the first detection point is selected differently. The detection point selection rule for determining how to select the first detection point and the coordinate transformation relationship for calculating the coordinates can be pre-configured and stored in the terminal device.

[0079] Optionally, in order to detect the coordinates of each detection point in the canvas in real time during the simulation process, the terminal device can select a first detection point from multiple detection points according to a preset detection point selection rule, and use the remaining detection points as second detection points. Further, the terminal device can obtain a preset coordinate system in the canvas, and detect the coordinates of the first detection point in the preset coordinate system to obtain the coordinates of the first detection point in the canvas. Furthermore, for each second detection point, the terminal device can obtain the coordinate conversion relationship between the second detection point and the first detection point (the coordinate conversion relationship matches the detection point selection rule), and then determine the coordinates of the second detection point in the canvas based on the coordinate conversion relationship and the coordinates of the first detection point in the canvas.

[0080] It should be noted that the above method of detecting the coordinates of each detection point in the canvas only requires real-time detection of the first detection point, while the coordinates of the remaining second detection points can be quickly determined based on the coordinate conversion relationship, thereby improving the efficiency of real-time detection of the detection point coordinates. However, in addition to using the above method to determine the coordinates of the detection points, the coordinates of the detection points can also be determined without the help of the coordinate conversion relationship, for example, directly detecting the coordinates of each detection point in the canvas one by one.

[0081] Exemplarily, taking the simulated magnetic navigation sensor shown in FIG. 3 as an example, the preset detection point selection rule may be: taking the detection point at the center position as the first detection point, or taking any detection point at the edge position as the first detection point.

[0082] In this embodiment, through the preset detection point selection rules and coordinate conversion relationships, during the simulation process, after the coordinates of the first detection point are detected in real time, the coordinates of the remaining second detection points can be quickly determined, thereby improving the efficiency of determining the coordinates of the detection points in the canvas, which is conducive to the subsequent efficient acquisition of the simulation-guided magnetic stripe detection results of the detection points.

[0083] In one embodiment, the plurality of detection points are on the same straight line, which is a detection line of a simulated magnetic navigation sensor; and the coordinate transformation relationship between each second detection point and the first detection point is constructed in the following manner:

[0084] Determine the deflection angle between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system;

[0085] For each second detection point, the detection point spacing between the second detection point and the first detection point is obtained, and a coordinate transformation relationship between the second detection point and the first detection point is constructed according to the detection point spacing and the deflection angle.

[0086] Optionally, the terminal device may first determine a first vector in the canvas that is parallel to or coincident with the detection line of the simulated magnetic navigation sensor, and determine a second vector in the canvas that is parallel to the horizontal axis of the preset coordinate system according to the horizontal axis direction of the preset coordinate system, and then determine the clockwise or counterclockwise angle between the first vector and the second vector as the deflection angle between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system. Furthermore, for each second detection point, the terminal device may obtain the detection point spacing between the second detection point and the first detection point, thereby constructing a coordinate conversion relationship between the second detection point and the first detection point according to the detection point spacing and the deflection angle.

[0087] Exemplarily, taking the simulated magnetic navigation sensor shown in FIG3 as an example, the detection line of the simulated magnetic navigation sensor can be specifically shown in FIG4. The terminal device can determine one end of the simulated magnetic navigation sensor as the positive end and the other end as the negative end, and then determine the direction from the negative end to the positive end as the direction of the first vector, thereby obtaining the first vector that coincides with the detection line. On this basis, taking the intersection of the second vector and the first vector as the first detection point of the terminal device as an example, as shown in FIG5, a schematic diagram of the deflection between the detection line and the horizontal axis of the preset coordinate system is provided. Based on this, taking a0 (x0, y0) as the first detection point of the simulated magnetic navigation sensor and a' (x1, y1) as any second detection point of the simulated magnetic navigation sensor as an example, if a0a' is the detection point spacing between the two, and θ is the deflection between the first vector and the second vector, then the coordinate conversion relationship between the second detection point and the first detection point is: , .

