Static map and patch combined AGV vehicle end map updating method and device

Abstract

The invention discloses a static map and patch combined AGV vehicle end map updating method and device, and relates to the technical field of AGV vehicle end map updating. The problems that in the prior art, due to small-amplitude modification of a map, the whole map needs to be downloaded and updated, consequently, unnecessary map updating time consumption is caused, and the processing time efficiency of an AGV executing a task is affected are solved, and the method comprises the steps that map updating information is obtained, and the accumulated modification proportion of a vehicle end map is calculated; when the accumulative modification proportion reaches a map updating threshold value, map coverage updating is adopted, otherwise, a patch is adopted for map updating, and two different map updating threshold values are adopted when the AGV is in the idle state and the AGV is in the non-idle state, so that the AGV executing the task can preferentially guarantee the completion timeliness of the task; moreover, small-scale map changes can be updated with low cost, and error accumulation caused by continuous patch downloading is avoided.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of AGV terminal map updating, in particular to an AGV terminal map updating method and device combining a static map and a patch. BACKGROUND

[0002] AGV (Automated Guided Vehicle) is a mobile robot that does not need manual driving, can automatically travel along a path generated by a scheduling system or autonomously, and can complete a transport task. With the improvement of the autonomous performance of AGV and the popularization of VDA5050 protocol, AGV needs to record the map of the work area at the terminal and update the map according to the changes in the work area environment. However, in the case of a large scene and multiple AGVs, the map update needs to consume a considerable amount of time, during which the AGVs in the workshop must update the map in place, affecting the overall work efficiency of the workshop, especially for industries such as automobiles that require high work efficiency, which will cause more losses. The current solution to map updating is basically as follows: when the map is updated, all AGVs in the entire map stop the current task and download the complete new version of the map in place, and can receive new tasks only after the update is completed.

[0003] In the prior art, the degree of modification of the map varies in each map updating process. The update of the map may only change part of the point-edge information, but the AGV still needs to download the entire map, which contains a large amount of redundant information, resulting in unnecessary time consumption. For AGVs that are currently performing tasks, if the current task is paused and the complete new version of the map is downloaded in place, and only part of the point-edge information is updated, the processing efficiency of the AGV in performing the task will be affected. SUMMARY

[0004] The application aims to overcome the problem of unnecessary map updating time consumption and serious impact on the processing efficiency of AGVs in performing tasks caused by the need to download and update the entire map due to small-scale modification of the map in the prior art, and provides an AGV terminal map updating method and device combining a static map and a patch.

[0005] In a first aspect, an AGV terminal map updating method combining a static map and a patch is provided, comprising:

[0006] obtain map update information, wherein the map update information comprises at least one of the following: basic map information, patch content, and updated map information, wherein the basic map information comprises at least one of the following: a basic map, a basic map version, and a total number of elements in the basic map, the patch content comprises at least one of the following: a number of elements that have changed, an operation type, an element that needs to be added, an element that needs to be modified, and a modification manner, and an element that needs to be deleted, and the updated map information comprises an updated map and an updated map version;

[0007] calculate a cumulative modification ratio of the vehicle-end map in each AGV according to the map update information;

[0008] determine whether the AGV is in an idle state;

[0009] if the determination result is yes, compare the cumulative modification ratio of the vehicle-end map in the current AGV with a preset first threshold value, if the cumulative modification ratio is less than the first threshold value, perform AGV vehicle-end map updating in a map patching manner, otherwise, perform AGV vehicle-end map updating in a static map covering manner;

[0010] if the determination result is no, compare the cumulative modification ratio of the vehicle-end map in the current AGV with a preset second threshold value, if the cumulative modification ratio is less than the second threshold value, perform AGV vehicle-end map updating in a map patching manner, otherwise, perform AGV vehicle-end map updating in a static map covering manner.

[0011] In some possible implementation manners, after obtaining the map update information, the map update information is verified for legality, and if the verification for legality fails, the current map updating is terminated.

[0012] In some possible implementation manners, the preset second threshold value is greater than the preset first threshold value.

[0013] In some possible implementation manners, the preset second threshold value is 20%, and the preset first threshold value is 5%.

