CN114719839A - Map optimization method, nonvolatile storage medium, and map optimization system - Google Patents
Map optimization method, nonvolatile storage medium, and map optimization system Download PDFInfo
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- CN114719839A CN114719839A CN202210362143.1A CN202210362143A CN114719839A CN 114719839 A CN114719839 A CN 114719839A CN 202210362143 A CN202210362143 A CN 202210362143A CN 114719839 A CN114719839 A CN 114719839A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention provides a map optimization method, a nonvolatile storage medium and a map optimization system, wherein the map optimization method is used for acquiring a transportation map of a carrying mechanism in a transportation interval according to the carrying condition of the carrying mechanism, and comprises the following steps: acquiring initial map information of a transportation interval, wherein the initial map is formed by drawing according to the positions of all parking stations of a carrying mechanism in the transportation interval; acquiring storage information of all materials in a transportation section, and identifying an initial map according to the storage information of all the materials to form a material identification map; and acquiring the carrying information of the carrying mechanism, and screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map. Through the technical scheme provided by the invention, the technical problem of low transportation efficiency in the prior art can be solved.
Description
Technical Field
The invention relates to the technical field of carrying map optimization, in particular to a map optimization method, a nonvolatile storage medium and a map optimization system.
Background
At present, an AGV (automated Guided vehicle) automatic navigation vehicle is equipped with an electromagnetic or optical automatic guidance device, and the AGV receives an instruction and runs along an appointed path, and can safely and efficiently complete a series of tasks such as cargo delivery, automatic charging, automatic stopping and the like without a transport vehicle of an actual driver. The high automation and the intellectualization of modern industrial logistics are realized.
However, in order to achieve high automation, the original AGV dispatching system often only creates a specific map, and plans fixed driving areas of all AGVs, such as a material parking area and an AGV transportable area, on the map. Because the transport states (with materials/without materials) of different AGVs are different, and the environments of actual operation areas are different, in order to prevent the AGVs with the material states and the AGVs receiving emergency tasks from running in a special operation area, various safety problems can occur (for example, the AGVs with the materials run in a material parking area and have danger of material collision), so that a plurality of available areas can be sacrificed in the design of a map, all the AGVs can be used universally, but the number of lines in which the AGVs can run is reduced, and the transport efficiency is sacrificed.
Disclosure of Invention
The invention mainly aims to provide a map optimization method, a nonvolatile storage medium and a map optimization system, so as to solve the technical problem of low transportation efficiency in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a map optimization method for acquiring a transportation map of a vehicle in a transportation section according to a carrying condition of the vehicle, the map optimization method including: acquiring initial map information of a transportation interval, wherein the initial map is formed by drawing according to the positions of all parking stations of a carrying mechanism in the transportation interval; acquiring storage information of all materials in a transportation section, and identifying the initial map according to the storage information of all the materials to form a material identification map; and acquiring the carrying information of the carrying mechanism, and screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map.
Further, according to the storage information of all the materials, the initial map is identified to form a material identification map, which includes: acquiring storage position information and storage attribute information of all materials in a transportation section, wherein the storage attribute information comprises form information of the materials, weight information of the materials and danger degree information of the materials; and marking all stop stations on the initial map according to the storage position information of all the materials in the transportation section and the storage attribute information corresponding to the storage position information.
Further, marking all the stop stations on the initial map according to the storage position information of all the materials in the transportation section and the storage attribute information corresponding to the storage position information, and the method comprises the following steps: comparing the storage position information with the position information of the stop station, and judging whether the stop station stores the materials or not according to the comparison result of the storage position information and the position information of the stop station; when the stop station is judged to store the materials, identifying the corresponding storage attribute information at the stop station; and when the stop station is judged not to store the materials, giving up the identification of the stop station.
Further, acquiring carrying information of the carrying mechanism comprises: and acquiring the position information of a stop station corresponding to the transportation starting point of the carrying mechanism, the position information of a stop station corresponding to the transportation terminal of the carrying mechanism and the material attribute information of the carried material of the carrying mechanism.
Further, screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map, comprising: and classifying and screening the material identification map by using a decision tree classification algorithm, and combining the classified map with the carrying information of the carrying mechanism to obtain a transportation map.
