CN113624249B

CN113624249B - Lock point operation execution method, device, electronic equipment and computer readable medium

Info

Publication number: CN113624249B
Application number: CN202110986791.XA
Authority: CN
Inventors: 邵国富; 胡奇; 鲁全伟
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-08-26
Filing date: 2021-08-26
Publication date: 2024-04-12
Anticipated expiration: 2041-08-26
Also published as: CN113624249A

Abstract

Embodiments of the present disclosure disclose a lock point operation execution method, an apparatus, an electronic device, and a computer readable medium. One embodiment of the method comprises the following steps: determining lock point boundary distance information of the automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle; determining a lock point area according to a preset coordinate unit, a preset lock point distance, key point position information and lock point boundary distance information, wherein the lock point area comprises at least one map coordinate point; and executing the locking point operation on the map coordinate points included in the locking point area. According to the embodiment, the variable-distance two-dimensional code point location navigation is realized, the expandability of the running path of the automatic guided vehicle is improved, and meanwhile, the automatic guided vehicle and the carrier with any size can safely move in the field.

Description

Lock point operation execution method, device, electronic equipment and computer readable medium

Technical Field

Embodiments of the present disclosure relate to the field of computer technology, and in particular, to a lock point operation execution method, an apparatus, an electronic device, and a computer readable medium.

Background

The lock point is a technology for locking a certain number of two-dimensional code points in order to ensure the continuity and safety of the running of the automatic guided vehicle during the running of the automatic guided vehicle based on the two-dimensional code positioning. Currently, in performing lock point operations, the following methods are generally adopted: and fixing two-dimension codes at a medium distance in a driving field of the automatic guided vehicle, wherein the shortest distance between the two-dimension codes meets the safety driving requirement of the automatic guided vehicle, and locking a certain number of two-dimension code points on the driving central axis of the automatic guided vehicle by adopting a rolling locking point mode.

However, when the lock point operation is performed in the above manner, there are often the following technical problems:

the equidistant two-dimensional code points are only suitable for the rectangular field, the automatic guided vehicle can only stay on the equidistant two-dimensional code points to execute corresponding operation, and if the subsequent application scene is expanded, the automatic guided vehicle needs to stay between the two equidistant two-dimensional code points, and all the equidistant two-dimensional code points in the field need to be adjusted, so that the expandability of the running path of the automatic guided vehicle is poor;

meanwhile, in order to ensure the running continuity and safety of the automatic guided vehicle, the size of the automatic guided vehicle and the size of the carried carrier cannot be larger than the minimum distance between medium-distance two-dimensional code points in the field, so that the automatic guided vehicle and the carrier which can be applied to the field are single, and the expansion of application scenes is not facilitated.

Disclosure of Invention

The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a lock point operation execution method, apparatus, electronic device, and computer readable medium to solve the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a lock point operation performing method, the method including: determining lock point boundary distance information of the automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle; determining a lock point area according to a preset coordinate unit, a preset lock point distance, the key point information and the lock point boundary distance information, wherein the lock point area comprises at least one map coordinate point; and executing the locking point operation on the map coordinate points included in the locking point area.

Optionally, the determining the lock point boundary distance information of the automatic guided vehicle includes: determining contour information of the automatic guided vehicle according to the key point position information; and determining the lock point boundary distance information of the automatic guided vehicle by utilizing the contour information of the automatic guided vehicle.

Optionally, the determining the lock point boundary distance information of the automatic guided vehicle by using the profile information of the automatic guided vehicle includes: and determining lock point boundary distance information of the automatic guided vehicle according to the contour information of the automatic guided vehicle in response to determining that the automatic guided vehicle is in an idle state.

Optionally, the determining the lock point boundary distance information of the automatic guided vehicle by using the profile information of the automatic guided vehicle further includes: in response to determining that the automated guided vehicle is in a carrying state, obtaining profile information of a carrier carried by the automated guided vehicle; and determining lock point boundary distance information of the automatic guided vehicle by utilizing the contour information of the automatic guided vehicle and the contour information of the carrier.

Optionally, determining the lock point area according to the preset coordinate unit, the preset lock point distance, the key point location information and the lock point boundary distance information includes: determining a lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set; and determining the lock point area according to the lock point reference coordinate set, the coordinate unit and the lock point distance.

Optionally, the key point information includes a key point coordinate, the key point coordinate is a center point coordinate of the automatic guided vehicle, and the lock point boundary distance information includes: tail margin, left margin and right margin; and determining a lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit, to obtain a lock point reference coordinate set, including: respectively rounding up the ratios of the tail margin, the left margin and the right margin to the coordinate units to obtain a first multiple of the coordinate units, a second multiple of the coordinate units and a third multiple of the coordinate units; determining the product value of the first multiple of the coordinate unit, the second multiple of the coordinate unit, the third multiple of the coordinate unit and the coordinate unit as a target tail edge distance, a target left edge distance and a target right edge distance; and translating the key point coordinates by using the target tail margin, the target left margin and the target right margin to obtain a lock point reference coordinate set.

Optionally, the executing the lock point operation on the map coordinate points included in the lock point area includes: selecting a map coordinate point from the lock point area as a coordinate point to be locked to obtain a coordinate point set to be locked; determining a lock point state value of each coordinate point to be locked in the coordinate point set to be locked; and in response to determining that the lock point state value of each coordinate point to be locked in the coordinate point set to be locked represents unlocking, updating the lock point state value of each coordinate point to be locked in the coordinate point set to be locked into the lock point state value representing locking.

