Method and system for autonomous mapping of magnetic navigation agv and magnetic navigation agv

Abstract

The embodiment of the application provides a kind of magnetic navigation AGV self mapping method, system and magnetic navigation AGV, belong to robot control technical field.The magnetic navigation AGV self mapping method includes: control magnetic navigation AGV in the range of preset site along the magnetic tape that is arranged in advance travels, identifies and records the branch road of the magnetic tape line and magnetic tape that are passed in traveling, wherein, a group of identifiable modules are arranged in preset site;The sensor of magnetic navigation AGV is identified to pass through identifiable module in traveling, obtains and records the ID, position information of identifiable module;When all branch roads are all traversed, the position, functional information and magnetic tape line of a group of identifiable modules are marked in map.The method can be after all identifiable modules and magnetic tape are set, through magnetic navigation AGV, automatically traverse and scan all settings in site, avoid according to artificial installation process sequentially one by one identifiable module is identified and recorded work and the work of maintaining and troubleshooting map error.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of human control calculation, in particular to a magnetic navigation AGV autonomous mapping method, system and magnetic navigation AGV. BACKGROUND

[0002] According to the existing magnetic navigation mapping technology, usually in the construction process of laying the magnetic tape, the RFID number is read at the same time as each identifiable module (such as RFID) is installed, and the RFID number and position information are recorded and reported to the scheduling system at the same time, until the entire magnetic tape is laid, and all RFID is installed and reported, and the mapping process is completed. Since each RFID needs to be read and recorded once before installation, it depends on the manual operation of the construction personnel, and if any of them is missed, it will take a lot of time to check, and if the record is wrong, it will also affect the use of the final AGV. Therefore, it is necessary to automatically perform AGV mapping. SUMMARY

[0003] The purpose of the embodiment of the present application is to provide a method which can complete the construction of laying the magnetic tape and installing the identifiable module at one time, and complete the mapping process by autonomous traversal.

[0004] In order to achieve the above purpose, the embodiment of the present application provides a magnetic navigation AGV autonomous mapping method, comprising:

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

[0006] Identify the identifiable modules passed during the travel by the sensor of the magnetic navigation AGV, and obtain and record the ID and position information of the identifiable modules; and

[0007] When all the branch roads are traversed, mark the position, function information and magnetic tape route of the group of identifiable modules in the map.

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

[0009] Further, the magnetic navigation AGV autonomous mapping method further comprises: the map is synchronized to the scheduling system to schedule the operation of the magnetic navigation AGV in the preset site.

[0010] Optionally, the map is synchronized to the scheduling system, comprising:

[0011] organize the position, function information and track 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 organized data to the dispatching system.

[0013] Optionally, the magnetic navigation AGV is controlled to travel along the pre-arranged tracks in the preset area, and the track and the track branches passed during the travel are recognized and recorded, including:

[0014] During the travel of the magnetic navigation AGV, the magnetic field distribution of the track at the current position is sensed, and the extension direction of the track at the current position is determined, so as to recognize whether the position includes a branch, and how many directions of the branch; and

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

[0016] Optionally, the identifiable modules passed during the travel are recognized by the sensor of the magnetic navigation AGV, and the ID and position information of the identifiable modules are acquired and recorded, including: during the travel of the magnetic navigation AGV along the track, it is determined by the sensor whether there is an identifiable module near the current position;

[0017] When the identifiable module is sensed, the ID and position information of the identifiable module are further recognized and recorded by the sensor,

[0018] wherein 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 marked by the information input in the display interface of the dispatching system, including:

[0020] the track of the map and the current marking of the function information of a group of identifiable modules in the map are displayed on the operation page of the dispatching system; and

[0021] one of the group of identifiable modules is selected, and the function information of the selected one is edited; or

[0022] more of the group of identifiable modules are selected, and the function information of each of the selected ones is batch edited,

[0023] wherein for the selected identifiable module, the editing includes adding, deleting or modifying the function information thereof.