Further, the classification screening of the material identification map by using a decision tree classification algorithm comprises the following steps: and classifying the stop sites of the material identification map according to the identification, the weight, the form and the condition of the weight and whether the stop sites are dangerous goods by using a decision tree classification algorithm, and screening the classified stop sites.
Further, the method for classifying the stop sites of the material identification map by using the decision tree classification algorithm according to whether the stop sites are identified, the size and the shape of the weight and whether the stop sites are dangerous goods comprises the following steps: judging whether the docking station is identified; when the stop station is identified, judging the stop station as an identification point; when the docking station is not identified, judging that the docking station is a common point; judging the weight of the identification point to divide the weight of the material of the identification point into light, medium and heavy; judging the form condition of the identification point to divide the material form of the identification point into gas, solid and liquid; and judging whether the identification point is a dangerous article or not so as to divide the material of the identification point into the dangerous article and the safety article.
Further, screening the classified docking stations includes: and removing the mark points of the materials different from the carrying materials of the carrying mechanism, and keeping the common points and the mark points of the materials same as the carrying materials of the carrying mechanism to form a transportation map.
According to another aspect of the present invention, there is provided a non-volatile storage medium including a program that employs the map optimization method provided above.
According to another aspect of the present invention, there is provided a map optimization system for obtaining a transportation map of a vehicle in a transportation area according to a transportation condition of the vehicle, the map optimization system including: the first acquisition module is used for acquiring initial map information of a transportation section; the second acquisition module is used for acquiring the storage information of all materials in the transportation section; the first optimization module is used for identifying the initial map according to the storage information of all the materials to form a material identification map; the third acquisition module is used for acquiring the carrying information of the carrying mechanism; and the second optimization module is used for screening the material identification map according to the carrying information of the carrying mechanism so as to obtain a transportation map.
By applying the technical scheme of the invention, the parking stations can be conveniently screened according to the material storage condition and the material carrying information in the transportation area, so that special regions which cannot walk are filtered, and different materials are transported in specific regions, thereby greatly improving the transportation safety and improving the production efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 illustrates an overall flow diagram of map optimization provided in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a screening algorithm for a decision tree classification algorithm provided according to an embodiment of the present invention;
FIG. 3 illustrates a routing diagram provided in accordance with an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 3, an embodiment of the present invention provides a map optimization method, where the map optimization method is used to obtain a transportation map of a vehicle in a transportation area according to a carrying condition of the vehicle, and the map optimization method includes: acquiring initial map information of a transportation interval, wherein the initial map is formed by drawing according to the positions of all parking stations of a carrying mechanism in the transportation interval; acquiring storage information of all materials in a transportation section, and identifying an initial map according to the storage information of all the materials to form a material identification map; and acquiring the carrying information of the carrying mechanism, and screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map.
By adopting the map optimization method provided by the embodiment, the parking stations and the screening can be conveniently carried out according to the material storage condition and the carrying material information in the transportation interval, so that special regions which can not walk are filtered, different materials are transported in specific regions, the transportation safety is greatly improved, and the production efficiency is also improved.
In this embodiment, identifying the initial map according to the storage information of all the materials to form a material identification map includes: acquiring storage position information and storage attribute information of all materials in a transportation section, wherein the storage attribute information comprises form information of the materials, weight information of the materials and danger degree information of the materials; and marking all stop stations on the initial map according to the storage position information of all the materials in the transportation section and the storage attribute information corresponding to the storage position information. By adopting the method, the map can be conveniently and better identified.
Specifically, in this embodiment, identifying all the stop sites on the initial map according to the storage location information of all the materials in the transportation section and the storage attribute information corresponding to the storage location information includes: comparing the storage position information with the position information of the stop station, and judging whether the stop station stores the materials or not according to the comparison result of the storage position information and the position information of the stop station; when the stop station is judged to store the materials, identifying the corresponding storage attribute information at the stop station; and when the stop station is judged not to store the materials, giving up the identification of the stop station. By adopting the method, the accuracy of material identification can be improved conveniently, so that the accuracy of transportation is improved conveniently.
In this embodiment, acquiring the carrying information of the carrying mechanism includes: and acquiring the position information of a stop station corresponding to the transportation starting point of the carrying mechanism, the position information of a stop station corresponding to the transportation terminal of the carrying mechanism and the material attribute information of the carried material of the carrying mechanism. By adopting the method, the carrying condition of the carrying mechanism can be conveniently known by combining the plurality of information, so that screening and classification can be conveniently carried out.