Optionally, the executing the lock point operation on the map coordinate points included in the lock point area further includes: determining whether each locking point state value in the coordinate point set to be locked represents the locked coordinate point to be locked or not by the automatic guided vehicle in response to determining that the locking point state value in the coordinate point set to be locked represents the locked coordinate point to be locked; and in response to determining that each lock point state value in the coordinate point set to be locked represents that the locked coordinate point to be locked is locked by the automatic guiding vehicle, updating the lock point state value of each lock point state value in the coordinate point set to be locked representing that the unlocked coordinate point to be locked into the lock point state value representing that the locked coordinate point is locked.

Optionally, the method further comprises: in response to determining that coordinate points locked by the automatic guided vehicle exist outside the locking point area, determining each coordinate point locked by the automatic guided vehicle outside the locking point area as a coordinate point to be released, and obtaining a coordinate point set to be released; and updating the lock point state value of each coordinate point to be released in the coordinate point set to be released to be an unlocked lock point state value.

Optionally, the selecting the map coordinate point from the lock point area as the coordinate point to be locked includes: and determining each map coordinate point on the regional boundary of the lock point region as a coordinate point to be locked.

Optionally, the selecting the map coordinate point from the lock point area as the coordinate point to be locked further includes: determining the central axis of the lock point area according to the running direction of the automatic guided vehicle; and determining each map coordinate point on the central axis as a coordinate point to be locked.

Optionally, before determining the lock point boundary of the automatic guided vehicle in response to receiving the key point information sent by the automatic guided vehicle, the method further includes: establishing a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the running range of the automatic guided vehicle; dividing the two-dimensional map in the two-dimensional plane rectangular coordinate system by using a preset coordinate unit to obtain a map coordinate point set; and selecting a preset number of map coordinate points from the map coordinate point set to serve as key point position coordinate points, and obtaining a key point position coordinate point set.

Optionally, the method further comprises: and transmitting a driving instruction to the automatic guided vehicle in response to the successful execution of the locking point operation.

In a second aspect, some embodiments of the present disclosure provide a lock point operation performing apparatus, the apparatus including: a first determining unit configured to determine lock point boundary distance information of an automatic guided vehicle in response to receiving key point information transmitted by the automatic guided vehicle; a second determining unit configured to determine a lock point area according to a preset coordinate unit, a preset lock point distance, the key point information, and the lock point boundary distance information, wherein the lock point area includes at least one map coordinate point; and the execution unit is configured to execute the locking operation on the map coordinate points included in the locking area.

Optionally, the first determining unit includes a first determining subunit and a second determining subunit. The first determining subunit is configured to determine the contour information of the automatic guided vehicle according to the key point position information; and a second determination subunit configured to determine lock point boundary distance information of the automatic guided vehicle using the profile information of the automatic guided vehicle.

Optionally, the second determining subunit includes a first determining module configured to determine, in response to determining that the automatic guided vehicle is in an empty state, lock point boundary distance information of the automatic guided vehicle according to profile information of the automatic guided vehicle.

Optionally, the second determining subunit further includes an obtaining module and a second determining module. Wherein, the obtaining module is configured to obtain the contour information of the carrier carried by the automatic guiding vehicle in response to determining that the automatic guiding vehicle is in a carrying state; and a second determining module configured to determine lock point boundary distance information of the automatic guided vehicle using the profile information of the automatic guided vehicle and the profile information of the carrier.

Optionally, the second determining unit includes a lock point reference coordinate determining subunit and a lock point region determining subunit. The lock point reference coordinate determining subunit is configured to determine lock point reference coordinates by using the key point information, the lock point boundary distance information and the coordinate units to obtain a lock point reference coordinate set; and a lock point region determining subunit configured to determine the lock point region according to the lock point reference coordinate set, the coordinate unit, and the lock point distance.

Optionally, the key point information includes a key point coordinate, the key point coordinate is a center point coordinate of the automatic guided vehicle, and the lock point boundary distance information includes: tail margin, left margin and right margin; the lock point reference coordinate determination subunit includes: the device comprises an upward rounding module, a target margin determining module and a coordinate translation module. The upward rounding module is configured to round the ratios of the tail margin, the left margin and the right margin to the coordinate units respectively to obtain a first multiple of the coordinate units, a second multiple of the coordinate units and a third multiple of the coordinate units; a target margin determining module configured to determine a product value of the first multiple of the coordinate unit, the second multiple of the coordinate unit, the third multiple of the coordinate unit, and the coordinate unit as a target tail margin, a target left margin, and a target right margin, respectively; and the coordinate translation module is configured to translate the key point coordinates by utilizing the target tail margin, the target left margin and the target right margin to obtain a lock point reference coordinate set.

Optionally, the execution unit includes: the lock point state value determining subunit comprises a selecting subunit, a lock point state value determining subunit and a first updating subunit. The selecting subunit is configured to select a map coordinate point from the locking point area as a coordinate point to be locked to obtain a coordinate point set to be locked; a lock point state value determining subunit configured to determine a lock point state value of each coordinate point to be locked in the coordinate point set to be locked; and the updating subunit is configured to update the lock point state value of each coordinate point to be locked in the coordinate point set to the lock point state value representing locked in response to determining that the lock point state value of each coordinate point to be locked in the coordinate point set to be locked represents unlocked.

Optionally, the execution unit further includes a third determining subunit and a second updating subunit. The third determining subunit is configured to determine whether the locked coordinate point to be locked is locked by the automatic guided vehicle or not according to the fact that the locking point state value represents the locked coordinate point to be locked in the coordinate point set to be locked; and the second updating subunit is configured to update the lock point state value of each lock point state value representing the unlocked coordinate point to be locked in the coordinate point set to the lock point state value representing the locked coordinate point in response to determining that each lock point state value representing the locked coordinate point to be locked in the coordinate point set to be locked by the automatic guided vehicle.