[0024] In another aspect, the embodiment of the present application provides a system for autonomous mapping of a magnetic navigation AGV, comprising:

[0025] a line recognition module configured to control the magnetic navigation AGV to travel along a pre-arranged magnetic tape within a preset site, and to recognize and record the magnetic tape line and the branch road of the magnetic tape passed during the travel, wherein a group of identifiable modules are arranged in the preset site;

[0026] a function point recognition module configured to recognize the identifiable modules passed during the travel of the magnetic navigation AGV, and to obtain and record the ID and position information of the identifiable modules;

[0027] a mapping module configured to mark the position, function information and magnetic tape line of the group of identifiable modules in a map when all the branch roads are traversed, wherein the function information of each identifiable module is at least one of a stopping point, a charging point and a deceleration point, and

[0028] a dispatching system.

[0029] The function information of at least one of the identifiable modules is received through a display interface of the dispatching system, and the function information of the corresponding identifiable module is marked in the map; and / or the function information of each identifiable module is obtained from the identifiable module through a sensor of the magnetic navigation AGV.

[0030] Optionally, the mapping module is further configured to arrange the position, function information and magnetic 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 to upload the arranged data to the dispatching system to dispatch the operation of the magnetic navigation AGV in the preset site.

[0031] Optionally, the line recognition module determines the extension direction of the magnetic tape at the current position by sensing the magnetic field distribution of the magnetic tape at the position of the magnetic navigation AGV, so as to recognize whether the position includes a branch road and how many directions of the branch road, and when it is recognized that the current position includes more than two branch roads, the magnetic navigation AGV is controlled to select the travel direction in a preset direction priority until all the recognized branch roads are traversed.

[0032] In another aspect, the present application provides a magnetic navigation AGV, which comprises the system for autonomous mapping of the magnetic navigation AGV.

[0033] Through the technical scheme, after the laying of the magnetic tape and the identifiable module in the site is completed or after the upgrading of the laying is completed, the AGV is controlled to travel along the magnetic tape in the site, and the identifiable module encountered in the travel is recognized and recorded, and the magnetic tape line encountered in the travel is recognized and recorded, including the magnetic tape branch, until all the magnetic tape branches are traversed, so that the position and position relationship information of all the paths and all the identifiable modules and the magnetic tape line in the site are collected, the autonomous mapping process is completed, the manual operation of reading the identifiable module in the laying process is avoided, especially in the case that the site range is large and the route design is complex, a large amount of manual work can be saved, and errors can be avoided. In the case of laying, maintenance and upgrading in the site, the map can be maintained and upgraded by re-traversing and scanning.

[0034] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0038] Figure 3 is Figure 2 is a schematic diagram of the embodiment in which the magnetic tape branch is recognized; and

[0039] Figure 4 is a component structure diagram of an embodiment of the device for autonomous mapping of the magnetic navigation AGV of the present application. DETAILED DESCRIPTION

[0040] The specific implementation of the embodiments of the present application will be described in detail below in combination with the drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application.

[0041] The embodiments of the present application provide 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 site after the laying of the magnetic tape and the identifiable module in the site is completed or after the upgrading of the laying is completed, and to complete autonomous mapping, and the flow is as shown in Figure 1 , including:

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

[0043] Step 2: Identify the identifiable modules passed during the travel by the sensor of the magnetic navigation AGV, obtain and record the ID and position information of the identifiable modules;

[0044] Step 3: When all the branch roads are traversed, mark the position, function information and magnetic tape lines of the group of identifiable modules in the map.

[0045] According to the above implementation steps, the magnetic navigation AGV travels along the pre-laid magnetic tape in the site, identifies and records the identifiable modules encountered during the travel through the sensor, and identifies and records the magnetic tape branch roads encountered during the travel, until all the magnetic tape branch roads are traversed, so as to collect the position relationship information of all the paths and all the identifiable modules in the site, and complete the autonomous mapping process.