Specifically, screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map comprises the following steps: and classifying and screening the material identification map by using a decision tree classification algorithm, and combining the classified map with the carrying information of the carrying mechanism to obtain a transportation map. By adopting the method, the transportation map corresponding to the carrying information can be conveniently obtained, so that a proper transportation path is selected according to the transportation map, and the transportation efficiency is improved.
In this embodiment, classifying and screening the material identification map by using a decision tree classification algorithm includes: and classifying the stop sites of the material identification map according to the identification, the weight, the form and the condition of the weight and whether the stop sites are dangerous goods by using a decision tree classification algorithm, and screening the classified stop sites.
Specifically, the method for classifying the stop sites of the material identification map by using the decision tree classification algorithm according to whether the stop sites are identified, the size and the form of the weight and whether the stop sites are dangerous goods comprises the following steps: judging whether the docking station is identified; when the stop station is identified, judging the stop station as an identification point; when the docking station is not identified, judging that the docking station is a common point; judging the weight of the identification point to divide the weight of the material of the identification point into light, medium and heavy; judging the form condition of the identification point to divide the material form of the identification point into gas, solid and liquid; and judging whether the identification point is a dangerous article or not so as to divide the material of the identification point into the dangerous article and the safety article.
In this embodiment, the screening of the classified docking stations includes: and eliminating the mark points of the materials different from the carrying materials of the carrying mechanism, and keeping the common points and the mark points of the materials same as the carrying materials of the carrying mechanism to form a transportation map.
The second embodiment of the invention provides a nonvolatile storage medium, the nonvolatile storage medium comprises a program, and the program adopts the map optimization method provided by the second embodiment.
The third embodiment of the invention provides a map optimization system, which is used for acquiring a transportation map of a carrying mechanism in a transportation section according to the carrying condition of the carrying mechanism, and comprises a first acquisition module, a second acquisition module, a first optimization module, a third acquisition module and a second optimization module, wherein the first acquisition module is used for acquiring initial map information of the transportation section; the second acquisition module is used for acquiring storage information of all materials in the transportation section; the first optimization module is used for identifying the initial map according to the storage information of all the materials to form a material identification map; the third acquisition module is used for acquiring carrying information of the carrying mechanism; the second optimization module is used for screening the material identification map according to the carrying information of the carrying mechanism to obtain a transportation map.
The proposal discloses an AGV map optimization method based on resource screening. And marking and editing the AGV map resources for the second time according to different material types, such as conditions of light solid dangerous goods materials, medium solid dangerous goods materials and the like, and caching the AGV map resources into the dispatching system. After a task is issued, the scheduling system screens material information according to a decision tree classification algorithm based on the material information and the possible transportation states of the AGVs, filters out special regions which cannot walk, generates a proper map for the current task, and then draws an optimal route according to the existing route planning and calculation rules, so that different materials are transported in the specific regions, the AGVs in different states are transported in different routes, and the transportation safety and the production efficiency are greatly improved.
The specific implementation method of the invention is as follows:
s1, editing the map twice, marking the material identification:
after a complete map route is drawn on site, the map is edited for the second time according to the material information, each material corresponds to a material identifier, the materials are marked on the map, the map file is stored after the required marks are confirmed to be correct, and the map file is loaded into the internal cache of the system when the scheduling system is started and initialized. The marks are based on material properties, such as form, risk level, weight, and the details of the marks are as follows:
the identification comprises: no mark (common point), light solid material (hazardous/non-hazardous), light liquid material (hazardous/non-hazardous), light gas material (hazardous/non-hazardous), medium solid material (hazardous/non-hazardous), medium liquid material (hazardous/non-hazardous), medium gas material (hazardous/non-hazardous), heavy solid material (hazardous/non-hazardous), heavy liquid material (hazardous/non-hazardous), heavy gas material (hazardous/non-hazardous).
The mark identification implementation mode is as follows: in the map file, points and edges needing to be marked are selected, attribute identifications corresponding to all material types are given to the points and the edges, single marking can be carried out according to path points, and marking can also be carried out according to regional classification.
S2, setting material types, and issuing tasks:
after the system is started, firstly material information to be carried is added to a material management module of the system, and secondly, when a transportation order is created, corresponding material information is selected from the system according to the material information carried by the current trolley. Wherein the material management data is stored in a database so that the added material type can be read each time the system is started.