[0014] In some possible implementation manners, calculating the cumulative modification ratio of the vehicle-end map in each AGV according to the map update information comprises:

[0015] taking a proportion of elements in the map that have changed in the map update information as a map modification ratio, wherein the elements comprise points, edges, and regions;

[0016] calculating a sum of map modification ratios after the last AGV vehicle-end map updating in a static map covering manner to obtain the cumulative modification ratio.

[0017] In some possible implementation manners, the AGV vehicle-end map updating is performed in a manner of map patching, including:

[0018] S311, checking the map version, specifically, if the base map version in the map updating information is the same as the AGV vehicle-end map version, the checking is passed, and step S312 is performed, otherwise, the checking is not passed, and the AGV vehicle-end map updating is performed in a manner of static map covering;

[0019] S312, performing rationality checking on the patch content, specifically, checking whether the AGV vehicle-end map contains the required added element, if the AGV vehicle-end map contains the required added element, the rationality checking is not passed, if the AGV vehicle-end map does not contain the required added element, checking whether the AGV vehicle-end map contains the required modified or deleted element, if the AGV vehicle-end map does not contain the required modified or deleted element, the rationality checking is not passed, if the AGV vehicle-end map contains the required modified and / or deleted element, the rationality checking is passed, and step S313 is performed, if the rationality checking is not passed, the AGV vehicle-end map updating is performed in a manner of static map covering;

[0020] S313, modifying the AGV vehicle-end map according to the operation type in the patch content in the map updating information, specifically, if the operation type is addition, adding the corresponding element in the AGV vehicle-end map, if the operation type is modification, searching for the corresponding element in the AGV vehicle-end map and modifying the element content, if the operation type is deletion, searching for the corresponding element in the AGV vehicle-end map and deleting the element;

[0021] S314, updating the version number of the AGV vehicle-end map, to complete the AGV vehicle-end map updating.

[0022] In some possible implementation manners, the AGV vehicle-end map updating is performed in a manner of static map covering, including: downloading the updated map in the map updating information to the AGV vehicle and covering the AGV vehicle-end map, to complete the AGV vehicle-end map updating.

[0023] In a second aspect, a static map and patch combined AGV vehicle-end map updating device is provided, including:

[0024] The obtaining module is configured to obtain map updating information;

[0025] The calculating module is configured to calculate a cumulative modification ratio of the vehicle-end map in each AGV vehicle according to the map updating information;

[0026] The processing module is configured to determine whether the AGV vehicle is in an idle state;

[0027] If the judgment result is yes, the accumulated modification ratio of the current AGV cart end map is compared with a preset first threshold value, if the accumulated modification ratio is less than the first threshold value, the AGV cart end map is updated by a map patching method, otherwise the AGV cart end map is updated by a static map covering method.

[0028] If the judgment result is no, the accumulated modification ratio of the current AGV cart end map is compared with a preset second threshold value, if the accumulated modification ratio is less than the second threshold value, the AGV cart end map is updated by a map patching method, otherwise the AGV cart end map is updated by a static map covering method.

[0029] In a third aspect, a computer readable storage medium is provided, the computer readable medium stores program codes for execution by a device, the program codes comprising steps for executing the method in any one of the implementation manners of the first aspect.

[0030] In a fourth aspect, an electronic device is provided, the electronic device comprises a processor, a memory, and a program or instructions stored on the memory and executable on the processor, the program or instructions are executed by the processor to implement the method in any one of the implementation manners of the first aspect.

[0031] The present application has the following beneficial effects: the present application sets different update thresholds according to the state of the AGV cart, before the cumulative update reaches the update threshold, the AGV cart end map is updated by a map patching method, so that small-scale map changes can be updated at a relatively small cost, and the problem of downloading and updating the complete map due to only changing individual points is avoided, when the cumulative update reaches the update threshold, the complete map is downloaded for covering map update, not only can the AGV not performing the task be updated in advance, so that the AGV performing the task can perform the task in priority, to ensure the timeliness of the task completion, but also avoids the accumulation of errors caused by continuous patching download. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of this application illustrate the embodiments of the present application and, together with the description, serve to explain the principles of the application.