Optionally, the device further comprises a coordinate point to be released determining unit and an updating unit. The coordinate point to be released determining unit is configured to determine each coordinate point which is locked by the automatic guided vehicle outside the lock point area as a coordinate point to be released in response to determining that the coordinate point locked by the automatic guided vehicle exists outside the lock point area, so as to obtain a coordinate point set to be released; and the updating unit is configured to update the lock point state value of each coordinate point to be released in the coordinate point set to be released into the lock point state value representing unlocking.

Optionally, the selecting subunit includes a first determining module of coordinate points to be locked, configured to determine each map coordinate point on the area boundary of the lock point area as the coordinate point to be locked.

Optionally, the selecting subunit further includes a central axis determining unit and a second determining module for the coordinate point to be locked. The central axis determining unit is configured to determine the central axis of the lock point area according to the running direction of the automatic guided vehicle; and the second determining module of the coordinate points to be locked is configured to determine each map coordinate point on the central axis as the coordinate point to be locked.

Optionally, before the first determining unit, the apparatus further includes: the device comprises a building unit, a dividing unit and a selecting unit. The system comprises a building unit, a control unit and a control unit, wherein the building unit is configured to build a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the running range of the automatic guided vehicle; the dividing unit is configured to divide the two-dimensional map in the two-dimensional plane rectangular coordinate system by a preset coordinate unit to obtain a map coordinate point set; the selecting unit is configured to select a preset number of map coordinate points from the map coordinate point set to serve as key point coordinate points, and obtain a key point coordinate point set.

Optionally, the apparatus further includes a transmitting unit configured to transmit a traveling instruction to the automatic guided vehicle in response to determining that the lock point operation is successfully performed.

In a third aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.

In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

The above embodiments of the present disclosure have the following advantageous effects: according to the lock point operation execution method, the variable-distance two-dimensional code point location navigation can be realized, the expandability of the running path of the automatic guided vehicle is improved, and meanwhile, the automatic guided vehicle and the vehicle with any size can safely run in a field. Specifically, the expandability of the driving path of the automatic guided vehicle is poor, the automatic guided vehicle and the loader which can be applied to the field are single, and the expansion of the application scene is not facilitated because: and fixing equidistant two-dimensional codes in the field, and only locking a certain number of two-dimensional code points on the running central axis of the automatic guided vehicle when locking point operation is performed. Based on this, the lock point operation execution method of some embodiments of the present disclosure determines a lock point area according to lock point boundary distance information of an automatic guided vehicle, wherein an empty automatic guided vehicle or an automatic guided vehicle loaded with a carrier is completely within the lock point area. And then, locking point operation is carried out on map coordinate points in the locking point area, so that area locking points are realized. Thus, it is possible to secure safe running of the auto guided vehicle and the vehicle of any size in the field. Meanwhile, when regional locking is carried out, only the sizes of the automatic guide vehicle and the carrier and the locking distance are needed to be considered, and the distance between the fixed two-dimensional codes in the field is not needed to be considered, so that not only can the variable-distance two-dimensional code point position navigation be realized, but also the equidistant two-dimensional code point position navigation can be compatible, and more scene requirements can be met.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of one application scenario of a lock point operation execution method of some embodiments of the present disclosure;

FIG. 2 is a flow chart of some embodiments of a lock point operation execution method according to the present disclosure;

FIG. 3 is a flow chart of other embodiments of a lock point operation execution method according to the present disclosure;

FIG. 4 is a schematic diagram of a resulting set of lock point reference coordinates in some embodiments of a lock point operation execution method according to the present disclosure;

FIG. 5 is a schematic diagram of some embodiments of a lock point operation performing device of the present disclosure;

fig. 6 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic diagram of an application scenario of a lock point operation execution method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 may determine the lock point boundary distance information 104 of the automated guided vehicle 102 in response to receiving the keypoint information 103 transmitted by the automated guided vehicle 102. Then, the computing device 101 may determine a lock point area 107 according to the preset coordinate unit 105, the preset lock point distance 106, the key point location information 103, and the lock point boundary distance information 104, where the lock point area 107 includes at least one map coordinate point. Finally, the computing device 101 may perform a lock point operation on the map coordinate points included in the lock point region 107 described above.

The computing device 101 may be hardware or software. When the computing device is hardware, the computing device may be implemented as a distributed cluster formed by a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present invention is not particularly limited herein.

It should be understood that the number of computing devices in fig. 1 is merely illustrative. There may be any number of computing devices, as desired for an implementation.

With continued reference to fig. 2, a flow 200 of some embodiments of a lock point operation execution method according to the present disclosure is shown. The lock point operation execution method comprises the following steps:

in step 201, lock point boundary distance information of the automatic guided vehicle is determined in response to receiving the key point location information sent by the automatic guided vehicle.

In some embodiments, an executing body of the lock point operation executing method (such as the computing device 101 shown in fig. 1) may determine lock point boundary distance information of the automatic guided vehicle in response to receiving the key point information transmitted by the automatic guided vehicle. The lock point boundary distance information comprises lock point edge distances. A value greater than or equal to the target distance value may be determined as the lock point margin included in the lock point boundary distance information described above. The target distance value may be one half of the longest side of each type of automated guided vehicle and each type of carrier in the automated guided vehicle travel field.

In some optional implementations of some embodiments, before determining the lock point boundary distance information of the automatic guided vehicle in response to receiving the key point location information sent by the automatic guided vehicle, the executing entity may further execute the following steps:

the first step, a two-dimensional plane rectangular coordinate system is established in a two-dimensional map representing the running range of the automatic guided vehicle. In practice, the origin of coordinates and the positive direction of the coordinate axes of the two-dimensional rectangular plane coordinate system may be set according to practical applications, and are not particularly limited herein.