[0088] In this embodiment, the coordinates of any second detection point can be quickly determined according to the coordinates of the first detection point in the canvas by clearly defining the deflection angle and the detection point spacing between any second detection point and the first detection point, thereby improving the efficiency of determining the coordinates of the detection point in the canvas during the simulation process, which is beneficial for the subsequent rapid positioning of the detection area covered by each detection point, and then by detecting the color value of the canvas pixel points within the detection area, the simulation-guided magnetic stripe detection results of the detection points can be efficiently obtained.

[0089] In one embodiment, the first detection point is located at the center of the simulated magnetic navigation sensor, and a plurality of second detection points are arranged at equal intervals on both sides of the first detection point, and each second detection point is provided with a detection point sequence number value associated with the distribution position, and the detection point sequence numbers of two second detection points with symmetrical distribution positions are opposite to each other;

[0090] Obtaining the detection point distance between the second detection point and the first detection point, including:

[0091] Determine a preset interval between adjacent detection points;

[0092] The product of the detection point sequence number value of the second detection point and the preset detection point interval is used as the detection point interval between the second detection point and the first detection point.

[0093] Optionally, if the first detection point is at the center of the simulated magnetic navigation sensor, multiple second detection points are equally spaced on both sides of the first detection point, and each second detection point is provided with a detection point serial number value associated with the distribution position, and the detection point serial number values ​​of the two second detection points with symmetrical distribution positions are opposite to each other, then as shown in Figure 6, a schematic diagram of the simulated magnetic navigation sensor marked with detection point serial number values ​​is provided. Based on this, the terminal device can first determine the detection point preset interval between adjacent detection points from the pre-stored data, and use the product of the detection point serial number value of the second detection point and the detection point preset interval as the detection point spacing between the second detection point and the first detection point.

[0094] For example, if the detection point sequence number value of the second detection point a0 is i, and the detection point preset interval between adjacent detection points is d, then the detection point spacing between the second detection point and the first detection point is = , the coordinate transformation relationship between the second detection point and the first detection point is: , This coordinate transformation relationship applies to the second detection point on either side of the first detection point.

[0095] Furthermore, to verify the correctness of the above coordinate transformation relationship, the first detection point is a0 (x0, y0), the second detection point on the positive side of a0 (x0, y0) is a1 (x1, y1), the second detection point on the negative side of a0 (x0, y0) is a2 (x2, y2), the serial number value of a1 (x1, y1) is i1 (positive number), and the serial number value of a2 (x2, y2) is i2 (negative number). The verification process is as follows:

[0096] As shown in Figure 7, when θ≤90°, the coordinate transformation relationship between a1(x1, y1) and a0(x0, y0) is: , , the coordinate transformation relationship between a2 (x2, y2) and a0 (x0, y0) is: , , which conforms to the above coordinate transformation relationship.

[0097] As shown in FIG8 , when 90°<θ≤180°, the coordinate transformation relationship between a1(x1, y1) and a0(x0, y0) is: , , the coordinate transformation relationship between a2 (x2, y2) and a0 (x0, y0) is: , , which also conforms to the above coordinate transformation relationship.

[0098] When θ is other angles, it can also be verified that any second detection point a' (x', y') on both sides of the first detection point a0 (x0, y0) satisfies the coordinate transformation relationship: , , I will not go into details here.

[0099] In this embodiment, the coordinates of any second detection point on both sides of the first detection point can be quickly determined based on the serial number value of each second detection point and the preset coordinate conversion relationship using the coordinates of the detected first detection point, thereby quickly determining the coordinates of each detection point in the simulated magnetic navigation sensor during the simulation process, thereby ensuring the timeliness and accuracy of the detection point coordinates collected during the simulation process.

[0100] In one embodiment, color value detection is performed on canvas pixel points covered by the detection area, and the detection result of the simulated guided magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value, including:

[0101] Through the color value decomposition function, the color value of each canvas pixel point covered by the detection area is detected respectively, and the three primary color parameters of each canvas pixel point covered by the detection area are obtained;

[0102] When there is a canvas pixel point among the canvas pixels covered by the detection area whose three primary color parameters are the same as the three primary color parameters of the preset color value, it is determined that the detection point detects the simulated guide magnetic stripe.

[0103] The three primary color parameters may specifically be: the color values ​​of red, green, and blue of the canvas pixel, that is, RGB values.