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0034] Figure 1is a flow chart of an AGV vehicle-end map updating method of static map combined with patches according to Embodiment 1 of the present application;

[0035] Figure 2 is a structural block diagram of an AGV vehicle-end map updating device combined with static map and patches according to Embodiment 2 of the present application;

[0036] Figure 3 is a schematic diagram of the internal structure of an electronic device according to Embodiment 4 of the present application.

[0037] Reference signs:

[0038] 100, acquisition module; 200, calculation module; 300, processing module. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] Embodiment 1

[0041] As shown in Figure 1 , the AGV vehicle-end map updating method combined with static map and patches according to Embodiment 1 of the present application comprises:

[0042] S100, acquiring map updating information, wherein the map updating information is obtained by comparing a new map with an old map, and the map updating information comprises: basic map information, patch content and updated map information, wherein the basic map information comprises: a basic map, a basic map version and a total number of elements in the basic map, the patch content comprises: a number of changed elements, an operation type, elements to be added, elements to be modified and a modification method, and the updated map information comprises: an updated map and an updated map version number.

[0043] In order to ensure the security of the map, the scheduling platform first verifies the legality of the map modification after receiving the map updating information, judges whether the new map is legal, for example: whether the number of points and edges exceeds the limit, whether the map element type is incorrect, whether the version number coding method is incorrect, etc., and if the new map is not legal, the map updating is terminated.

[0044] S200, calculating the cumulative modification ratio of the vehicle-end map in each AGV according to the map updating information.

[0045] In step S200, the scheduling platform acquires the modification content of the map, quantifies the modification degree of the map before and after the update, and determines the update mode of the map. The modification content of the map has two acquisition methods: 1. The operation of the user on the map drawing interface can be recorded and then transmitted to the scheduling platform for analysis; 2. The information in the map is compared one by one by using an algorithm to obtain the modification.

[0046] The update mode of the map is divided according to the modification ratio of the map before and after the update. For one map update operation, the modification ratio of the map is defined as:

[0047]

[0048] Wherein, MR is the modified ratio of the map; N origin represents the total number of elements contained in the map before the current modification is applied, wherein the elements in the map include points, edges and regions; N modified represents the total number of elements changed in the current modification.

[0049] S300, determine whether the AGV is in an idle state, wherein if the AGV is not executing a task, the AGV is in an idle state, and if the AGV is executing a task, the AGV is in a non-idle state.

[0050] In this embodiment, the AGV in an idle state and the AGV in a non-idle state are treated differently by pre-setting a first threshold and a second threshold, wherein the second threshold is greater than the first threshold, so that the AGV in an idle state can be updated first. For example, when the cumulative modification ratio of the map reaches 6%, the AGV in an idle state updates the AGV end map by a static map covering method, that is, downloads the updated map from the scheduling platform to the AGV and covers the AGV end map to complete the AGV end map update, and the AGV in a non-idle state (i.e. the AGV executing a task) updates the AGV end map by a patching method which takes less time.

[0051] For example, if the result of the judgment is yes, that is, the AGV is not executing a task, the cumulative modification ratio of the AGV end map of the current AGV is compared with the preset first threshold (i.e. 5%), if the cumulative modification ratio is less than 5%, the AGV end map is updated by a map patching method, and if the cumulative modification ratio is greater than or equal to 5%, the AGV end map is updated by a static map covering method.

[0052] If the result is no, that is, the AGV is performing a task, the cumulative modification ratio of the AGV end map is compared with a preset second threshold (20%).

[0053] In the embodiment, the updating mode of the map is determined by the cumulative map modification ratio of the AGV and the map updating threshold of the AGV. When the cumulative map modification ratio of the AGV is greater than or equal to the map updating threshold of the AGV, the updating of the map is performed in the static map mode; when the cumulative map modification ratio is less than the map updating threshold of the AGV, the updating of the map is performed in the patch mode, and the map updating threshold of the AGV in the idle state is smaller than the map updating threshold of the AGV in the non-idle state, so that the AGV in the idle state can update the overall map in advance, and the AGV performing a task can update the end map in the patch mode with shorter time, thereby ensuring the timeliness of the task completion.