And secondly, dividing the two-dimensional map in the rectangular coordinate system of the two-dimensional plane by using a preset coordinate unit to obtain a map coordinate point set. In practice, the above coordinate units may be set according to practical applications, and are not particularly limited herein.

As an example, the above coordinate unit may be 1mm, 5mm, 8mm, 1cm, 6cm, 10cm, or the like.

And thirdly, selecting a preset number of map coordinate points from the map coordinate point set to serve as key point position coordinate points, and obtaining a key point position coordinate point set. The two-dimensional code can be fixed at the position represented by each key point coordinate point in the key point coordinate point set in the driving field of the automatic guided vehicle. The preset number of map coordinate points can be selected from the map coordinate point set according to the requirements of actual application scenes. The distances between the respective keypoint coordinate points in the set of keypoint coordinate points may be different.

In practical application, if the travel path of the automatic guided vehicle needs to be expanded, a required map coordinate point can be selected from the map coordinate point set again to serve as a key point coordinate point, and a two-dimensional code is fixed at a corresponding position in a travel field.

Step 202, determining a lock point area according to a preset coordinate unit, a preset lock point distance, key point position information and lock point boundary distance information.

In some embodiments, the lock point region includes at least one map coordinate point. The key point information may include a key point unique identifier. The unique key point identification can be used for uniquely identifying a key point. The key point location may be a coordinate point location of a fixed two-dimensional code in the driving field of the automatic guided vehicle. The unique key point identification in the key point information may be identified by scanning a two-dimensional code fixed on a coordinate point after the automatic guided vehicle reaches the coordinate point of the fixed two-dimensional code. The correspondence between the unique key point identification and the key point coordinates may be recorded in advance. The coordinates of the key point represented by the key point information can be determined according to the unique key point identifier in the key point information.

The determining, by the execution body, a lock point region according to a preset coordinate unit, a preset lock point distance, the key point location information, and the lock point boundary distance information may include the steps of:

and determining the key point position coordinates corresponding to the key point position unique identifiers included in the key point position information according to the corresponding relation between the pre-recorded key point position unique identifiers and the key point position coordinates, and obtaining target key point position coordinates. The target key point coordinates may represent coordinates of a center point of the automatic guided vehicle.

And secondly, determining a product value of a numerical value obtained by upwardly rounding the ratio of the lock point edge distance included in the lock point boundary distance information to the coordinate unit and the coordinate unit as a target edge distance.

Thirdly, translating the target key point coordinates along the two-axis direction by the length of the target margin to obtain a corner point coordinate set. Wherein the set of corner coordinates includes 4 corner coordinates. Each corner coordinate in the corner coordinate set may enclose a rectangle.

As an example, the target keypoint coordinates may be (100 ). The target margin may be 20cm. The set of corner coordinates may be [ (80, 120), (120, 100), (120, 80), (80, 80) ].

And a fourth step of extending a rectangle surrounded by each corner coordinate in the corner coordinate set along the running direction of the automatic guided vehicle based on the lock point distance to obtain a lock point area.

As an example, the traveling direction of the automatic guided vehicle may be a horizontal axis forward direction. The lock point distance may be 500cm. The coordinates of the four corner points of the lock point area may be: (80, 120), (620, 100), (620, 80), (80, 80).

The lock point boundary distance information comprises a lock point edge distance which is one half of the longest edge of the edge length of each type of automatic guided vehicle and the edge length of each type of carrier in the automatic guided vehicle driving field. Therefore, the rectangle surrounded by the corner coordinate set determined according to the lock point edge distance included in the lock point boundary distance information and the target key point coordinate set may include each type of automatic guided vehicle and each type of carrier in the automatic guided vehicle driving field. Thus, after the subsequent lock point, any type of automatically guided vehicle-mounted device can be ensured to safely move.

And 203, executing the locking point operation on the map coordinate points included in the locking point area.

In some embodiments, the executing body may execute the lock point operation on all map coordinate points included in the lock point region. Wherein, the map coordinate points are coordinate points with the ratio of the horizontal coordinate value and the vertical coordinate value to the coordinate unit being integers. The lock point operation may be to mark all map coordinate points included in the lock point area as occupied by the automatic guided vehicle.

In some optional implementations of some embodiments, the executing body may further send a driving instruction to the automatic guided vehicle in response to determining that the lock point operation is successfully executed.

With further reference to FIG. 3, a flow 300 of further embodiments of a lock point operation execution method is shown. The process 300 of the lock point operation execution method includes the following steps:

step 301, determining lock point boundary distance information of the automatic guided vehicle in response to receiving key point position information sent by the automatic guided vehicle.

In some embodiments, the execution body (such as the computing device 101 shown in fig. 1) of the lock point operation execution method determines the lock point boundary distance information of the automatic guided vehicle in response to receiving the key point information sent by the automatic guided vehicle, and may include the following steps:

step 3011, determining contour information of the automatic guided vehicle according to the key point position information.

The key point location information may include a key point location coordinate and an automatic guided vehicle unique identifier. The unique identifier of the automatic guided vehicle in the key point location information can uniquely identify the automatic guided vehicle. The correspondence between the unique identifier of the automatic guided vehicle and the profile information may be stored in advance. The contour information of the automated guided vehicle may be determined by the automated guided vehicle unique identification included in the key point location information. The contour information includes an auto-guided vehicle tail margin and an auto-guided vehicle side margin. The key point coordinates included in the key point information may represent current coordinates of a center point of the automatic guided vehicle. The key point position coordinates in the key point position information may be identified by scanning the two-dimensional code fixed on the coordinate point position after the automatic guided vehicle reaches the coordinate point position of a certain fixed two-dimensional code. The automatic guided vehicle tail edge distance may represent a vertical distance between a center point of the automatic guided vehicle and the automatic guided vehicle tail edge. The automatic guided vehicle side edge distance may represent a vertical distance between a center point of the automatic guided vehicle and a side edge of the automatic guided vehicle. The tail edge and the side edge are determined according to the running direction of the automatic guided vehicle.

