CN112417075A - Library position butt joint layout method, electronic equipment and storage medium - Google Patents
Library position butt joint layout method, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a library bit docking layout method, an electronic device and a storage medium, which can achieve efficient layout by quickly copying the docking layout. The invention discloses a storehouse position butt joint layout method, which comprises the steps of obtaining a target map, wherein the target map comprises a plurality of storehouse positions; obtaining a basic model, wherein the basic model comprises a model library position and a butt joint layout thereof; wherein the model library locations include identifying features; in response to a selection operation of the area data in the target map, extracting data features based on the area data; and matching the data features with the identification features, and creating a target library and a new butt joint layout thereof on the target map based on the basic model when the data features are matched with the identification features.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a docking layout method, an electronic device, and a storage medium.
Background
With the development of science and technology, the movable platform is gradually applied to industries such as automatic transportation, unmanned driving, storage and logistics and the like. The movable platform needs to collect environmental data on site before actual operation, and the process is called map creation. During subsequent operation, the movable platform matches the map data according to the current sensing data, so that the position of the movable platform in the map is determined. Meanwhile, the map also needs to be added with operation information, such as running lines, charging points, feeding points and the like. The information needs to be edited and saved in the map through special software according to the field situation, and the process is also called field implementation.
In the actual field implementation process of the movable platform, point positions and connection road sections need to be set when the wharf/goods shelf and other storage positions are butted. Depending on the type of the depot, a depot may require multiple points, such as entry points, exit points, servo points, waiting points, etc., which need to be interconnected to form a road segment of a particular nature. The position relation between the point location and the road section and the library location is called library location butt joint layout. One type of library site may have multiple layouts. Meanwhile, in order to save the field space, a plurality of library positions may be closely adjacent to each other to form a library group, and a set of layout is shared.
Because the number of the on-site library positions is huge and slight differences exist in parts, each library position needs a large number of layout settings, and the editing and debugging work efficiency is low. Meanwhile, when the storehouse position equipment is mechanically adjusted, the corresponding layout needs to be readjusted, which is very troublesome.
Disclosure of Invention
The present invention provides a library docking layout method, an electronic device, and a storage medium, which can achieve efficient layout by quickly copying the docking layout.
The invention discloses a library docking layout method,
acquiring a target map, wherein the target map comprises a plurality of library positions;
obtaining a basic model, wherein the basic model comprises a model library position and a butt joint layout thereof; wherein the model library locations include identifying features;
in response to a selection operation of the area data in the target map, extracting data features based on the area data;
and matching the data features with the identification features, and creating a target library and a new butt joint layout thereof on the target map based on the basic model when the data features are matched with the identification features.
Preferably, before the obtaining of the base model, the base model is created by: determining model library positions, wherein the model library positions comprise at least one library position; creating a docking layout based on the model library locations; and creating a basic model based on the model library position and the butt joint layout.
Preferably, the step of determining model library locations, including at least one library location, comprises:
and responding to the selection operation of one or more library positions in the target map, and determining one or more library positions in the target map as a model library position.
Preferably, the step of determining the model library locations, the model library locations including at least one library location, further comprises:
responding to the identification indication of the model library position, and acquiring the identification characteristics of the model library position; wherein the identification feature is at least one feature of the plurality of features of the acquired model library positions.
Preferably, the features include one or more of shape features, or size features, or marking indicia.
Preferably, the creating of the docking layout based on the model library positions includes the following steps: and determining the relative position relation among the point location, the road section and the model library location based on the point location and the road section arranged on the model library location.
Preferably, said docking layout and said new docking layout comprise points and sections and control programs on said points and/or sections.
Preferably, the creating of the target library site and the new docking layout thereof based on the basic model comprises the following steps: and responding to the modification information of the target library position or the new butt joint layout thereof, and adjusting the target library position or the new butt joint layout thereof according to the modification information.
Preferably, the creating of the target library site and the new docking layout thereof based on the basic model comprises the following steps: and responding to the modification information of the docking layout of the basic model, and synchronously adjusting the docking layout of the basic model and the new docking layout of the target library position according to the modification information.
The invention discloses an electronic device, comprising a processor; and a storage medium arranged to store computer-executable instructions that, when executed, cause the processor to: the method is performed.
A storage medium stores one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to perform operations comprising: the method is performed.