And S3, selecting a proper map according to the material information and planning an optimal route:
s31 classifies the map tagging resources:
as shown in fig. 3, which is a partial schematic diagram, the triangular shape is the mark of material a (heavy solid material hazardous area), the square shape is the mark of material B (medium gas material non-hazardous area), the hexagonal shape is the mark of material C (medium gas material hazardous area), and the circular shape is a common point.
S32, screening map resources according to the task order:
an existing batch of non-hazardous gas material orders with the weight of 300kg need to be sent to a station A7 from a station E2, after a task order is issued, the system is screened through a decision tree classification algorithm, and is divided into medium-sized gas non-hazardous material types according to material information of the task order, so that path points marked by other special areas and sides are not included in a map of the task order, the situation that special area sections are taken into consideration during planning and transportation safety is guaranteed is avoided, the finally planned route is a route with a solid triangular arrow at the tail part as shown in the figure, and if the mechanism is not added, the scheduling system plans a solid arrow route as shown in the figure and passes through a special area of a material C, and safety accidents such as collision and material dumping and gas leakage can occur.
The screening process of the decision tree classification algorithm comprises the following steps: as shown in fig. 2, each leaf node represents a category. According to the task material identification, screening is started, firstly, a system can self-check and judge whether all point and edge elements are marked or not, if not, the point and edge elements are classified as common points, if the point and edge elements are marked, material weight screening is firstly carried out, three threshold value divisions are set, the point and edge elements belong to light materials in 0-100kg, medium materials in 100-500kg and heavy materials in more than 500kg, and after classification is carried out according to the weight of the materials, final division is carried out according to the material forms (solid, liquid and gas) and whether the point and edge elements are dangerous goods, and finally, the task material identification is correctly classified to screen a proper map.
Wherein, the classification rule is that the marked points and edges are exclusive points and edge elements of each map, and the unmarked points and edges are points and edges contained in each map, namely common points and edge elements, therefore, the map after screening is: the complete map comprises all existing point and edge elements, including marked and unmarked points and edge elements, and the multiple maps only comprise respective exclusive material identifiers and unmarked point and edge elements (common points and edges).
S4 acts on the scheduling method for realizing the automatic selection of the optimal map route through the steps, compared with the previous scheduling method, the method can combine factors such as material types, greatly improve the safety of different material transportation under different scenes, and effectively improve the transportation efficiency of the AGV through the monitoring of the AGV state, the screening of the route and the like.
The application object of the invention is not limited to the AGV trolley, and can also be applied to similar transport scheduling tools which take map coordinates as moving point positions, such as two-dimensional code AGV, laser AGV and the like.
The invention solves the following problems: the running route of the AGV is prevented from being reduced due to the limitation of a special environment area, and the transportation efficiency of the AGV is improved. The method aims at the problems that general production scenes are dense, the lifting states of the AGV are different, and a passable route is limited. If the temporary material parking area is frequently delivered to and stored in a warehouse, the placing position of the materials is uncertain, and although an empty vehicle without a material rack can pass under the materials, in order to prevent an AGV with the material rack from planning a route to cause collision of the material rack, an independent area needs to be planned to serve as a warehouse space, and the efficiency is sacrificed; for example, in some scenarios, a single passage is planned for transporting emergency materials. After the multiple maps are created, part of the area is set as the no-pass marks of the AGV with the rack, and the AGV with the rack filters out the lines with the set marks when selecting the route, so that the empty vehicles can still pass under the rack, and the efficiency is improved. The problem of the safety of AGV collision pouring is solved. The AGV has the advantages that loading of the AGV is prevented from entering other material conveying areas or areas such as areas where loading is not allowed, for some specific areas, in order to prevent collision and material dumping accidents, safety is guaranteed, the AGV is not allowed to pass through according to regulations, such as dense areas for material warehouse-out operation and the like, or other material types of operation areas are not allowed to pass through according to regulations, therefore, under the mechanism of multiple maps, the AGV can select a corresponding transportation map according to an identification of issued tasks, routes which are not allowed to pass through are filtered, and accordingly safety and stability are guaranteed.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects: a series of experiments were performed based on industrial AGVs. According to different production scenes, the weight, the size, the risk degree and the like of transported materials are divided, finally, part of lines of a map are marked and cached in a dispatching system, when a transportation task of the specified materials is received, based on material information and the possible transportation state of an AGV, a special area such as a risk area is screened according to a decision tree classification algorithm, and a map is generated.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present application unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present application, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the case of not making a reverse description, these directional terms do not indicate and imply that the device or element being referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present application; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of protection of the present application is not to be construed as being limited.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A map optimization method is characterized in that the map optimization method is used for acquiring a transportation map of a carrying mechanism in a transportation section according to the carrying condition of the carrying mechanism, and the map optimization method comprises the following steps:
acquiring initial map information of the transportation interval, wherein the initial map is formed by drawing according to the positions of the carrying mechanism at all stop stations of the transportation interval;
acquiring storage information of all materials in the transportation section, and identifying the initial map according to the storage information of all the materials to form a material identification map;
and acquiring the carrying information of the carrying mechanism, and screening the material identification map according to the carrying information of the carrying mechanism to obtain the transportation map.