Step 3012, determining lock point boundary distance information of the automatic guided vehicle by using the contour information of the automatic guided vehicle.

The sum of the automatic guided vehicle tail edge distance and the automatic guided vehicle side edge distance, which are included in the profile information, and the preset buffer distance can be respectively determined as a target tail edge distance and a target side edge distance. And determining the target tail margin and the target side margin as lock point boundary distance information of the automatic guided vehicle.

The automatic guiding vehicle tail edge distance and the automatic guiding vehicle side edge distance are matched with the size of the automatic guiding vehicle, but when the automatic guiding vehicle is loaded with a carrier and the size of the carrier is large, the safe running of the automatic guiding vehicle cannot be ensured by determining the locking point area through the automatic guiding vehicle tail edge distance and the automatic guiding vehicle side edge distance. Therefore, the automatic guided vehicle tail edge distance and the automatic guided vehicle side edge distance are amplified through the preset buffer distance to obtain the target tail edge distance and the target side edge distance, so that the safe running of the automatic guided vehicle with the carrier can be ensured.

In some optional implementations of some embodiments, the executing entity may determine lock point boundary distance information of the automated guided vehicle according to profile information of the automated guided vehicle in response to determining that the automated guided vehicle is in an empty state. The automatic guiding vehicle tail edge distance and the automatic guiding vehicle side edge distance included in the profile information can be directly determined to be the lock point boundary distance information of the automatic guiding vehicle.

Optionally, the executing body determines the lock point boundary distance information of the automatic guided vehicle by using the contour information of the automatic guided vehicle, and may further include the following steps:

first, in response to determining that the automated guided vehicle is in a delivery state, profile information of a carrier carried by the automated guided vehicle is obtained. The contour information of the carrier comprises a carrier tail margin and a carrier side margin. The tail edge and the side edge are determined according to the running direction of the automatic guided vehicle. The carrying state may be a state in which the vehicle-carried carrier is automatically guided.

And a second step of determining lock point boundary distance information of the automatic guided vehicle by using the contour information of the automatic guided vehicle and the contour information of the carrier. The lock point boundary distance information of the automatic guided vehicle may be determined by a maximum tail edge distance and a maximum side edge distance among a carrier tail edge distance and a carrier side edge distance included in the profile information of the carrier and a profile information of the automatic guided vehicle included in the profile information of the automatic guided vehicle.

Therefore, the lock point boundary distance information which is more matched with the current size of the automatic guided vehicle can be determined according to the empty state and the carrying state of the automatic guided vehicle. Therefore, the situation that the finally determined lock point area is too large and excessive site driving resources are occupied is avoided.

Step 302, determining lock point reference coordinates by using the key point information, the lock point boundary distance information and the coordinate units, and obtaining a lock point reference coordinate set.

In some embodiments, the executing body determines the lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set, and may include the following steps:

and a first step of respectively determining a product value of a numerical value obtained by upwardly rounding the ratio of the automatic guide vehicle tail edge distance or the carrier tail edge distance and the automatic guide vehicle side edge distance or the carrier side edge distance to the coordinate units and the coordinate units as a target tail edge distance and a target side edge distance.

And secondly, translating the key point coordinates included in the key point information by the distance of the target tail edge distance along the opposite direction of the automatic guiding running direction to obtain translation coordinates.

And thirdly, translating the translation coordinate by the distance of the side margin of the target along two directions perpendicular to the automatic guiding running direction respectively to obtain two lock point reference coordinates.

In some optional implementations of some embodiments, the key point information includes key point coordinates, the key point coordinates are center point coordinates of the automatic guided vehicle, and the lock point boundary distance information includes: tail margin, left margin, and right margin. The executing body determines a lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit, and obtains a lock point reference coordinate set, and may include the steps of:

And a first step of respectively rounding up the ratios of the tail margin, the left margin and the right margin to the coordinate units to obtain a first multiple of the coordinate units, a second multiple of the coordinate units and a third multiple of the coordinate units.

And a second step of determining the product value of the first multiple of the coordinate unit, the second multiple of the coordinate unit, the third multiple of the coordinate unit and the coordinate unit as a target tail margin, a target left margin and a target right margin.

Thirdly, translating the coordinates of the key point by using the target tail edge distance, the target left edge distance and the target right edge distance to obtain a lock point reference coordinate set, which may include the following sub-steps:

and a first sub-step of translating the key point coordinates included in the key point information by the distance of the target tail edge distance along the opposite direction of the automatic guiding running direction to obtain translation coordinates.

And a second sub-step of translating the translation coordinate by a distance of the left margin of the target along the left side of the vertical direction of the automatic guiding running direction to obtain a lock point reference coordinate.

And a third sub-step of translating the translation coordinate by the distance of the right margin of the target along the right side of the vertical direction of the automatic guiding running direction to obtain another lock point reference coordinate.

As an example, referring to fig. 4, first, the ratios of the tail pitch 401, the left pitch 402, and the right pitch 403 to the coordinate unit 404 may be rounded up to obtain a first multiple 405 of the coordinate unit, a second multiple 406 of the coordinate unit, and a third multiple 407 of the coordinate unit, respectively. Then, the product values of the coordinate unit first multiple 405, the coordinate unit second multiple 406, and the coordinate unit third multiple 407 and the coordinate unit 404 are determined as a target tail margin 408, a target left margin 409, and a target right margin 410, respectively. Finally, the key point coordinates 411 are translated by using the target tail margin 408, the target left margin 409 and the target right margin 410, so as to obtain a lock point reference coordinate set 412.