After adopting the structure, compared with the prior art, the invention has the following advantages:
the basic model concept is introduced into the library position layout method, the basic model comprises a model library position and butt joint layout thereof, and the model library position comprises identification features. The butt-joint layout of the basic model is copied on the same-class library positions with the same characteristics as the identification characteristics, so that the butt-joint layout of the large-batch same-class library positions can be realized. The invention can quickly copy the butt-joint layout and has high library position layout efficiency.
Drawings
FIG. 1 is a block flow diagram of the present invention.
FIG. 2 is a base model of a library site in an embodiment of the invention.
FIG. 3 is another base model of a library site in an embodiment of the invention.
A. A library position, B1, a first point position, B2, a second point position, B3, a third point position, B4, a fourth point position, L, a road section, S and a trunk line.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The invention explains the problem of how to carry out efficient butt joint layout on the library position in the actual field implementation process of the movable platform. In the preparation stage, the movable platform needs to collect environmental data on site before actual operation so as to provide data for creating a target map on site. The target map comprises positions and directions of a plurality of library positions on the target map, and operation information. The storage position refers to the position of goods storage in the target map. The operation information comprises a running route preset by the movable platform, fixed point positions and the like.
For the implementation case that the field device is fixed and can not be modified and changed, the operation mode of the movable platform can only be actively adjusted and adapted. A library docking layout method provided in an embodiment of the present disclosure is described in detail below with reference to fig. 1 to 3.
As shown in fig. 1, fig. 1 is a flowchart of a library docking layout method according to the present disclosure, which includes the following steps:
s1, acquiring a target map, wherein the target map comprises a plurality of library positions;
s2, obtaining a basic model, wherein the basic model comprises a model library position and a butt joint layout thereof; wherein the model library locations include identifying features;
s3, responding to the selection operation of the area data in the target map, and extracting data characteristics based on the area data;
s4, matching the data characteristic and the identification characteristic, and creating a target library and a new butt joint layout thereof on the target map based on the basic model when the data characteristic and the identification characteristic are matched with each other.
Through the steps, a basic model concept is introduced into the library position layout method, the basic model comprises a model library position and butt joint layout thereof, and the model library position comprises identification features. The butt-joint layout of the basic model is copied on the same-class library positions with the same characteristics as the identification characteristics, so that the butt-joint layout of the large-batch same-class library positions can be realized.
In addition, in step S1, a target map is obtained, where the target map includes a plurality of library locations; besides, the movable platform needs to acquire environmental data on site before actual operation, and can also be manually adjusted.
In order to ensure the stability of the library docking operation, when determining the basic model, it is necessary to ensure that the docking layout of the basic model is stable and accurate enough. Therefore, during deployment and implementation, the library layout of the basic model needs to be carefully debugged and connected. And when the subsequent library positions of other similar types are copied to the library position layout of the basic model, the error is smaller and the adaptability is higher.
More specifically, in step S2, a base model is obtained, where the base model includes a model library location and its docking layout; wherein the model library locations include identifying features; the method specifically comprises the following steps: before the obtaining of the base model, the base model is created by the following steps:
s21, determining model library positions, wherein the model library positions comprise at least one library position;
s22, responding to the creation input of the model library position, and creating a docking layout based on the model library position; the butt joint layout comprises point positions and road sections connecting the point positions; the number of points and road sections is not limited.
And creating a basic model based on the model library position and the butt joint layout.
One of the library locations may correspond to one or more base models. In step S21, in response to selection of one or more library locations in the target map, the one or more library locations are determined to be model library locations in the target map.
Due to the uncertainty of the environment near the on-site library site, the same class of library sites may have multiple docking configurations, as shown in fig. 2 and 3, which are different docking configurations for the same library site. The docking arrangement shown in fig. 2: a is a library position; b1 is the first point; b2 bit second point, also the entry point; b3 is the third point, also the exit point; b4 is the fourth point; the road section is L, the trunk line is S, and the operation does not interfere with the operation of other movable platforms of the trunk line; the docking arrangement shown in fig. 3: a is a library position; b1 is the first point; b2 bit second point, also the entry point; b3 is the third point, also the exit point; b4 is the fourth point; more space is saved. The specific layout types and the number can be specifically adjusted according to the actual situation of the site. It is conventional practice to encounter a new demand or environment and to consider adding a new layout.