[0104] Optionally, during the simulation process, after the coordinates of the detection points in the simulated magnetic navigation sensor are detected in real time and the detection area covered by each detection point is determined based on the determined coordinates, for each detection point, the terminal device can perform color value detection on each canvas pixel covered by the detection area by calling the color value decomposition function to obtain the three primary color parameters of each canvas pixel covered by the detection area. When the three primary color parameters of the canvas pixel points covered by the detection area are the same as the three primary color parameters of the preset color value, it indicates that the detection area overlaps with the area covered by the simulated guide magnetic stripe, that is, it is determined that the detection point detects the simulated guide magnetic stripe.

[0105] Exemplarily, the color value decomposition function may include GetPixel() and Color.FromArgb(). First, the terminal device may reference the gdi32.dll file in the Windows system to obtain the pixel value of a certain canvas pixel by executing COLORREF GetPixel (IntPtr hdc, int nXPos, int nYPos) in the gdi32.dll file. Among them, IntPtr hdc is the handle of the screen, int nXPos is the X-axis coordinate of the canvas pixel on the screen whose color value is to be checked, and int nYPos is the Y-axis coordinate of the canvas pixel on the screen whose color value is to be checked. Further, after obtaining the color value of a certain canvas pixel, the terminal device may decompose the color value into RGB values ​​through Color.FromArgb(). Based on this, taking the RGB value of the preset color value of the canvas pixel covered by the simulated guide magnetic stripe as (0, 0, 0) as an example, when the three primary color parameters of the canvas pixel covered by the detection area are also (0, 0, 0), the detection point to which the detection area belongs can detect the simulated guide magnetic stripe.

[0106] In this embodiment, for each detection point, the three primary color parameters of the canvas pixel points in the detection area covered by the detection point can be compared with the three primary color parameters of the canvas pixel points covered by the simulated guide magnetic stripe to determine whether the detection area of ​​the detection point overlaps with the area covered by the simulated guide magnetic stripe, thereby accurately determining whether the detection point detects the simulated guide magnetic stripe. In this way, the process of the magnetic navigation sensor detecting the guide magnetic stripe can be effectively and efficiently simulated, thereby improving the efficiency of the subsequent development of the magnetic stripe navigation AGV control algorithm based on the detection results of the detection point.

[0107] In one of the embodiments, a visual identifier representing a simulated magnetic navigation sensor is provided in the canvas, and the visual identifier includes a plurality of sub-identifiers, and each sub-identifier represents a detection point;

[0108] The magnetic stripe navigation simulation processing method further includes:

[0109] For each detection point, if it is determined that the detection point detects the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to the first color value;

[0110] If it is determined that the detection point does not detect the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to a second color value.

[0111] The first color value and the second color value can be flexibly configured according to actual needs, and the first color value and the second color value can be different color values.

[0112] Optionally, for each detection point, if it is determined that the detection point detects a simulated guide magnetic strip, the terminal device can set the color value of the canvas pixel covered by the sub-identifier representing the detection point in the canvas to a first color value; if it is determined that the detection point does not detect a simulated guide magnetic strip, the terminal device can set the color value of the canvas pixel covered by the sub-identifier representing the detection point to a second color value, so as to visually distinguish the different detection results of the detection point.

[0113] Exemplarily, taking the first color value as the color value corresponding to black and the second color value as the color value corresponding to white as an example, as shown in Figure 9, a schematic diagram of visually displaying the detection results of the simulated magnetic navigation sensor when a simulated guide magnetic strip is detected at the detection point at the negative end is provided, wherein the detection points with serial number values ​​of "-6" and "-5" in the simulated magnetic navigation sensor detect the simulated guide magnetic strip. Therefore, the terminal device can set the color value of the canvas pixel points covered by the sub-identifiers representing the detection points "-6" and "-5" to the color value corresponding to black, while the color value of the canvas pixel points covered by the sub-identifiers of other detection points are set to the color value corresponding to white.

[0114] Exemplarily, as shown in FIG10 , a schematic diagram is provided for visually displaying the detection results of the simulated magnetic navigation sensor when a simulated guide magnetic strip is detected at the detection point at the positive end, wherein the detection points with serial number values ​​of "6" and "5" in the simulated magnetic navigation sensor detect the simulated guide magnetic strip. Therefore, the terminal device can set the color value of the canvas pixel points covered by the sub-identifiers representing the detection point "6" and the detection point "5" to the color value corresponding to black, and set the color value of the canvas pixel points covered by the sub-identifiers of other detection points to the color value corresponding to white.