[0054] The cumulative map modification ratio of the AGV specifically means that from the last static map updating to the present map updating, the sum of the map modification ratios corresponding to each patch updating.

[0055] The map updating threshold of the AGV is determined by the state of the AGV, for example, the reference value of the map updating threshold of the AGV performing a task is 20%, and the reference value of the map updating threshold of the AGV in the idle state is 5%.

[0056] When the map updating mode is the patch mode, the map updating information contains a series of map change operations, and the types of the map change operations include addition, modification and deletion.

[0057] Addition: that is, adding an element (point / edge / region, etc.) in the map. When the new map has an element that the old map does not have, the addition is used to represent the operation. The specific content of the addition operation includes the element type, the element id and the corresponding information of the element structure.

[0058] Modification: that is, modifying part or all of the parameter contents of the existing point / edge information. When the new and old maps both have an element, but the specific parameters are different, the modification is used to represent the operation. The specific content of the modification operation includes the element type, the element id and the corresponding information of the element structure.

[0059] Delete: delete the corresponding point / edge information from the old map. When the element of the old map is removed in the new map, use delete to represent the operation. The specific content of the delete operation includes element type and element id.

[0060] When the map updating method is AGV vehicle-end map updating by static map overlay, the AGV sends a new map download request to the scheduling platform, downloads the complete map according to the link provided by the scheduling platform, and overlays the AGV internal map.

[0061] When checking the legality of map modification, the following checks are performed for addition, modification and deletion operations:

[0062] Addition: Check the AGV vehicle-end internal map to retrieve whether it contains the corresponding element with the corresponding id. If the AGV vehicle-end internal map already contains the element corresponding to the addition operation, the addition operation is abnormal.

[0063] Modification / deletion: Check the AGV vehicle-end internal map to retrieve whether it contains the corresponding element with the corresponding id. If the AGV vehicle-end internal map does not contain the element corresponding to the addition operation, the modification / deletion operation is abnormal.

[0064] When there is an operation exception, report the exception and change to AGV vehicle-end map updating by static map overlay.

[0065] Specifically, the AGV vehicle-end uses map patching to update the AGV vehicle-end map, applies the patch content, and modifies the internal map according to the operation type:

[0066] Addition: Add the corresponding element in the AGV vehicle-end internal map.

[0067] Modification: Retrieve the corresponding element in the AGV vehicle-end internal map and update the element content according to the modification information.

[0068] Delete: Retrieve the corresponding element in the AGV vehicle-end internal map and delete it.

[0069] In order to record the content of each update, the following content is recorded in the map update log:

[0070] Map update type: the update method of this map update. Specifically, it includes static map overlay and map patching, which can be represented by a boolean type.

[0071] Pre-update map version number: only used when the map updating method is map patching, used to check whether the AGV vehicle-end map before applying the patch matches the pre-update map version corresponding to the patch, and only when it matches can the patch be used for updating.

[0072] Map change operation: contains the type of map change operation, the element type and id of the map change operation, and the detailed information of the corresponding element.

[0073] Updated map version number: the id number of the map after application update. When the map update method is static map overlay, or the update method is map patch but the verification fails, use this id number to apply to the scheduling platform for the download link of the corresponding map, so as to download the complete map. When the AGV vehicle end updates the internal map in the form of static map or patch, the version number of the internal map needs to be updated to this version number.

[0074] In this embodiment, the premise of updating the AGV vehicle end map through the map patch is to ensure that the AGV vehicle end and the scheduling platform have the same map before updating. Figure 1 The map patch update method can save map update cost and time, but once an error occurs, it will cause problems in all subsequent versions. This problem can be alleviated by combining the static map overlay and the map patch update methods: whenever the map is updated, calculate the cumulative map modification ratio, if the AGV vehicle end map is updated in the form of a map patch, retain the map modification ratio and add it to the next map update to calculate the cumulative modification ratio, so that the AGV vehicle end map is updated in the form of a static map every certain period of time, and if the AGV vehicle end map is updated in the form of a static map overlay, the cumulative modification ratio is cleared.

