Magnetic navigation AGV autonomous mapping method and system, and magnetic navigation AGV

Abstract

The embodiment of the invention provides a magnetic navigation AGV autonomous mapping method and system and a magnetic navigation AGV, and belongs to the technical field of robot control. The magnetic navigation AGV autonomous mapping method comprises the steps that the magnetic navigation AGV is controlled to run along a pre-arranged magnetic tape within the range of a preset site, a magnetic tape line passed by the magnetic navigation AGV and a fork road of the magnetic tape in the running process are recognized and recorded, and a set of recognizable modules are arranged in the preset site; identifying the recognizable modules passing by during driving through a sensor of the magnetic navigation AGV, and acquiring and recording ID and position information of the recognizable modules; and when all branches are traversed, marking positions, function information and tape lines of a group of recognizable modules in the map. According to the method, after all identifiable modules and magnetic tapes are set, all settings in a scanning site are automatically traversed through the magnetic navigation AGV, and the work of identifying and recording the identifiable modules one by one according to the sequence in the manual installation process and the work of maintaining and checking map errors are omitted.

Description

Technical Field

[0001] The present invention relates to the field of computing human control technology, and in particular to a method and system for autonomous mapping of a magnetic navigation AGV and a magnetic navigation AGV. Background Art

[0002] According to the existing magnetic navigation mapping technology, usually during the construction process of laying the magnetic tape, while installing each identifiable module (such as RFID), the number is read from the RFID and the RFID number and location information are recorded and reported to the scheduling system until all the magnetic tapes are laid and all the RFIDs are installed and reported, and the mapping process is completed. Since the RFID needs to be read and recorded once before each installation, it relies on the manual operation of the construction personnel. If any of them is missed, it will take a lot of time to check. If there is an error in the record, it will also affect the final use of the AGV. Therefore, automatic AGV mapping is necessary. Summary of the invention

[0003] The purpose of the embodiment of the present invention is to provide a method that can complete the construction of laying magnetic tapes and installing identifiable modules at one time, and then complete the mapping process by autonomous traversal.

[0004] In order to achieve the above object, an embodiment of the present invention provides a method for autonomous mapping of a magnetic navigation AGV, comprising:

[0005] Control the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the scope of the preset site, identify and record the magnetic tape routes and magnetic tape forks passed during the travel, wherein a group of identifiable modules are arranged in the preset site;

[0006] Identify the identifiable modules passing by the magnetic navigation AGV through its sensors, and obtain and record the ID and location information of the identifiable modules; and

[0007] When all forks have been traversed, a set of identifiable modules are marked on the map with their locations, functional information, and tape lines.

[0008] Among them, the functional information of each identifiable module is at least one of a stop point, a charging point, and a deceleration point; the functional information of at least one of the identifiable modules is marked by information input in the display interface of the scheduling system, and / or the functional information of each identifiable module is obtained from the sensor of the magnetic navigation AGV.

[0009] Furthermore, the method for autonomous mapping of magnetic navigation AGV also includes: the map is synchronized to a scheduling system to schedule the operation of the magnetic navigation AGV in a preset site.

[0010] Optionally, the map is synchronized to the dispatch system, including:

[0011] Arrange the location, function information and tape line data of a group of identifiable modules marked in the map according to the data structure of the map data in the dispatching system; and

[0012] Upload the sorted data to the scheduling system.

[0013] Optionally, the magnetic navigation AGV is controlled to travel along a pre-arranged magnetic tape within a preset site, and the magnetic tape routes and magnetic tape forks passed during the travel are identified and recorded, including:

[0014] During the driving process of the magnetic navigation AGV, the magnetic field line distribution of the magnetic tape at the current position is sensed to determine the extension direction of the magnetic tape at the current position, thereby identifying whether the position includes a fork in the road and how many directions of forks there are; and

[0015] When it is identified that the current position includes more than two forks, the magnetic navigation AGV is controlled to select the direction of travel according to a preset direction priority until all identified forks are traversed.

[0016] Optionally, the sensor of the magnetic navigation AGV identifies the identifiable module passed by during driving, and obtains and records the ID and location information of the identifiable module, including: during the driving of the magnetic navigation AGV along the magnetic tape, the sensor is used to determine whether there is an identifiable module near the current position;

[0017] When a recognizable module is sensed, the sensor further identifies and records the ID and location information of the recognizable module.