[0115] Exemplarily, as shown in FIG11 , a schematic diagram is provided for visually displaying the detection results of the simulated magnetic navigation sensor when the detection points at both the positive and negative ends detect the simulated guide magnetic stripe, wherein the detection points with serial numbers "1", "-1", "-2" and "-3" in the simulated magnetic navigation sensor detect the simulated guide magnetic stripe. Therefore, the terminal device can set the color values ​​of the canvas pixel points covered by the sub-identifiers of these detection points to the color values ​​corresponding to black, and set the color values ​​of the canvas pixel points covered by the sub-identifiers of other detection points to the color values ​​corresponding to white.

[0116] Exemplarily, as shown in FIG12, a schematic diagram is provided for visually displaying the detection results of the simulated magnetic navigation sensor when a simulated guide magnetic strip is detected at the negative end and the detection point at the center position, wherein the detection points with serial number values ​​of "-1" and "0" in the simulated magnetic navigation sensor detect the simulated guide magnetic strip. Therefore, the terminal device can set the color value of the canvas pixel points covered by the sub-identifiers representing the detection point "-1" and the detection point "0" to the color value corresponding to black, and set the color value of the canvas pixel points covered by the sub-identifiers of other detection points to the color value corresponding to white.

[0117] Exemplarily, as shown in FIG13 , a schematic diagram is provided for visually displaying the detection results of the simulated magnetic navigation sensor when the simulated guide magnetic strip is detected at all detection points. The terminal device can set the color values ​​of the canvas pixel points covered by all sub-identifiers in the visual identification to the color values ​​corresponding to black.

[0118] In this embodiment, the color value of the pixel point of the canvas can be detected to simulate the situation where the magnetic navigation sensor detects the guide magnetic stripe, and the detection result can be displayed visually to provide the user with a visual simulation of the magnetic stripe navigation sensor. This simulation process can not only improve the efficiency of the user in obtaining the detection data of the detection point, but also reduce the cost of the user in obtaining the detection data of the detection point.

[0119] In a detailed embodiment, as shown in FIG14 , a flowchart of a magnetic stripe navigation simulation processing method is provided, which mainly includes the following steps:

[0120] Step 1402, obtaining a canvas. The canvas is provided with a simulated magnetic navigation sensor and a simulated guide magnetic stripe, the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic stripe is a preset color value. The canvas is also provided with a visual mark representing the simulated magnetic navigation sensor, the visual mark includes a plurality of sub-markers, and each sub-marker represents a detection point.

[0121] Step 1404, during the simulation in the canvas, a first detection point is selected from a plurality of detection points, and the remaining detection points are used as second detection points. The first detection point is located at the center of the simulated magnetic navigation sensor, and a plurality of second detection points are arranged at equal intervals on both sides of the first detection point, and each second detection point is provided with a detection point sequence number value associated with the distribution position, and the detection point sequence values ​​of two second detection points with symmetrical distribution positions are opposite to each other.

[0122] Step 1406, detect the coordinates of the first detection point in the canvas, and determine the deflection angle between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system. Wherein, multiple detection points are on the same straight line, and the straight line is the detection line of the simulated magnetic navigation sensor.

[0123] Step 1408: for each second detection point, the product of the detection point sequence value of the second detection point and the preset detection point interval between adjacent detection points is used as the detection point interval between the second detection point and the first detection point.

[0124] Step 1410, constructing a coordinate transformation relationship between the second detection point and the first detection point according to the detection point spacing and the deflection angle, and determining the coordinates of the second detection point in the canvas according to the coordinate transformation relationship and the coordinates of the first detection point in the canvas.

[0125] Step 1412: for each detection point, determine the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point.

[0126] Step 1414, using the color value decomposition function, color value detection is performed on each canvas pixel point covered by the detection area to obtain the three primary color parameters of each canvas pixel point covered by the detection area.