[0046] It should be noted that the identifiable modules are usually used to mark the stopping points, charging points, deceleration points and other functional points when the magnetic navigation AGV travels along the magnetic tape lines, and therefore, in the embodiment, each identifiable module is designed according to the functional requirements of the magnetic navigation AGV in the preset site. After the magnetic tape and the identifiable modules are laid in the site, the position information of each identifiable module is sensed by the sensor, the function information of each identifiable module is received by the input device, or in the case that the identifiable module can transmit information, the function information of each identifiable module is sensed by the sensor. The sensor can be arranged on the magnetic navigation AGV, and the input device can be the input device of the scheduling device or the scheduling system of the magnetic navigation AGV, the function information of each identifiable module is received by the above-mentioned input device, displayed on the scheduling interface, and marked on the map.

[0047] It should be further noted that the above implementation steps can be executed by the industrial computer arranged on the magnetic navigation AGV, or can be executed by the server deployed in the cloud, such as the server of the scheduling system, through the interaction with the magnetic navigation AGV. The "autonomous mapping" in the present application mainly refers to the process of reading the identifiable modules one by one without manual intervention, and the industrial computer or the server autonomously maps after the ground magnetic tape and the identifiable modules are laid. In addition, after the mapping is completed, the obtained 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 site.

[0048] Compared with the prior art, in which a construction worker reads the identifiable module one by one during laying of the magnetic tape and the identifiable module, the technical advantage of the embodiment lies in that:

[0049] 1. The design, construction and mapping process of the site are completely separated. During construction, it is not necessary to consider how to lay and read the identifiable modules, but it is only necessary to lay the magnetic tape and the identifiable module according to the design scheme. After the construction is completed, the magnetic navigation AGV travels along the magnetic tape to traverse and scan each magnetic tape branch and each identifiable module in the site, so that the AGV autonomous mapping is completed. This method completely avoids the work of manually reading the identifiable module during the laying process, especially in the case of a large site range and complex route design, a large amount of manual work can be saved, and errors can be avoided.

[0050] 2. For components that are forgotten to be laid due to construction reasons, components that are not identified, it is only necessary to control the magnetic navigation AGV to perform a traversal scan again after supplementing or modifying the corresponding components, so that the map reconstruction is realized.

[0051] 3. For the site laying upgrade and maintenance caused by design modification, it is only necessary to control the magnetic navigation AGV to perform a traversal scan again after the maintenance is completed, so that the map maintenance and upgrade are realized.

[0052] Generally, there are multiple magnetic navigation AGV cars in the site, and the travel routes of the magnetic navigation AGVs are controlled by a scheduling system. The scheduling system is independent of the magnetic navigation AGV deployment, so that after the mapping is completed by the magnetic navigation AGV, the map needs to be synchronized to the scheduling system, and the scheduling system schedules the magnetic navigation AGV cars in the site according to the map. However, the present application is not limited to this, and the scheduling system can also be deployed on the mapping magnetic navigation AGV car. In this case, the car that completes the mapping synchronizes the map to the scheduling system of other magnetic navigation AGV cars in the site to schedule the operation of the magnetic navigation AGV in the preset site.

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

[0054] Step 4: The positions, function information and magnetic tape line data of a group of identifiable modules marked in the map are arranged according to the data structure of the map data in the scheduling system;

[0055] Step 5: The arranged data is uploaded to the scheduling system.

[0056] In some embodiments, due to the different selection of each identifiable module, the function information of the position may not be obtained during the traversal of the scanning site. For example, when the identifiable module is an RFID, the RFID number needs to be identified and obtained through a card reader and the current position is recorded.

[0057] If the identifiable module is a two-dimensional code, the function information at the position can be included in the two-dimensional code. When the two-dimensional code passed through during identification is sensed by the visual sensor of the magnetic navigation AGV, the function information at the position can also be extracted at the same time, and finally the function information read at each identified two-dimensional code position is marked on the map. The selection of the identifiable module can be made by the technician according to the site, construction, cost performance, and other factors, but it must be matched with the selection of the sensor 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.