In step 303, a lock point region is determined according to the lock point reference coordinate set, the coordinate unit and the lock point distance.

In some embodiments, the executing body may determine the lock point area according to the lock point reference coordinate set, the coordinate unit, and the lock point distance, and may include the steps of:

and a first step of rounding up the ratio of the lock point distance to the coordinate unit to obtain a fourth multiple of the coordinate unit.

And secondly, determining a product value of the fourth multiple of the coordinate unit and the coordinate unit as a target lock point distance.

And thirdly, translating each lock point reference coordinate in the lock point reference coordinate set along the advancing direction of the automatic guiding vehicle by the target lock point distance to obtain two new lock point reference coordinates.

And fourthly, determining a rectangular area surrounded by the lock point reference coordinates in the lock point reference coordinate set and the two new lock point reference coordinates as a lock point area.

And 304, selecting a map coordinate point from the lock point area as a coordinate point to be locked, and obtaining a coordinate point set to be locked.

In some embodiments, the executing body may select all map coordinate points from the lock point area as coordinate points to be locked, to obtain a set of coordinate points to be locked.

In some optional implementations of some embodiments, the executing body may determine each map coordinate point on the region boundary of the lock point region as the coordinate point to be locked.

Thus, excessive consumption of execution subject computing resources can be reduced by locking only map coordinate points on the boundary of the lock point region.

Optionally, the executing body selects a map coordinate point from the lock point area as the coordinate point to be locked, and the method further includes the following steps:

and a first step of determining the central axis of the lock point area according to the running direction of the automatic guided vehicle. The central axis of the lock point area is parallel to the running direction of the automatic guided vehicle.

And secondly, determining each map coordinate point on the central axis as a coordinate point to be locked.

When the area of the lock point area is large, it is possible to include other automatic guided vehicles having a size smaller than the length and width of the lock point area in the lock point area. Thus, the automatic guided vehicle collides with another automatic guided vehicle when traveling in the lock point area. Therefore, the map coordinate point on the central axis of the lock point area is used as the coordinate point to be locked, and the occurrence of the situation can be avoided to a certain extent. The running safety of the automatic guided vehicle is improved while the excessive consumption of the computing resources of the execution subject is reduced.

In step 305, a lock point status value of each coordinate point to be locked in the set of coordinate points to be locked is determined.

In some embodiments, the executing body may determine a lock point state value of each coordinate point to be locked in the set of coordinate points to be locked. The initial lock point state values of the map coordinate points are all indicative of unlocking. The execution body stores lock point state values of all map coordinate points.

As an example, the lock point status value may be 0 or 1. When the lock point state value is 0, an unlocked may be characterized. When the lock point state value is 1, it can be characterized as locked.

In step 306, in response to determining that the lock point state value of each to-be-locked coordinate point in the to-be-locked coordinate point set represents unlocked, the lock point state value of each to-be-locked coordinate point in the to-be-locked coordinate point set is updated to represent the locked lock point state value.

In some embodiments, the executing body may update the lock point state value of each coordinate point to be locked in the set of coordinate points to be locked to a lock point state value representing locked in response to determining that the lock point state value of each coordinate point to be locked in the set of coordinate points to be locked represents unlocked.

As an example, the lock point state value of each coordinate point to be locked in the set of coordinate points to be locked may be updated to 1 in response to determining that the lock point state value of each coordinate point to be locked in the set of coordinate points to be locked is 0.

In step 307, in response to determining that the lock point state value in the set of coordinate points to be locked represents the locked coordinate point to be locked, it is determined whether each lock point state value in the set of coordinate points to be locked represents the locked coordinate point to be locked by the automatic guided vehicle.

In some embodiments, the executing entity may determine whether each lock point state value in the set of to-be-locked coordinate points represents that the locked to-be-locked coordinate point is locked by the automated guided vehicle in response to determining that the lock point state value exists in the set of to-be-locked coordinate points to represent that the locked to-be-locked coordinate point. Wherein, the corresponding relation between the unique identification of the automatic guided vehicle and each locked map coordinate point can be recorded when the locking point operation is executed each time. Therefore, whether the locked coordinate points to be locked are locked by the automatic guided vehicle or not can be determined according to the pre-recorded corresponding relation.

In step 308, in response to determining that each lock point state value in the set of to-be-locked coordinate points represents that the locked to-be-locked coordinate point is locked by the automatic guided vehicle, the lock point state value of each lock point state value in the set of to-be-locked coordinate points representing that the unlocked to-be-locked coordinate point is updated to represent the locked lock point state value.

In some embodiments, the executing body may update the lock point state value of each lock point state value of the set of to-be-locked coordinate points to a lock point state value of the unlocked to-be-locked coordinate point in response to determining that each lock point state value of the set of to-be-locked coordinate points represents that the locked to-be-locked coordinate point is locked by the automated guided vehicle.

And step 309, in response to determining that the coordinate points locked by the automatic guided vehicle exist outside the lock point area, determining each coordinate point locked by the automatic guided vehicle outside the lock point area as a coordinate point to be released, and obtaining a coordinate point set to be released.

In some embodiments, the executing body may determine each coordinate point locked by the automatic guided vehicle outside the lock point area as a coordinate point to be released in response to determining that there is a coordinate point locked by the automatic guided vehicle outside the lock point area, and obtain a set of coordinate points to be released. Wherein, it can be determined that the coordinate point locked by the automatic guided vehicle exists outside the lock point area according to the pre-recorded corresponding relation.

In step 310, the lock point state value of each coordinate point to be released in the coordinate point set to be released is updated to represent the unlocked lock point state value.

In some embodiments, the executing body may update the lock point state value of each coordinate point to be released in the set of coordinate points to be released to a lock point state value indicating unlocking.