[0127] If among the canvas pixels covered by the detection area, there are canvas pixels whose three primary color parameters are the same as the three primary color parameters of the preset color value, execute step 1416 to determine that the detection point detects the simulated guide magnetic strip, and then execute step 1418 to set the color value of the canvas pixel covered by the sub-identifier representing the detection point to the first color value.

[0128] If there is no canvas pixel point whose three primary color parameters are the same as the three primary color parameters of the preset color value among the canvas pixel points covered by the detection area, execute step 1420 to determine that the detection point does not detect the simulated guide magnetic strip, and then execute step 1422 to set the color value of the canvas pixel point covered by the sub-identifier representing the detection point to the second color value.

[0129] In this embodiment, the above-mentioned magnetic stripe navigation simulation processing method is adopted to efficiently obtain the detection results of the simulated magnetic navigation sensor for the simulated guide magnetic stripe. The above-mentioned magnetic stripe navigation simulation processing method is combined with the AGV simulation, which can be quickly applied to the development of the magnetic stripe navigation AGV control algorithm, which can not only save development costs, but also save the production and assembly time of the actual object. It can also verify the effectiveness of the magnetic stripe navigation AGV control algorithm while eliminating external interference. When the effectiveness of the control algorithm is verified, it can be directly transplanted to the physical AGV, greatly shortening the development cycle.

[0130] In a possible implementation, taking the three primary color parameters of the preset color value as (0, 0, 0), and the first detection point being the detection point at the center of the simulated magnetic navigation sensor as an example, if it is determined that a certain detection point detects the simulated guidance parameter, the terminal device can output "true", if it is determined that a certain detection point does not detect the simulated guidance parameter, the terminal device can output "false", based on this, as shown in Figure 15, a flow chart of feeding back the detection results of the detection point during the simulation process is provided. The details are as follows:

[0131] During the simulation process, the coordinates of the first detection point at the center of the simulated magnetic navigation sensor are first obtained in real time, and then the coordinates of each second detection point are determined according to the coordinate conversion relationship between the remaining second detection points and the first detection point. Then, the color value of the canvas pixel in the detection area covered by each detection point in the simulated magnetic navigation sensor is detected, and the color value is decomposed into RGB value. Further, for each detection point, it is determined whether there is a canvas pixel with an RGB value of (0, 0, 0) among the canvas pixel points covered by the detection area. If so, "true" is output for the detection point, indicating that the detection point detects the simulated guide magnetic stripe, otherwise "false" is output for the detection point, indicating that the detection point does not detect the simulated guide magnetic stripe. Finally, the step of obtaining the coordinates of the first detection point in real time is returned to loop the above process in the entire simulation process. Among them, the "true" or "false" output for the detection point can be used to control the color value of the canvas pixel covered by each sub-identifier in the visual identifier in the canvas.

[0132] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0133] Based on the same inventive concept, the embodiment of the present application also provides a magnetic stripe navigation simulation processing device for implementing the magnetic stripe navigation simulation processing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the magnetic stripe navigation simulation processing device provided below can refer to the limitations of the magnetic stripe navigation simulation processing method above, and will not be repeated here.

[0134] In one embodiment, as shown in FIG. 16 , a magnetic stripe navigation simulation processing device is provided, including: a simulation canvas acquisition module 1602, a simulation process processing module 1604, a detection area determination module 1606 and a detection result determination module 1608, wherein:

[0135] A simulated canvas acquisition module is used to acquire a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided, the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value;

[0136] A simulation process processing module is used to simulate the scene of the magnetic navigation sensor moving above the guide magnetic strip in the canvas based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, and detect the coordinates of each detection point in the canvas during the simulation process;

[0137] A detection area determination module is used to determine, for each detection point, the detection area corresponding to the detection point in the canvas according to the coordinates of the detection point;

[0138] The detection result determination module is used to detect the color value of the canvas pixel points covered by the detection area, and determine the simulation guide magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value.