[0075] At the same time, considering that the AGV vehicle in the idle state updates in the form of a static map without affecting the work efficiency, the idle vehicle is preferentially updated in the form of a static map, and the specific method is to reduce the map update threshold of the AGV in the idle state, that is, the preset second threshold is greater than the preset first threshold.

[0076] In this embodiment, by judging the type of map update, small-scale map changes can be updated at a lower cost, avoiding the problem of needing to download and update the complete map due to only changing individual points. At the same time, the combination of static map download and patch update provides an update method that not only allows the AGV vehicle performing a task to preferentially use the map patch method for vehicle end map update when facing small-scale map updates, thereby reducing the time for map update and ensuring the completion of the task performed, but also updates the cumulative map patch to a certain extent and then performs a static map overlay update, avoiding the accumulation of errors caused by continuous map patch download.

[0077] Embodiment 2

[0078] As shown in Figure 2 Fig. 2, the static map and patch combined AGV vehicle end map updating device according to Embodiment 2 of the present application comprises:

[0079] The acquisition module 100 is configured to acquire map update information.

[0080] The calculation module 200 is configured to calculate a cumulative modification ratio of the vehicle-end map in each AGV according to the map update information.

[0081] The processing module 300 is configured to determine whether the AGV is in an idle state.

[0082] If the determination result is yes, the cumulative modification ratio of the vehicle-end map in the current AGV is compared with a preset first threshold value, if the cumulative modification ratio is less than the first threshold value, the AGV vehicle-end map is updated in a map patch manner, otherwise, the AGV vehicle-end map is updated in a static map covering manner.

[0083] If the determination result is no, the cumulative modification ratio of the vehicle-end map in the current AGV is compared with a preset second threshold value, if the cumulative modification ratio is less than the second threshold value, the AGV vehicle-end map is updated in a map patch manner, otherwise, the AGV vehicle-end map is updated in a static map covering manner.

[0084] It should be noted that other specific embodiments of the AGV vehicle-end map updating device combining the static map and the patch in the present embodiment can refer to the specific embodiments of the AGV vehicle-end map updating method combining the static map and the patch described above, and details are not repeated here to avoid redundancy.

[0085] Embodiment 3

[0086] The computer readable storage medium involved in the embodiment 3 of the present application stores program code for execution by a device, and the program code includes steps for executing the method in any one of the implementation manners in the embodiment 1 of the present application.

[0087] The computer readable storage medium can be a read only memory (ROM), a static storage device, a dynamic storage device or a random access memory (RAM). The computer readable storage medium can store program code, and when the program stored in the computer readable storage medium is executed by a processor, the processor is configured to execute the steps of the method in any one of the implementation manners in the embodiment 1 of the present application.

[0088] Embodiment 4

[0089] As Figure 3As shown, the electronic device related to the embodiment 4 of the present application includes a processor, a memory, and a program or instructions stored in the memory and executable on the processor, and the program or instructions are executed by the processor to implement the method in any one of the implementation manners in the embodiment 1 of the present application.

[0090] The processor can be a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU), or one or more integrated circuits, for executing related programs to implement the method in any one of the implementation manners in the embodiment 1 of the present application.

[0091] The processor can also be an integrated circuit electronic device with a signal processing capability. In the implementation process, each step of the method in any one of the implementation manners in the embodiment 1 of the present application can be completed by the integrated logic circuit of hardware or the instruction in the form of software in the processor.

[0092] The processor can also be a general processor, a digital signal processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. Each method, step and logic block diagram disclosed in the embodiment of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the functions required to be executed by the units included in the data processing device of the embodiment of the present application, or executes the method in any one of the implementation manners in the embodiment 1 of the present application.

[0093] The above is only the preferred specific embodiment of the present application; however, the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacement or change according to the technical solution and the improvement concept of the present application within the technical range disclosed in the present application, which should be covered in the protection scope of the present application.