[0018] The sensor is at least one of a card reader, a laser sensor, a visual sensor, an infrared sensor, and an ultrasonic sensor, and the type of the identifiable module is determined according to the type of the sensor.

[0019] Optionally, the function information of at least one of the identifiable modules is annotated with information input in the display interface of the scheduling system, including:

[0020] Displaying the current marking of the tape lines of the map and the functional information of a set of identifiable modules in the map on the operation page of the dispatch system; and

[0021] Select one of a group of identifiable modules and edit the function information of the selected module; or

[0022] Select multiple identifiable modules and edit the function information of each of them in batches.

[0023] Among them, for the selected identifiable module, editing includes adding, deleting, or modifying its function information.

[0024] On the other hand, an embodiment of the present invention provides a system for autonomous mapping of a magnetic navigation AGV, comprising:

[0025] A route identification module is used to control the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the range of a preset site, and to identify and record the magnetic tape routes and magnetic tape forks passed during travel, wherein a group of identifiable modules are arranged in the preset site;

[0026] Function point identification module, used to identify the identifiable modules that the magnetic navigation AGV passes through during driving, and obtain and record the ID and location information of the identifiable modules;

[0027] A mapping module is used to mark the location, function information and tape route of a group of identifiable modules on the map when all the forks have been traversed, wherein the function information of each identifiable module is at least one of a stop point, a charging point and a deceleration point, and

[0028] Scheduling system.

[0029] Among them, the functional information of at least one of the identifiable modules is received through the display interface of the scheduling system, and the functional information of the corresponding identifiable module is marked on the map; and / or the functional information of each identifiable module is obtained from the sensor of the magnetic navigation AGV.

[0030] Optionally, the mapping module is also used to organize the locations, functional information and tape line data of a set of identifiable modules marked in the map according to the data structure of the map data in the scheduling system, and upload the organized data to the scheduling system to schedule the operation of the magnetic navigation AGV in the preset site.

[0031] Optionally, the route identification module determines the extension direction of the magnetic tape at the current position by sensing the distribution of magnetic lines of force of the magnetic tape at the location of the magnetic navigation AGV, thereby identifying whether the position includes a fork in the road and how many directions of forks there are. When it is identified that the current position includes more than two forks in the road, the magnetic navigation AGV is controlled to select the direction of travel in a preset direction priority order until all identified forks in the road are traversed.

[0032] On the other hand, the present invention provides a magnetic navigation AGV, which includes the magnetic navigation AGV autonomous mapping system of the present application.

[0033] Through the above technical solution, after the laying of the magnetic tape and the identifiable modules in the venue is completed, or after the upgrading and transformation of the laying is completed, the AGV is controlled to travel along the magnetic tape in the venue, identify and record the identifiable modules encountered during the driving, and at the same time identify and record the magnetic tape lines encountered during the driving, including the magnetic tape forks, until all the magnetic tape forks are completely traversed, so that all the paths in the venue and the positions and positional relationship information of all the identifiable modules and magnetic tape lines can be collected, and the autonomous mapping process can be completed, avoiding the manual operation of reading the identifiable modules during the laying process, especially in the case of a large venue and complex route design. A lot of labor can be saved and errors can be avoided. In the case of maintenance and upgrading of the laying in the venue, the map maintenance and upgrade can be completed by re-traversing and scanning.

[0034] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0036] Figure 1 It is a flow chart of an embodiment of the method for autonomous mapping of a magnetic navigation AGV of the present application;

[0037] Figure 2 is a flow chart of another embodiment of the method for autonomous mapping of a magnetic navigation AGV of the present application;

[0038] Figure 3 yes Figure 2 A schematic diagram of identifying a magnetic tape fork in an embodiment; and

[0039] Figure 4 It is a structural diagram of the composition of an embodiment of the magnetic navigation AGV autonomous mapping device of the present application. DETAILED DESCRIPTION

[0040] The specific implementation of the embodiment of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the embodiment of the present invention, and is not used to limit the embodiment of the present invention.

[0041] The embodiment of the present invention provides a method for autonomous mapping of a magnetic navigation AGV, which is used to control the AGV to travel along the magnetic tape in the venue and complete autonomous mapping after the magnetic tape and identifiable modules in the venue are laid, or after the laying upgrade is completed. The process is as follows: Figure 1 As shown, including:

[0042] Step 1: Control the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the range of a preset site, identify and record the magnetic tape routes and magnetic tape forks passed during the travel, wherein a group of identifiable modules are arranged in the preset site;

[0043] Step 2: Use the sensor of the magnetic navigation AGV to identify the identifiable modules that pass by during driving, and obtain and record the ID and location information of the identifiable modules;

[0044] Step 3: When all forks have been traversed, mark the location, function information and tape lines of a set of identifiable modules on the map.