[0139] The above-mentioned magnetic stripe navigation simulation processing device first obtains a canvas, in which a simulated magnetic navigation sensor and a simulated guide magnetic stripe are provided, and the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel covered by the simulated guide magnetic stripe is a preset color value. Based on this, within the canvas, the scene of the magnetic navigation sensor moving above the guide magnetic stripe can be simulated based on the simulated magnetic navigation sensor and the simulated guide magnetic stripe, and during the simulation process, the coordinates of each detection point in the canvas are detected. Furthermore, for each detection point, the detection area corresponding to the detection point in the canvas can be determined according to the coordinates of the detection point, and then the color value of the canvas pixel covered by the detection area is detected, and the detection result of the simulated guide magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value. Therefore, by adopting the above-mentioned magnetic stripe navigation simulation processing method, the following process can be simulated using a canvas built according to the magnetic stripe navigation environment: during the AGV control process, the guide magnetic stripe laid on the ground of the path is detected by the magnetic navigation sensor at the bottom of the vehicle body, and the detection data of each detection point in the magnetic navigation sensor is obtained, without the need to test on the physical AGV to collect the detection data of each detection point in the magnetic navigation sensor. That is, by adopting the above-mentioned magnetic stripe navigation simulation processing method, there is no need to spend time making and assembling a real magnetic stripe navigation environment, but the canvas built according to the magnetic stripe navigation environment can be used for simulation, so as to efficiently obtain the detection data of each detection point in the magnetic navigation sensor, so as to invest in the development of the magnetic stripe navigation AGV control algorithm. Compared with the method of testing and collecting data on the physical AGV, the development efficiency of the magnetic stripe navigation AGV control algorithm can be effectively improved.

[0140] In one of the embodiments, the simulation process processing module is also used to: select a first detection point from multiple detection points, and use the remaining detection points as second detection points; obtain a preset coordinate system in the canvas, detect the coordinates of the first detection point in the preset coordinate system, and obtain the coordinates of the first detection point in the canvas; for each second detection point, obtain the coordinate transformation relationship between the second detection point and the first detection point, and determine the coordinates of the second detection point in the canvas based on the coordinate transformation relationship and the coordinates of the first detection point in the canvas.

[0141] In one embodiment, multiple detection points are on the same straight line, and the straight line is a detection line of a simulated magnetic navigation sensor. The magnetic stripe navigation simulation processing device also includes a coordinate transformation relationship construction module, which is also used to: determine the deflection between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system; for each second detection point, obtain the detection point spacing between the second detection point and the first detection point, and construct a coordinate transformation relationship between the second detection point and the first detection point according to the detection point spacing and the deflection.

[0142] In one embodiment, the first detection point is located at the center of the simulated magnetic navigation sensor, and a plurality of second detection points are arranged at equal intervals on both sides of the first detection point, and each second detection point is provided with a detection point sequence value associated with the distribution position, and the detection point sequence values ​​of the two second detection points with symmetrical distribution positions are opposite to each other. The coordinate transformation relationship construction module is also used to: determine the detection point preset interval between adjacent detection points; and use the product of the detection point sequence value of the second detection point and the detection point preset interval as the detection point spacing between the second detection point and the first detection point.

[0143] In one of the embodiments, the detection result determination module is also used to: perform color value detection on each canvas pixel covered by the detection area through a color value decomposition function to obtain the three-primary color parameters of each canvas pixel covered by the detection area; when the three-primary color parameters of the canvas pixel covered by the detection area are the same as the three-primary color parameters of the preset color value, it is determined that the detection point detects the simulated guide magnetic strip.

[0144] In one of the embodiments, a visual identifier representing a simulated magnetic navigation sensor is provided in the canvas, and the visual identifier includes a plurality of sub-identifiers, each of which represents a detection point. The magnetic stripe navigation simulation processing device also includes a color value setting module, and the color value setting module is used to: for each detection point, if it is determined that the detection point detects a simulated guide magnetic stripe, set the color value of the canvas pixel covered by the sub-identifier representing the detection point to a first color value; if it is determined that the detection point does not detect a simulated guide magnetic stripe, set the color value of the canvas pixel covered by the sub-identifier representing the detection point to a second color value.

[0145] Each module in the above-mentioned magnetic stripe navigation simulation processing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0146] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG17. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store magnetic stripe navigation simulation processing data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a magnetic stripe navigation simulation processing method is implemented.