As an extension, the model library positions may include a plurality of library positions, the plurality of library position combinations form a library position combination, and a docking layout is created for the library position combination of the model library positions in response to a creation input to the model library positions; the butt joint layout comprises point locations of the library location combination and road sections connected with the point locations, and can also comprise road section attributes, butt joint programs and the like;
and creating a basic model based on the model library position and the butt joint layout.
Otherwise, in step S21, determining the model library position further includes obtaining the identification feature of the model library position.
In one embodiment, when determining a model library position, in response to an identification indication of the model library position, acquiring an identification feature of the model library position; wherein the identification feature is at least one feature of the plurality of features of the acquired model library positions. And analyzing the situation of the site library position, selecting proper data characteristics such as shape characteristics and artificial marking characteristics, and adding the data characteristics to the basic model as identification characteristics. A base model may contain a plurality of data recognition features.
In one embodiment, identifying features may be added to the model library locations in response to feature edits to the model library locations.
Wherein the feature is used for identification, and the feature may comprise one or more of a shape feature, or a size feature, or a marking. Other features may be used for identification.
More specifically, in step S22, a docking layout for the library positions of the models is created, and a docking layout for the first library position is created. The method for establishing the butt joint layout based on the model library position comprises the following steps: and determining the relative position relation among the point location, the road section and the model library location based on the point location and the road section arranged on the model library location. And creating point locations and interconnection road sections around the specific type of library locations in the implementation site, calculating the positions of the point locations and the road sections relative to the library locations by software, and storing the relative positions into the basic model. And copying other attributes of the point location and the road section, and storing the point location and the other attributes into the basic model. A base model may contain a variety of docking layouts. The method comprises the following specific steps:
s221, one or more point locations and road sections connecting the point locations are created around the model library location.
S222, establishing a butt joint task, repeatedly operating and debugging to ensure stable operation, determining the direction and position of the optimal point location, the road section and other attributes, and determining a butt joint layout.
S223, storing the butt joint layout in the basic model: and calculating the positions of the point position and the road section relative to the library position by software, and storing the relative positions into the basic model. And copying other attributes of the point location and the road section, and storing the point location and the other attributes into the basic model.
S224, when the butt joint layout is changed subsequently, the butt joint layout can be adjusted and then stored again.
Preferably, the creating of the docking layout based on the model library positions includes the following steps: and determining the relative position relation among the point location, the road section and the model library location based on the point location and the road section arranged on the model library location.
In step S3, in response to a selection operation of area data in the target map, extracting data features based on the area data;
as an extension, the region data may include a plurality of library bits, the plurality of library bit combinations form a library bit combination, and one or more library bits are determined as target library bits after subsequent data matching in response to selection of one or more library bits in the region data.
In addition, step S3 may be repeated in response to selection of one or more area data in the target map for subsequent data matching, and then determining a plurality of target positions simultaneously. The batch operation of the target library positions is realized, and the operation efficiency is higher.
In step S4, the data feature and the identification feature are matched, and when the data feature and the identification feature are matched with each other, a target library and a new docking layout thereof are created on the target map based on the basic model. For newly identified similar library positions, software can automatically create corresponding point positions and road sections according to the library position coordinates and the stored layout information, and simultaneously copy corresponding docking programs to create new docking layouts.
Creating a new docking layout for a target library location having the same characteristics as the identification features may be understood as copying and pasting the docking layout for the model library location. The software can realize the preview effect of copy and paste, but cannot be accurately aligned, and the actual library position on site needs to be correspondingly aligned to the map coordinate in the software as a basic step for taking the library position as the selected target library position:
and S41, analyzing the situation of the site library position, and selecting proper data characteristics as identification characteristics to be added to the library position. A library location may contain multiple identifying features.
And S42, collecting data in the process of creating the map, identifying the library position by using the characteristics, and storing the position of the library position on the map.
Step S42 may also be implemented off-line, that is, only data and data coordinate information are saved without identification when creating map collection data. And in the subsequent implementation process, identification and storage are carried out.
In addition, the docking layout and the new docking layout include points and sections and control programs on the points and/or sections. The new docking layout comprises point locations and road sections connecting the point locations, and can also comprise road section attributes, or docking programs and the like. The control program of the mobile navigation is simplified.