[0045] According to the above implementation steps, the magnetic navigation AGV travels along the magnetic tape pre-laid in the venue. During the driving process, the sensor identifies and records the identifiable modules encountered during the driving, and at the same time identifies and records the magnetic tape forks encountered during the driving until all the magnetic tape forks are traversed. In this way, the positional relationship information of all paths and all identifiable modules in the venue can be collected to complete the autonomous mapping process.

[0046] It should be noted that the identifiable modules are usually used to mark the functional points such as the stop points, charging points, and deceleration points when the magnetic navigation AGV travels along the magnetic tape route. Therefore, in this embodiment, each identifiable module is designed corresponding to the functional requirements of the magnetic navigation AGV in the preset venue. After the laying of the magnetic tape and the identifiable modules in the venue is completed, the position information of each identifiable module is sensed by the sensor, and the functional information of each identifiable module is received by the input device, or, when the identifiable module is able to transmit information, the functional information of each identifiable module is sensed by the sensor. Among them, the sensor can be arranged on the magnetic navigation AGV cart, and the input device can be the scheduling device of the magnetic navigation AGV or the input device of the scheduling system. The functional information of each identifiable module is received through the above-mentioned input device, displayed on the scheduling interface, and the functional information of each identifiable module is marked on the map.

[0047] It should also be noted that the above implementation steps can be executed by an industrial computer set on the magnetic navigation AGV, or by a server deployed in the cloud, such as a server of a scheduling system, through interaction with the magnetic navigation AGV. The "autonomous mapping" mentioned in this application mainly refers to the process of reading recognizable modules one by one without the need for human intervention. After the ground magnetic tapes and recognizable modules are laid, the industrial computer or server will autonomously build the map. In addition, after the mapping is completed, the map can be shared between the magnetic navigation AGV and the scheduling system, and can also be shared between the magnetic navigation AGV and other magnetic navigation AGVs in the venue.

[0048] Compared with the prior art, in which the construction personnel read the identifiable modules one by one during the process of laying the magnetic tapes and the identifiable modules, the technical advantages of this embodiment are:

[0049] 1. Completely separate the design, construction and mapping processes of the site. During construction, there is no need to consider the order in which to lay and read and identify each identifiable module. You only need to lay the magnetic tape and identifiable modules according to the design plan. After the construction is completed, the magnetic navigation AGV travels along the magnetic tape, traverses and scans each magnetic tape fork and each identifiable module in the site, and the AGV autonomous mapping can be completed. This method completely avoids the manual operation of reading identifiable modules during the laying process, especially when the site is large and the route design is complex, it can save a lot of manpower and avoid errors.

[0050] 2. For components that are forgotten to be laid or unrecognized due to construction reasons, it is only necessary to control the magnetic navigation AGV to re-perform a traversal scan after supplementing or repairing the corresponding components to achieve map reconstruction.

[0051] 3. For site paving upgrades and maintenance due to design modifications, you only need to control the magnetic navigation AGV to re-perform a traversal scan after the maintenance is completed to achieve map maintenance and upgrade.

[0052] Normally, there are multiple magnetic navigation AGVs in the venue, and the travel routes of each magnetic navigation AGV are controlled by the dispatching system. The dispatching system is independent of the deployment of the magnetic navigation AGV. Therefore, when the map is built by the magnetic navigation AGV autonomously, the map needs to be synchronized to the dispatching system after the map is built. The dispatching system dispatches the magnetic navigation AGVs in the venue according to the map. However, the present invention is not limited to this. The dispatching system can also be deployed on the magnetic navigation AGV cart for mapping. In this case, the cart that completes the mapping synchronizes the map to the dispatching system of other magnetic navigation AGV carts in the venue to dispatch the operation of the magnetic navigation AGV in the preset venue.

[0053] The preferred implementation of the above embodiment is as follows Figure 2 As shown, in Figure 1 After the map building process shown, the map is synchronized to the dispatch system, and the implementation steps include:

[0054] Step 4: Arrange the location, function information and tape line data of a set of identifiable modules marked in the map according to the data structure of the map data in the dispatching system;

[0055] Step 5: Upload the sorted data to the scheduling system.