[0147] Those skilled in the art will understand that the structure shown in FIG. 17 is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0149] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0150] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0151] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0152] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0153] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A magnetic stripe navigation simulation processing method, characterized in that: The method comprises: Acquire a canvas, wherein a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided in the canvas, wherein the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value; In the canvas, based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, a scene of the magnetic navigation sensor moving above the guide magnetic strip is simulated, and during the simulation, the coordinates of each detection point in the canvas are detected; For each of the detection points, determining a detection area corresponding to the detection point in the canvas according to the coordinates of the detection point; Color value detection is performed on the canvas pixel points covered by the detection area, and the simulation-guided magnetic stripe detection result of the detection point is determined by comparing the detected color value with the preset color value.

2. The method according to claim 1, characterized in that: The detecting the coordinates of each detection point in the canvas includes: Selecting a first detection point from the plurality of detection points and using the remaining detection points as second detection points; Acquire a preset coordinate system in the canvas, detect the coordinates of the first detection point in the preset coordinate system, and obtain the coordinates of the first detection point in the canvas; For each of the second detection points, a coordinate transformation relationship between the second detection point and the first detection point is obtained, and the coordinates of the second detection point in the canvas are determined according to the coordinate transformation relationship and the coordinates of the first detection point in the canvas.

3. The method according to claim 2, characterized in that The multiple detection points are on the same straight line, which is the detection line of the simulated magnetic navigation sensor; the coordinate transformation relationship between each of the second detection points and the first detection point is constructed in the following manner: Determining the deflection angle between the detection line of the simulated magnetic navigation sensor and the horizontal axis of the preset coordinate system; For each of the second detection points, the detection point spacing between the second detection point and the first detection point is obtained, and a coordinate transformation relationship between the second detection point and the first detection point is constructed according to the detection point spacing and the deflection angle.

4. The method according to claim 3, characterized in that The first detection point is located at the center of the simulated magnetic navigation sensor, and a plurality of the second detection points are arranged at equal intervals on both sides of the first detection point, and each of the second detection points is provided with a detection point sequence number value associated with the distribution position, and the detection point sequence numbers of the two second detection points with symmetrical distribution positions are opposite numbers to each other; The obtaining the detection point distance between the second detection point and the first detection point includes: Determine a preset interval between adjacent detection points; The product of the detection point sequence number value of the second detection point and the preset interval of the detection points is used as the detection point distance between the second detection point and the first detection point.

5. The method according to claim 1, characterized in that: The color value detection is performed on the canvas pixel points covered by the detection area, and the detection result of the simulated guided magnetic stripe of the detection point is determined by comparing the detected color value with the preset color value, including: By using a color value decomposition function, color value detection is performed on each canvas pixel point covered by the detection area to obtain three primary color parameters of each canvas pixel point covered by the detection area; When, among the canvas pixels covered by the detection area, there is a canvas pixel whose three-primary color parameters are the same as the three-primary color parameters of the preset color value, it is determined that the detection point detects the simulated guide magnetic strip.

6. The method according to claim 1, characterized in that The canvas is provided with a visual mark representing the simulated magnetic navigation sensor, the visual mark includes a plurality of sub-markers, each of which represents a detection point; the method further includes: For each of the detection points, if it is determined that the detection point detects the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to the first color value; If it is determined that the detection point does not detect the simulated guide magnetic strip, the color value of the canvas pixel point covered by the sub-identification representing the detection point is set to a second color value.

7. A magnetic stripe navigation simulation processing device, characterized in that: The device comprises: A simulated canvas acquisition module is used to acquire a canvas, wherein a simulated magnetic navigation sensor and a simulated guide magnetic strip are provided in the canvas, wherein the simulated magnetic navigation sensor is provided with a plurality of detection points, and the color value of the canvas pixel point covered by the simulated guide magnetic strip is a preset color value; A simulation process processing module, used for simulating, in the canvas, a scene of the magnetic navigation sensor moving above the guide magnetic strip based on the simulated magnetic navigation sensor and the simulated guide magnetic strip, and detecting the coordinates of each detection point in the canvas during the simulation process; A detection area determination module, configured to determine, for each detection point, a detection area corresponding to the detection point in the canvas according to the coordinates of the detection point; The detection result determination module is used to detect the color value of the canvas pixel points covered by the detection area, and determine the simulation guide magnetic stripe detection result of the detection point by comparing the detected color value with the preset color value.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images