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

[0059] The magnetic tape line of the map and the current marking of the function information of a group of identifiable modules in the map are displayed on the operation page of the scheduling system.

[0060] One of the group of identifiable modules is selected, and the function information of the selected one is edited, or a plurality of ones of the group of identifiable modules are selected, and the function information of each of them is batch edited.

[0061] For the selected identifiable module, the editing includes adding, deleting, or modifying the function information.

[0062] In some embodiments, the design of the AGV travel route in the site is relatively complex, and there can be two or more branching intersections at different node positions. As shown in Figure 3 The magnetic navigation AGV senses the magnetic field signal strength in real time during travel through the magnetic navigation sensor to determine how to adjust the angle of the AGV to make the AGV travel along the magnetic tape, and also senses the magnetic field distribution at the position in real time to determine whether there is a branching of the magnetic tape at the position, i.e., whether the position is a multi-branch node of the travel route. When it is identified that the current position includes two or more branches, the magnetic navigation AGV records each branching and the turning direction, and controls the trolley to travel in the most preferred direction when it passes through the branching for the first time according to the preset travel preference order rules, and selects the remaining branching directions in turn when it passes through the branching each time thereafter until all branches of the branching are traversed.

[0063] The embodiment of the present application provides a kind of magnetic navigation AGV autonomous mapping system, the system is preferably deployed on magnetic navigation AGV vehicle, it can also be partially deployed in cloud in the case where network and implementation condition meet, its component structure is as shown in Figure 4 Shown, comprising:

[0064] Line identification module, for controlling magnetic navigation AGV to travel along the pre-arranged magnetic tape in the range of preset site, identify and record the magnetic tape line and the branch road passed in traveling, wherein a group of identifiable modules are arranged in preset site;

[0065] Function point identification module, for identifying the identifiable module passed in traveling of magnetic navigation AGV, obtains and records the ID and position information of identifiable module;

[0066] Mapping module, for marking the position, function information and magnetic tape line of a group of identifiable modules in map when all branch roads are traversed, wherein the function information of each identifiable module is at least one of stopping point, charging point, deceleration point, and

[0067] Dispatching system.

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

[0069] In the process that AGV car travels along the magnetic tape, the magnetic field line of the position is sensed in real time to identify whether the position exists branch road, when identifying that the current position includes two or more branch roads, travel control module controls the direction of travel of magnetic navigation AGV with preset direction priority order.In the case that all branch roads identified are all traversed, it can be considered that all laid magnetic tape line has completed traversal.When all branch roads are traversed, mapping module marks the position, function information and magnetic tape line of a group of identifiable modules in map.

[0070] Generally, each identifiable module represents a location where a functional point for AGV service is provided, such as a stopping point, a charging point, a deceleration point, etc. Due to the different types of the identifiable modules, the functional information of the location may not be obtained during the scanning of the site, for example, when the identifiable module is an RFID, the number of the RFID needs to be identified and obtained by a card reader and the current location thereof needs to be recorded. Therefore, in this embodiment, the functional information of each identifiable module, including the stopping point, the charging point, and the deceleration point, needs to be marked on the map through the page of the scheduling system.

[0071] The functional information of at least one of the inputted identifiable modules is received through the display interface of the scheduling system, and the functional information of the corresponding identifiable module is marked in the map; and / or the functional information of each identifiable module is obtained by the sensor of the magnetic navigation AGV.

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

[0073] In some embodiments, the scheduling system can be deployed at a location other than the magnetic navigation AGV vehicle used for mapping, and then the mapping module transmits the map to the scheduling system through wireless transmission after completing the mapping, so as to schedule each AGV vehicle in the site.