[0056] In some embodiments, due to the different selection of each identifiable module, the functional information of the location may not be obtained during the traversal scanning process. For example, when the identifiable module is an RFID, it is necessary to use a card reader to identify and obtain the RFID number and record its current location.

[0057] If the recognizable module is a QR code, the functional information of the location can be included in the QR code. Then, when the visual sensor of the magnetic navigation AGV perceives and recognizes the QR code passing by during driving, the functional information of the location can also be extracted at the same time, and finally the functional information read at each recognized QR code location is marked on the map. The technicians can select the recognizable module according to factors such as site, construction, and cost performance, but it must match the sensor selection of the magnetic navigation AGV. For example, the sensor can be one of a card reader, a laser sensor, a visual sensor, an infrared sensor, and an ultrasonic sensor. Different matching combinations are not listed here one by one.

[0058] In some embodiments, the function information of at least one of the identifiable modules is annotated with information input in the display interface of the scheduling system, including:

[0059] Display the current annotation of the map's tape lines and the functional information of a set of identifiable modules in the map on the operation page of the dispatch system;

[0060] Select one of a group of identifiable modules and edit the function information of the selected module, or select multiple modules of a group of identifiable modules and batch edit the function information of each of them.

[0061] Among them, for the selected identifiable module, editing includes adding, deleting, or modifying its function information.

[0062] In some implementations, the design of the AGV driving route in the field is relatively complex, and at different node locations, the tape may have two or more forks. Figure 3 As shown, the magnetic navigation AGV uses the magnetic navigation sensor to sense the magnetic field signal strength in real time during driving to determine how to adjust the AGV angle so that the AGV can drive along the magnetic tape. At the same time, it also senses the distribution of magnetic lines of force at the location in real time to determine whether there is a magnetic tape bifurcation at that location, that is, whether it is a multi-bifurcated node of the driving route. When it is recognized that the current location includes more than two forks, the magnetic navigation AGV records each fork and turning direction, and controls the car to drive in the most preferred direction when passing the fork for the first time according to the preset driving priority order rules, and selects the remaining bifurcation directions in turn each time it passes the fork until all the forks at the fork are traversed.

[0063] The embodiment of the present invention provides a system for autonomous mapping of magnetic navigation AGVs. The system is preferably deployed on magnetic navigation AGV vehicles. If the network and implementation conditions are met, it can also be partially deployed on magnetic navigation AGV vehicles and partially deployed on the cloud. Its composition structure is as follows: Figure 4 As shown, including:

[0064] A route identification module is used to control the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the range of a preset site, and to identify and record the magnetic tape routes and magnetic tape forks passed during travel, wherein a group of identifiable modules are arranged in the preset site;

[0065] Function point identification module, used to identify the identifiable modules that the magnetic navigation AGV passes through during driving, and obtain and record the ID and location information of the identifiable modules;

[0066] A mapping module is used to mark the location, function information and tape route of a group of identifiable modules on the map when all the forks have been traversed, wherein the function information of each identifiable module is at least one of a stop point, a charging point and a deceleration point, and

[0067] Scheduling system.

[0068] It should be noted that the line identification module and the function point identification module include a program unit or a firmware unit including a corresponding program unit, and also include a sensor and a magnetic navigation sensor for sensing and identifying identifiable modules, wherein the program unit or the firmware unit including the corresponding program unit is used to receive and analyze the data obtained by the sensor, and the sensor must be set on the AGV vehicle. The mapping module receives the position, function information and tape line data of the identifiable modules identified by the line identification module and the function point identification module, and performs mapping.

[0069] When the AGV is traveling along the magnetic tape, it senses the magnetic lines of force at the location in real time to identify whether there is a fork in the road. When it is identified that the current location includes more than two forks, the driving control module controls the magnetic navigation AGV to select the direction of travel in a preset direction priority order. When all the identified forks are traversed, it can be considered that all the laid magnetic tape lines have been traversed. When all the forks are traversed, the mapping module marks the location, function information and magnetic tape lines of a group of identifiable modules on the map.

[0070] Normally, each identifiable module represents a functional point for AGV vehicles, such as a stop, charging point, deceleration point, etc. Due to the different selection of each identifiable module, the functional information of the location may not be obtained during the traversal scanning process. For example, when the identifiable module is an RFID, it is necessary to identify and obtain the RFID number through a card reader and record its current location. Therefore, in this implementation, it is necessary to mark the functional information of each identifiable module on the map through the page of the scheduling system, and the functional information includes a stop, charging point, and deceleration point.