As can be seen in fig. 3, flow 300 of the lock point operation execution method in some embodiments corresponding to fig. 3 embodies an expanded step of determining a lock point region as compared to the description of some embodiments corresponding to fig. 2. Therefore, the schemes described in the embodiments can respectively determine the locking point areas aiming at the empty load state and the carrying state of the automatic guided vehicle, avoid locking irrelevant areas, avoid finally determining that the locking point areas are too large, occupy too many field driving resources and ensure the normal driving of other automatic guided vehicles to a certain extent.

With further reference to fig. 5, as an implementation of the method shown in the above figures, the present disclosure provides some embodiments of a lock point operation performing apparatus, which correspond to those method embodiments shown in fig. 2, and which are particularly applicable in various electronic devices.

As shown in fig. 5, the lock point operation performing apparatus 500 of some embodiments includes: a first determination unit 501, a second determination unit 502, and an execution unit 503. Wherein, the first determining unit 501 is configured to determine lock point boundary distance information of the automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle; a second determining unit 502 configured to determine a lock point area according to a preset coordinate unit, a preset lock point distance, the key point location information, and the lock point boundary distance information, where the lock point area includes at least one map coordinate point; and an execution unit 503 configured to execute a lock point operation on the map coordinate points included in the lock point region.

Optionally, the first determining unit 501 includes a first determining subunit and a second determining subunit. The first determining subunit is configured to determine the contour information of the automatic guided vehicle according to the key point position information; and a second determination subunit configured to determine lock point boundary distance information of the automatic guided vehicle using the profile information of the automatic guided vehicle.

Optionally, the second determining unit 502 includes a lock point reference coordinate determining subunit and a lock point area determining subunit. The lock point reference coordinate determining subunit is configured to determine lock point reference coordinates by using the key point information, the lock point boundary distance information and the coordinate units to obtain a lock point reference coordinate set; and a lock point region determining subunit configured to determine the lock point region according to the lock point reference coordinate set, the coordinate unit, and the lock point distance.

Optionally, the executing unit 503 includes: the lock point state value determining subunit comprises a selecting subunit, a lock point state value determining subunit and a first updating subunit. The selecting subunit is configured to select a map coordinate point from the locking point area as a coordinate point to be locked to obtain a coordinate point set to be locked; a lock point state value determining subunit configured to determine a lock point state value of each coordinate point to be locked in the coordinate point set to be locked; and the updating subunit is configured to update the lock point state value of each coordinate point to be locked in the coordinate point set to the lock point state value representing locked in response to determining that the lock point state value of each coordinate point to be locked in the coordinate point set to be locked represents unlocked.

Optionally, the executing unit 503 further includes a third determining subunit and a second updating subunit. The third determining subunit is configured to determine whether the locked coordinate point to be locked is locked by the automatic guided vehicle or not according to the fact that the locking point state value represents the locked coordinate point to be locked in the coordinate point set to be locked; and the second updating subunit is configured to update the lock point state value of each lock point state value representing the unlocked coordinate point to be locked in the coordinate point set to the lock point state value representing the locked coordinate point in response to determining that each lock point state value representing the locked coordinate point to be locked in the coordinate point set to be locked by the automatic guided vehicle.

Optionally, the apparatus 500 further includes a coordinate point to be released determining unit and an updating unit. The coordinate point to be released determining unit is configured to determine each coordinate point which is locked by the automatic guided vehicle outside the lock point area as a coordinate point to be released in response to determining that the coordinate point locked by the automatic guided vehicle exists outside the lock point area, so as to obtain a coordinate point set to be released; and the updating unit is configured to update the lock point state value of each coordinate point to be released in the coordinate point set to be released into the lock point state value representing unlocking.

Optionally, before the first determining unit 501, the apparatus 500 further includes: the device comprises a building unit, a dividing unit and a selecting unit. The system comprises a building unit, a control unit and a control unit, wherein the building unit is configured to build a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the running range of the automatic guided vehicle; the dividing unit is configured to divide the two-dimensional map in the two-dimensional plane rectangular coordinate system by a preset coordinate unit to obtain a map coordinate point set; the selecting unit is configured to select a preset number of map coordinate points from the map coordinate point set to serve as key point coordinate points, and obtain a key point coordinate point set.

Optionally, the apparatus 500 further includes a transmitting unit configured to transmit a traveling instruction to the automatic guided vehicle in response to determining that the lock point operation is successfully performed.

It will be appreciated that the elements described in the apparatus 500 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting benefits described above with respect to the method are equally applicable to the apparatus 500 and the units contained therein, and are not described in detail herein.

Referring now to fig. 6, a schematic diagram of an electronic device 600 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 6 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.

As shown in fig. 6, the electronic device 600 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 601, which may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM603, various programs and data required for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 shows an electronic device 600 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 6 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 609, or from storage device 608, or from ROM 602. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 601.

It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining lock point boundary distance information of the automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle; determining a lock point area according to a preset coordinate unit, a preset lock point distance, the key point information and the lock point boundary distance information, wherein the lock point area comprises at least one map coordinate point; and executing the locking point operation on the map coordinate points included in the locking point area.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a first determination unit, a second determination unit, and an execution unit. The names of these units do not constitute a limitation on the unit itself in some cases, and for example, the first determining unit may also be described as "a unit that determines lock point boundary distance information".