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

[0075] In some embodiments, the program unit of the line identification module and / or the functional 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, and then the data sensed by the sensor of the magnetic navigation AGV vehicle is transmitted to the program unit or the firmware unit including the corresponding program unit, so as to identify and analyze the information of the magnetic tape line and the identifiable module.

[0076] In some embodiments, the functional information of the identifiable module is obtained by sensing the identifiable module through the sensor, and then the identified functional information can be directly marked on the corresponding location of the map.

[0077] In some embodiments, the function information of the identifiable module is obtained by receiving the data of the input device, such as but not limited to receiving the function information of the identifiable module through the input interface of the dispatching system, and then directly marking the received function information on the corresponding position of the map.

[0078] In some embodiments, the function point information input through the display interface of the dispatching system is also received, and the maintenance management of the function point information on the map is completed. The function information of one or more of the identifiable modules can be marked by the information input through the display interface of the dispatching system, and the steps can be:

[0079] displaying the magnetic tape line of the map and the current marking of the function information of a group of identifiable modules in the map on the operation page of the dispatching system;

[0080] If one of the group of identifiable modules is selected, the function information of the selected module is edited, and if multiple modules in the group of identifiable modules are selected, the function information of each of the modules is batch edited.

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

[0082] The embodiment of the application provides a magnetic navigation AGV, which comprises the device for autonomous mapping of the magnetic navigation AGV.

[0083] The embodiment of the application provides a device for autonomous mapping of a magnetic navigation AGV, which comprises a processor and a memory, wherein the above-mentioned line identification module, function point identification module, mapping module unit and dispatching system are stored in the memory, and the corresponding functions are realized by executing the above-mentioned program units stored in the memory by the processor.

[0084] The processor comprises a core, and the core retrieves the corresponding program units from the memory. The core can be one or more, and the control of the driving of the magnetic navigation AGV and the completion of the autonomous mapping are realized by adjusting the core parameters.

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

[0086] The embodiment of the application provides a storage medium, which stores a program, and the program is executed by the processor to realize the autonomous mapping method of the magnetic navigation AGV.

[0087] The embodiment of the application provides a processor, which is used for running a program, and the program is executed to realize the autonomous mapping method of the magnetic navigation AGV.

[0088] The device comprises a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the magnetic navigation AGV autonomous mapping steps of the present application when executing the program. The device herein can be a server, a PC, a PAD, a mobile phone, etc.

[0089] The present application also provides a computer program product adapted to execute the program steps of the method for initializing the magnetic navigation AGV autonomous mapping of the present application when executed on a data processing device.

[0090] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0091] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The functions specified in one or more flows and / or blocks

[0092] These computer program instructions can also be stored in a computer-readable memory capable of guiding the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product comprising instruction devices that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks Figure 1 The functions specified in one or more flows and / or blocks

[0093] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a process for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocksFigure 1 the functions specified in the block or blocks.

[0094] In one typical arrangement, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0095] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the processor can execute instructions. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory, or other memory technologies, about which the processor can execute instructions. The memory can be a memory storage device of any type.

[0096] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as 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 programmable read only memory (EEPROM), flash memory or other memory technologies, compact disc read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "comprising", "containing", or any other variant thereof, are intended to encompass a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0098] The above merely provides an embodiment of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for autonomous mapping of a magnetic navigation AGV, comprising: controlling the magnetic navigation AGV to travel along a pre-arranged magnetic tape within a preset site, identifying and recording the magnetic tape route and the branch of the magnetic tape passed during the travel, wherein a group of identifiable modules are arranged in the preset site; identifying the identifiable modules passed during the travel by a sensor of the magnetic navigation AGV, obtaining and recording the ID and position information of the identifiable modules; and when all the branches are traversed, marking the position, function information and magnetic tape route of the group of identifiable modules in the map, wherein, the function information of each identifiable module is at least one of a stop point, a charging point and a deceleration point; and the function information of at least one of the identifiable modules is marked by information input in a display interface of a dispatching system, and / or the function information of each identifiable module is obtained by the sensor of the magnetic navigation AGV. wherein, the controlling the magnetic navigation AGV to travel along a pre-arranged magnetic tape within a preset site, identifying and recording the magnetic tape route and the branch of the magnetic tape passed during the travel, comprises: during the travel of the magnetic navigation AGV, sensing the magnetic field distribution of the magnetic tape at the current position, determining the extension direction of the magnetic tape at the current position, thereby identifying whether the position includes a branch and how many branches; and when it is identified that the current position includes more than two branches, controlling the magnetic navigation AGV to select the travel direction in a preset direction priority until all the identified branches are traversed.