[0071] Receive the functional information of at least one of the identifiable modules input through the display interface of the scheduling system, and mark the functional information of the corresponding identifiable module on the map; and / or obtain the functional information of each identifiable module from the sensor of the magnetic navigation AGV.

[0072] When the above-mentioned route identification module, function point identification module, mapping module and dispatching system are all deployed on the magnetic navigation AGV vehicle used for mapping, the mapping module transmits the map to the dispatching system after completing the mapping, and the dispatching system shares the map with the dispatching systems of other magnetic navigation AGV vehicles in the venue, as well as the unified dispatching system deployed at a fixed location or a cloud location.

[0073] In some embodiments, the dispatching system may be deployed at a location other than the magnetic navigation AGV vehicle used for mapping. After the mapping module completes the mapping, it transmits the map to the dispatching system via wireless transmission to dispatch the AGV vehicles in the venue.

[0074] In some embodiments, the mapping module is also deployed at a location other than the magnetic navigation AGV vehicle used for mapping. The line identification module and the function point identification module transmit the identified lines and the data of each identifiable module to the mapping module via wireless transmission to complete the mapping.

[0075] In some embodiments, the program unit of the line identification module and / or the function point identification module or the firmware unit including the corresponding program unit is also deployed at a location other than the magnetic navigation AGV vehicle used for mapping. The data sensed by the sensor of the magnetic navigation AGV vehicle is then transmitted to the program unit or the firmware unit including the corresponding program unit to identify and analyze the information of the magnetic tape lines and identifiable modules.

[0076] In some implementations, the functional information of the identifiable module is obtained by sensing the identifiable module with a sensor, and the identified functional information can be directly marked at a corresponding position on the map.

[0077] In some embodiments, the functional information of the identifiable module is obtained by receiving data from an input device, for example but not limited to receiving the functional information of the identifiable module through an input interface of a scheduling system, and the received functional information is directly marked at a corresponding position on the map.

[0078] In some implementations, the input function point information is also received through the display interface of the scheduling system to complete the maintenance and management of each function point information on the map. The information input through the display interface of the scheduling system can be used to mark the function information of one or more of the identifiable modules, and the steps may be:

[0079] Display the current annotation of the map's tape lines and the functional information of a set of identifiable modules in the map on the operation page of the dispatch system;

[0080] If one of a group of identifiable modules is selected, the function information of the selected module is edited; if multiple modules of a group of identifiable modules are selected, the function information of each of them is edited in batches.

[0081] Among them, for the selected identifiable module, editing includes adding, deleting, or modifying its function information.

[0082] An embodiment of the present invention provides a magnetic navigation AGV, which includes the magnetic navigation AGV autonomous mapping device of the present application.

[0083] An embodiment of the present invention provides a magnetic navigation AGV autonomous mapping device, which includes a processor and a memory. The above-mentioned line identification module, function point identification module, mapping module unit and scheduling system are all stored in the memory, and the processor executes the above-mentioned program units stored in the memory to realize the corresponding functions.

[0084] The processor contains a kernel, which calls the corresponding program unit from the memory. One or more kernels can be set, and the control of the magnetic navigation AGV driving and autonomous mapping can be achieved by adjusting the kernel parameters.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0086] An embodiment of the present invention provides a storage medium on which a program is stored. When the program is executed by a processor, the magnetic navigation AGV autonomous mapping method of the present application is implemented.

[0087] An embodiment of the present invention provides a processor, which is used to run a program, wherein the magnetic navigation AGV autonomous mapping method of the present application is executed when the program is running.

[0088] The embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored in the memory and can be run on the processor. When the processor executes the program, the magnetic navigation AGV autonomous mapping step of the present application is implemented. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0089] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the method steps of the magnetic navigation AGV autonomous mapping of the present application.

[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0096] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0098] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for autonomous mapping of a magnetic navigation AGV, comprising: Control the magnetic navigation AGV to travel along a pre-arranged magnetic tape within a preset site, identify and record the magnetic tape routes and magnetic tape forks passed during travel, wherein a group of identifiable modules are arranged in the preset site; Identify the identifiable modules passing by during driving through the sensor of the magnetic navigation AGV, and obtain and record the ID and location information of the identifiable modules; and When all forks have been traversed, the locations, functional information and tape lines of the group of identifiable modules are marked on the map. in, The functional information of each identifiable module is at least one of a stop point, a charging point, and a deceleration point; and The functional information of at least one of the identifiable modules is marked by information input in the display interface of the scheduling system, and / or the functional information of each identifiable module is obtained from the sensor of the magnetic navigation AGV.