2. The map optimization method of claim 1, wherein identifying the initial map according to the storage information of all the materials to form a material identification map comprises:
acquiring storage position information and storage attribute information of all materials in the transportation section, wherein the storage attribute information comprises form information of the materials, weight information of the materials and danger degree information of the materials;
and identifying all stop stations on the initial map according to the storage position information of all the materials in the transportation section and the storage attribute information corresponding to the storage position information.
3. The map optimization method of claim 2, wherein identifying all stop sites on the initial map according to the storage location information of all materials of the transportation section and the storage attribute information corresponding to the storage location information comprises:
comparing the storage position information with the position information of the stop station, and judging whether the stop station stores the materials or not according to the comparison result of the storage position information and the position information of the stop station;
when the parking station is judged to store the materials, identifying the corresponding storage attribute information at the parking station;
and when the stop station is judged not to store the materials, giving up the identification of the stop station.
4. The map optimization method of claim 1, wherein obtaining the vehicle information of the vehicle comprises:
and acquiring the position information of a stop station corresponding to the transportation starting point of the carrying mechanism, the position information of a stop station corresponding to the transportation end point of the carrying mechanism and the material attribute information of the carried material of the carrying mechanism.
5. The map optimization method of claim 1, wherein the screening of the material identification map according to the carrying information of the carrying mechanism to obtain the transportation map comprises:
and classifying and screening the material identification map by using a decision tree classification algorithm, and combining the classified map with the carrying information of the carrying mechanism to obtain the transportation map.
6. The map optimization method of claim 5, wherein the classifying and screening the material identification map by using a decision tree classification algorithm comprises:
and classifying the stop sites of the material identification map according to the identification, the weight, the form and the condition of the weight and whether the stop sites are dangerous goods by using a decision tree classification algorithm, and screening the classified stop sites.
7. The map optimization method of claim 6, wherein the classification of the stop sites of the material identification map according to the identification, the weight, the form and the dangerous goods by using a decision tree classification algorithm comprises:
determining whether the docking station is identified; when the stop station is identified, judging the stop station as an identification point; when the docking station is not identified, determining that the docking station is a common point;
judging the weight of the identification point to divide the weight of the material of the identification point into light, medium and heavy;
judging the form condition of the identification point to divide the material form of the identification point into gas, solid and liquid;
and judging whether the identification point is a dangerous article or not so as to divide the material of the identification point into a dangerous article and a safe article.
8. The map optimization method of claim 7, wherein the screening of the classified docking stations comprises:
and eliminating the mark points of the materials different from the carrying materials of the carrying mechanism, and keeping the common points and the mark points of the materials same as the carrying materials of the carrying mechanism to form the transportation map.
9. A non-volatile storage medium characterized by comprising a program that employs the map optimization method of any one of claims 1 to 8.
10. A map optimization system, which is used for acquiring a transportation map of a carrying mechanism in a transportation section according to the carrying condition of the carrying mechanism, and comprises:
the first acquisition module is used for acquiring initial map information of the transportation section;
the second acquisition module is used for acquiring the storage information of all the materials in the transportation section;
the first optimization module is used for identifying the initial map according to the storage information of all the materials to form a material identification map;
the third acquisition module is used for acquiring the carrying information of the carrying mechanism;
and the second optimization module is used for screening the material identification map according to the carrying information of the carrying mechanism so as to obtain the transportation map.
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