Claims

1. An AGV vehicle end map updating method combined with a static map and a patch, characterized in that, The method comprises the following steps: acquiring map update information; calculating the cumulative modification proportion of the vehicle-end map in each AGV according to the map update information; judging whether the AGV is in an idle state; if the result of the judgment is yes, comparing the cumulative modification proportion of the vehicle-end map in the current AGV with a preset first threshold value, if the cumulative modification proportion is less than the first threshold value, updating the AGV vehicle-end map by means of a map patch, otherwise, updating the AGV vehicle-end map by means of a static map overlay; if the result of the judgment is no, comparing the cumulative modification proportion of the vehicle-end map in the current AGV with a preset second threshold value, if the cumulative modification proportion is less than the second threshold value, updating the AGV vehicle-end map by means of a map patch, otherwise, updating the AGV vehicle-end map by means of a static map overlay.

2. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, After the map update information is acquired, the legality of the map update information is verified, and if the verification fails, the current map update is terminated.

3. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, The preset second threshold value is greater than the preset first threshold value.

4. The AGV vehicle end map updating method combined with static maps and patches according to claim 3, characterized in that, The preset second threshold value is 20%, and the preset first threshold value is 5%.

5. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, The method for calculating the cumulative modification proportion of the vehicle-end map in each AGV according to the map update information comprises the following steps: taking the proportion of the elements in the map update information that have been changed in the total elements of the map as the map modification proportion, wherein the elements include points, edges and regions; calculating the sum of the map modification proportions after the last AGV vehicle-end map update by means of a static map overlay to obtain the cumulative modification proportion.

6. The AGV vehicle end map updating method combined with static maps and patches according to claim 1, characterized in that, The method for updating the AGV vehicle-end map by means of a map patch comprises the following steps: S311, verifying the map version, specifically, if the base map version in the map update information is the same as the AGV vehicle-end map version, the verification is passed, and step S312 is executed, otherwise, the verification fails, and the AGV vehicle-end map is updated by means of a static map overlay; S312, performing a reasonableness verification on the patch content, specifically, searching whether the AGV vehicle-end map contains the required added elements, if the AGV vehicle-end map contains the required added elements, the reasonableness verification fails, if the AGV vehicle-end map does not contain the required added elements, searching whether the AGV vehicle-end map contains the required modified or deleted elements, if the AGV vehicle-end map does not contain the required modified or deleted elements, the reasonableness verification fails, if the AGV vehicle-end map contains the required modified and / or deleted elements, the reasonableness verification passes, and step S313 is executed, if the reasonableness verification fails, the AGV vehicle-end map is updated by means of a static map overlay; S313, modifying the AGV vehicle-end map according to the operation type in the patch content in the map update information, specifically, if the operation type is addition, adding the corresponding elements in the AGV vehicle-end map, if the operation type is modification, searching the corresponding elements in the AGV vehicle-end map and modifying the element content, if the operation type is deletion, searching the corresponding elements in the AGV vehicle-end map and deleting them; S314, updating the version number of the AGV vehicle-end map to complete the AGV vehicle-end map update.

7. The AGV vehicle end map updating method in combination with a static map and a patch according to claim 1, characterized in that, The AGV vehicle end map is updated by a static map covering method, including: downloading the updated map in the map update information to the AGV vehicle and covering the AGV vehicle end map, so as to complete the AGV vehicle end map update.

8. An AGV vehicle end map updating device combined with a static map and a patch, characterized in that, The method comprises the steps of: an acquisition module, configured to acquire map update information; a calculation module, configured to calculate a cumulative modification ratio of the vehicle end map in each AGV vehicle according to the map update information; a processing module, configured to judge whether the AGV vehicle is in an idle state; if the result of the judgment is yes, the cumulative modification ratio of the vehicle end map in the current AGV vehicle is compared with a preset first threshold value, if the cumulative modification ratio is less than the first threshold value, the AGV vehicle end map is updated by a map patching method, otherwise, the AGV vehicle end map is updated by a static map covering method; if the result of the judgment is no, the cumulative modification ratio of the vehicle end map in the current AGV vehicle is compared with a preset second threshold value, if the cumulative modification ratio is less than the second threshold value, the AGV vehicle end map is updated by a map patching method, otherwise, the AGV vehicle end map is updated by a static map covering method.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores program code for execution by a device, the program code comprising steps for performing the method of any of claims 1-7.

10. An electronic device, comprising: The electronic device comprises a processor, a memory and a program or instructions stored on the memory and executable on the processor, and the program or instructions are executed by the processor to implement the method of any of claims 1-7.

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