2. The method for magnetic navigation AGV autonomous mapping according to claim 1, wherein, Further comprising: the map is synchronized to the dispatching system to dispatch the operation of the magnetic navigation AGV in the preset site.

3. The method for magnetic navigation AGV autonomous mapping according to claim 2, characterized in that, The synchronization of the map to the dispatching system comprises: organizing the position, function information and magnetic tape route 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 uploading the organized data to the dispatching system.

4. The method for magnetic navigation AGV autonomous mapping according to any one of claims 1-3, characterized in that, The identifying the identifiable modules passed during the travel by the sensor of the magnetic navigation AGV, obtaining and recording the ID and position information of the identifiable modules, comprises: during the travel of the magnetic navigation AGV along the magnetic tape, determining whether the identifiable modules exist near the current position by the sensor; when the identifiable modules are sensed, further identifying and recording the ID and position information of the identifiable modules by the sensor, wherein, 5. The method for magnetic navigation AGV autonomous mapping according to claim 1, wherein, 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 modules is determined according to the type of the sensor. The marking the function information of at least one of the identifiable modules by information input in a display interface of a dispatching system, comprises: displaying the current marking of the function information of the group of identifiable modules and the magnetic tape route of the map in the operation page of the dispatching system; and selecting one of the group of identifiable modules to edit the function information of the selected module; or selecting more of the group of identifiable modules to batch edit the function information of each of them, Among them, for the selected identifiable module, the editing includes adding, deleting, or modifying its function information.

6. A system for autonomous mapping of a magnetic navigation AGV, characterized in that, Comprise: A line identification module for controlling the magnetic navigation AGV to travel along the pre-arranged magnetic tape within the range of the preset site, identifying and recording the magnetic tape line and the branch road passed during the travel, wherein a group of identifiable modules are arranged in the preset site; A function point identification module for identifying the identifiable module passed during the travel of the magnetic navigation AGV, obtaining and recording the ID and position information of the identifiable module; A mapping module for marking the position, function information and magnetic tape line of the group of identifiable modules in the map when all the branch roads are traversed, wherein the function information of each identifiable module is at least one of a stopping point, a charging point and a deceleration point, and A scheduling system, Among them, The function information of at least one of each identifiable module is received through the display interface of the scheduling system, and the function information of the corresponding identifiable module is marked in the map; and / or The function information of each identifiable module is obtained from the sensor of the magnetic navigation AGV; Among them, the line identification module determines the extension direction of the magnetic tape at the current position by sensing the magnetic field line distribution of the magnetic tape at the position where the magnetic navigation AGV is located, so as to identify whether the position includes a branch road and how many directions of the branch road, and when it is identified that the current position includes more than two branch roads, the magnetic navigation AGV is controlled to select the travel direction in the preset direction priority order until all the identified branch roads are completely traversed.

7. The system for autonomous mapping of the magnetic navigation AGV according to claim 6, characterized in that The mapping module is further used for: arranging the position, function information and magnetic 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 uploading the arranged data to the scheduling system to schedule the operation of the magnetic navigation AGV in the preset site.

8. A magnetically navigating AGV, characterized by Comprise the system for autonomous mapping of the magnetic navigation AGV according to claim 6 or 7.

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