In addition, after the docking layout based on the basic model creates the new docking layout of the target library site, the method includes the following steps: and responding to the modification information of the target library position or the new butt joint layout thereof, and adjusting the target library position or the new butt joint layout thereof according to the modification information.
That is, the new docking layout of the target library location may be changed, the location or direction of the point location may be changed, or the road segment may be changed. When the new docking layout includes other attributes, the other attributes may also be changed. Other attributes include travel speed, travel acceleration, and the like. When the new docking layout includes a docking program, the docking program may also be modified.
In addition, the target library location and its new docking layout may be adjusted. Responding to the adjustment operation of the library position in the target map, the position and/or the direction of the library position in the target map can be adjusted, and the point position and the road section in the butt-joint layout of the adjusted library position can be adjusted in a linkage mode.
In addition, after the docking layout based on the basic model creates the new docking layout of the target library site, the method includes the following steps: and responding to the modification information of the docking layout of the basic model, and synchronously adjusting the docking layout of the basic model and the new docking layout of the target library position according to the modification information.
More specifically, the library site layout model can be updated subsequently if homogeneous library site batch changes are encountered. And if the library bit is needed to be updated, the layout can be updated again according to the layout model.
The invention can keep good butt joint layout flexibility under the condition of not changing the existing site library position, realize the batch implementation of the butt joint of the similar library positions, reduce the implementation workload and simultaneously improve the operation stability.
In summary, the invention is suitable for newly building a production line or a site convenient for modification, and is particularly suitable for a case of combining the operation design of a movable platform in a plant planning stage.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been illustrated and described above, it is not intended that they be construed as limiting the claims. The invention is not limited to the above embodiments, the specific construction of which allows variations, all of which are within the scope of the invention as defined in the independent claims.
Claims (11)
1. A library position butt joint layout method is characterized in that,
acquiring a target map, wherein the target map comprises a plurality of library positions;
obtaining a basic model, wherein the basic model comprises a model library position and a butt joint layout thereof; wherein the model library locations include identifying features;
in response to a selection operation of the area data in the target map, extracting data features based on the area data;
and matching the data features with the identification features, and creating a target library and a new butt joint layout thereof on the target map based on the basic model when the data features are matched with the identification features.
2. The docking layout method of claim 1, wherein before the obtaining of the base model, the base model is created by: determining model library positions, wherein the model library positions comprise at least one library position; creating a docking layout based on the model library locations; and creating a basic model based on the model library position and the butt joint layout.
3. The docking layout method according to claim 2, wherein the step of determining the model library locations, the model library locations comprising at least one library location, comprises:
and responding to the selection operation of one or more library positions in the target map, and determining one or more library positions in the target map as a model library position.
4. The docking layout method according to claim 2, wherein the step of determining the model library locations, the model library locations comprising at least one library location, further comprises:
responding to the identification indication of the model library position, and acquiring the identification characteristics of the model library position; wherein the identification feature is at least one feature of the plurality of features of the acquired model library positions.
5. The library-site docking layout method of claim 4, wherein the features comprise one or more of shape features, or size features, or marking indicia.
6. The library docking layout method of claim 2, wherein the step of creating a docking layout based on the model library comprises the steps of: and determining the relative position relation among the point location, the road section and the model library location based on the point location and the road section arranged on the model library location.
7. The docking layout method according to claim 1, wherein the docking layout and the new docking layout comprise a point location and a road segment, and a control program on the point location and/or the road segment.
8. The library docking layout method of claim 1, wherein the step of creating the target library and its new docking layout based on the basic model comprises the steps of: and responding to the modification information of the target library position or the new butt joint layout thereof, and adjusting the target library position or the new butt joint layout thereof according to the modification information.
9. The library docking layout method of claim 1, wherein the step of creating the target library and its new docking layout based on the basic model comprises the steps of: and responding to the modification information of the docking layout of the basic model, and synchronously adjusting the docking layout of the basic model and the new docking layout of the target library position according to the modification information.
10. An electronic device, characterized in that: comprises a processor; and a storage medium arranged to store computer-executable instructions that, when executed, cause the processor to: performing the method of any one of claims 1-9.
11. A storage medium, characterized by: the storage medium stores one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to: performing the method of any one of claims 1-9.
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