2. The method for autonomous mapping by magnetic navigation AGV according to claim 1, characterized in that: It further includes: the map is synchronized to the scheduling system to schedule the operation of the magnetic navigation AGV in the preset site.

3. The method for autonomous mapping by magnetic navigation AGV according to claim 2, characterized in that: The map is synchronized to the dispatch system, including: Arranging the positions, function information and tape line data of the group of identifiable modules marked in the map according to the data structure of the map data in the dispatching system; and The sorted data is uploaded to the scheduling system.

4. The method for autonomous mapping by magnetic navigation AGV according to claim 1, characterized in that: The method of controlling the magnetic navigation AGV to travel along a pre-arranged magnetic tape within a preset site, and identifying and recording the magnetic tape routes and magnetic tape forks passed during travel, includes: During the driving process of the magnetic navigation AGV, the magnetic field line distribution of the magnetic tape at the current position is sensed to determine the extension direction of the magnetic tape at the current position, thereby identifying whether the position includes a fork in the road and how many directions of the forks there are; and When it is identified that the current position includes more than two forks in the road, the magnetic navigation AGV is controlled to select a driving direction according to a preset direction priority until all identified forks in the road are traversed.

5. The method for autonomous mapping by magnetic navigation AGV according to any one of claims 1 to 4, characterized in that: The method of identifying the identifiable module passed by by the sensor of the magnetic navigation AGV during driving, and obtaining and recording the ID and position information of the identifiable module includes: determining whether the identifiable module exists near the current position by the sensor during the driving of the magnetic navigation AGV along the magnetic tape; When a recognizable module is sensed, the sensor further identifies and records the ID and location information of the recognizable module. in, The sensor is at least one of a card reader, a laser sensor, a visual sensor, an infrared sensor, and an ultrasonic sensor, and the type of the identifiable module is determined according to the type of the sensor.

6. The method for autonomous mapping by magnetic navigation AGV according to claim 1, characterized in that: The information inputted in the display interface of the scheduling system is used to mark the functional information of at least one of the identifiable modules, including: Displaying the tape lines of the map and the current annotations of the functional information of the set of identifiable modules in the map on the operation page of the dispatching system; and Select one of the group of identifiable modules and edit the function information of the selected module; or Select multiple modules from the set of identifiable modules and batch edit the function information of each module. Wherein, for the selected identifiable module, the editing includes adding, deleting, or modifying its function information.

7. A magnetic navigation AGV autonomous mapping system, characterized in that: include: A line recognition module is used to control the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the range of a preset site, and to recognize and record the magnetic tape lines and magnetic tape forks passed during travel, wherein a group of identifiable modules are arranged in the preset site; A function point identification module is used to identify the identifiable modules passed by the magnetic navigation AGV during driving, and obtain and record the ID and location information of the identifiable modules; a mapping module, for marking the positions, function information and tape routes of the group of identifiable modules on the map when all the forks have been traversed, wherein the function information of each identifiable module is at least one of a stop point, a charging point and a deceleration point, and Dispatch system, in, receiving input function information of at least one of the identifiable modules through the display interface of the scheduling system, and marking the function information of the corresponding identifiable module in the map; and / or The function information of each identifiable module is obtained through the sensor of the magnetic navigation AGV.

8. The magnetic navigation AGV autonomous mapping system according to claim 7 is characterized in that: The mapping module is also used to organize the positions, functional information and tape line data of the group of identifiable modules marked in the map according to the data structure of the map data in the scheduling system, and upload the organized data to the scheduling system to schedule the operation of the magnetic navigation AGV in the preset site.

9. The magnetic navigation AGV autonomous mapping system according to claim 7, characterized in that: The route identification module determines the extension direction of the magnetic tape at the current position by sensing the magnetic line distribution of the magnetic tape at the position where the magnetic navigation AGV is located, thereby identifying whether the position includes a fork in the road and how many directions of forks there are. When it is identified that the current position includes more than two forks in the road, the magnetic navigation AGV is controlled to select the direction of travel in a preset direction priority order until all identified forks in the road are traversed.

10. A magnetic navigation AGV, characterized in that: A system for autonomous mapping of a magnetic navigation AGV comprising:

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