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

Claims

1. A lock point operation execution method, comprising:

determining lock point boundary distance information of an automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle, wherein the key point information comprises a key point unique identifier, and the lock point boundary distance information comprises lock point edge distances;

Determining a lock point area according to a preset coordinate unit, a preset lock point distance, the key point position information and the lock point boundary distance information, wherein the lock point area comprises at least one map coordinate point;

executing a lock point operation on map coordinate points included in the lock point area;

the determining the lock point boundary distance information of the automatic guided vehicle comprises the following steps:

determining contour information of the automatic guided vehicle according to the key point position information;

determining lock point boundary distance information of the automatic guided vehicle by utilizing the contour information of the automatic guided vehicle;

the determining the lock point area according to a preset coordinate unit, a preset lock point distance, the key point location information and the lock point boundary distance information includes:

determining a lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set;

and determining the lock point area according to the lock point reference coordinate set, the coordinate unit and the lock point distance.

2. The method of claim 1, wherein the determining lock point boundary distance information of the automated guided vehicle using profile information of the automated guided vehicle comprises:

And in response to determining that the automatic guided vehicle is in an idle state, determining lock point boundary distance information of the automatic guided vehicle according to the profile information of the automatic guided vehicle.

3. The method of claim 2, wherein the determining lock point boundary distance information of the automated guided vehicle using profile information of the automated guided vehicle further comprises:

in response to determining that the automated guided vehicle is in a carry state, obtaining profile information of a carrier carried by the automated guided vehicle;

and determining the lock point boundary distance information of the automatic guided vehicle by utilizing the contour information of the automatic guided vehicle and the contour information of the carrier.

4. The method of claim 3, wherein the keypoint information comprises keypoint coordinates, the keypoint coordinates being center point coordinates of the automated guided vehicle, the lock point boundary distance information comprising: tail margin, left margin and right margin; and

determining the lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set, including:

respectively rounding up the ratios of the tail margin, the left margin and the right margin to the coordinate units to obtain a first multiple of the coordinate units, a second multiple of the coordinate units and a third multiple of the coordinate units;

The product values of the first multiple of the coordinate unit, the second multiple of the coordinate unit, the third multiple of the coordinate unit and the coordinate unit are respectively determined to be a target tail edge distance, a target left edge distance and a target right edge distance;

and translating the coordinates of the key point positions by utilizing the target tail margin, the target left margin and the target right margin to obtain a lock point reference coordinate set.

5. The method of claim 1, wherein the performing a lock point operation on map coordinate points included in the lock point region comprises:

selecting map coordinate points from the lock point area as coordinate points to be locked to obtain a coordinate point set to be locked;

determining a lock point state value of each coordinate point to be locked in the coordinate point set to be locked;

and in response to determining that the lock point state value of each coordinate point to be locked in the coordinate point set to be locked represents unlocking, updating the lock point state value of each coordinate point to be locked in the coordinate point set to be locked into the lock point state value representing locking.

6. The method of claim 5, wherein the performing a lock point operation on the map coordinate points included in the lock point region further comprises:

Determining whether each locking point state value in the coordinate point set to be locked represents the locked coordinate point to be locked or not by the automatic guided vehicle in response to determining that the locking point state value in the coordinate point set to be locked represents the locked coordinate point to be locked;

and in response to determining that each lock point state value in the coordinate point set to be locked represents that the locked coordinate point to be locked is locked by the automatic guiding vehicle, updating the lock point state value of each lock point state value in the coordinate point set to be locked representing that the unlocked coordinate point to be locked into the lock point state value representing that the locked coordinate point is locked.

7. The method according to claim 5 or 6, wherein the method further comprises:

in response to determining that coordinate points locked by the automatic guided vehicle exist outside the locking point area, determining each coordinate point locked by the automatic guided vehicle outside the locking point area as a coordinate point to be released, and obtaining a coordinate point set to be released;

and updating the lock point state value of each coordinate point to be released in the coordinate point set to be released to represent the unlocked lock point state value.

8. The method of claim 5, wherein the selecting a map coordinate point from the lock point region as a coordinate point to be locked comprises:

And determining each map coordinate point on the regional boundary of the lock point region as a coordinate point to be locked.

9. The method of claim 8, wherein the selecting a map coordinate point from the lock point region as a coordinate point to be locked further comprises:

determining the central axis of the lock point area according to the running direction of the automatic guided vehicle;

and determining each map coordinate point on the central axis as a coordinate point to be locked.

10. The method of claim 1, wherein prior to the determining a lock point boundary of the automated guided vehicle in response to receiving the keypoint information transmitted by the automated guided vehicle, the method further comprises:

establishing a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the running range of the automatic guided vehicle;

dividing the two-dimensional map in the two-dimensional plane rectangular coordinate system by using a preset coordinate unit to obtain a map coordinate point set;

and selecting a preset number of map coordinate points from the map coordinate point set to serve as key point position coordinate points, and obtaining a key point position coordinate point set.

11. The method of claim 1, wherein the method further comprises:

And in response to determining that the lock point operation is successfully executed, sending a running instruction to the automatic guided vehicle.

12. A lock point operation execution device comprising:

a first determining unit configured to determine lock point boundary distance information of an automatic guided vehicle in response to receiving key point information sent by the automatic guided vehicle, wherein the key point information comprises a key point unique identifier, and the lock point boundary distance information comprises a lock point edge distance;

a second determining unit configured to determine a lock point region according to a preset coordinate unit, a preset lock point distance, the key point location information and the lock point boundary distance information, wherein the lock point region includes at least one map coordinate point;

an execution unit configured to execute a lock point operation on map coordinate points included in the lock point region;

the determining the lock point boundary distance information of the automatic guided vehicle comprises the following steps: determining contour information of the automatic guided vehicle according to the key point position information; determining lock point boundary distance information of the automatic guided vehicle by utilizing the contour information of the automatic guided vehicle;

wherein the second determining unit is further configured to: determining a lock point reference coordinate by using the key point information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set; and determining the lock point area according to the lock point reference coordinate set, the coordinate unit and the lock point distance.

13. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon,

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-11.

14. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-11.