CN116071458A - Electronic map reproduction system and method for AGV operation - Google Patents
Electronic map reproduction system and method for AGV operation Download PDFInfo
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- CN116071458A CN116071458A CN202310201563.6A CN202310201563A CN116071458A CN 116071458 A CN116071458 A CN 116071458A CN 202310201563 A CN202310201563 A CN 202310201563A CN 116071458 A CN116071458 A CN 116071458A
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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Abstract
The invention discloses an electronic map reproduction system and method for AGV operation, wherein the system comprises: the data receiving module is used for receiving the electronic map and map attribute configuration parameters; the map loading module is used for loading the electronic map; the data analysis module is used for analyzing the electronic map to obtain map element data; the map reproduction module is used for reproducing the electronic map according to the map attribute configuration parameters and the map element data to obtain a reproduction map; and the data communication module is used for communicating with the AGV to acquire the number, the position and the running state of the AGV so as to draw and update the AGV on the reproduction map in real time. According to the invention, map element data is obtained by analyzing the loaded electronic map, and the electronic map is reproduced according to map attribute configuration parameters to obtain the reproduction map, so that the development of a high-level integrated application program of the electronic map for the AGV can be carried out, and the integration level of the electronic map for the AGV operation and a dispatching system and the management efficiency of the AGV system are greatly improved.
Description
Technical Field
The invention relates to the technical field of image data reading and presentation, in particular to an electronic map reproduction system and method for AGV operation.
Background
AGV (Automated Guided Vehicle, automatic guided vehicle) systems of navigation modes such as magnetic point navigation, two-dimensional code navigation and laser navigation are widely applied in manufacturing industry, business and logistics industry, an electronic map route planning system is usually required to be developed in the AGV system in the navigation mode, a designer plans and designs an AGV operation route in the AGV electronic map route planning system, then the AGV is guided to scan markers such as magnetic points, two-dimensional codes and laser reflectors which are arranged on site, so that the markers are obtained in an electronic map, the markers are downloaded into the AGV and AGV management scheduling system after the electronic map planning is completed, the site AGV obtains the position of the site AGV in real time through a marker sensor and calculates with stored map information, and therefore autonomous operation of the AGV is achieved.
However, in practical applications, system integrators or AGV manufacturers are developing high-level application programs integrating different kinds of devices, and an AGV electronic map route planning system and an AGV management scheduling system are already standardized and platform-based products, so that a large number of clients need to develop application programs integrating functions of AGVs, production devices, detection devices, storage devices and the like, and hope to realize graphical, visual and integrated data application management functions.
Disclosure of Invention
The invention aims to provide an electronic map reproduction system and method for AGV operation, which are used for solving the problems that each system is isolated and difficult to manage in the route planning and management scheduling of the electronic map for AGV operation in the prior art.
In order to achieve the above object, the present invention provides an electronic map reproduction system for an AGV operation, the system comprising: the data receiving module is used for receiving the electronic map and map attribute configuration parameters; the map loading module is used for loading the electronic map; the data analysis module is used for analyzing the electronic map to obtain map element data; the map reproduction module is used for reproducing the electronic map according to the map attribute configuration parameters and the map element data to obtain a reproduction map; and the data communication module is used for communicating with the AGV to acquire the AGV number, the AGV position and the AGV running state so as to draw and update the AGV position and the AGV running state on the reproduction map in real time.
Preferably, the map element data includes a line number, and a feature point, a control point and a feature speed corresponding to the line number, wherein the feature point includes a start point, a target point and an intermediate point, and the map reproduction module further includes: an attribute drawing unit for drawing and updating the size and background color of the reproduction map according to the map attribute configuration parameters; the first line drawing unit is used for drawing corresponding line segments on the recurrence map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is 0; a second line drawing unit, configured to draw a corresponding spline curve on the recurrence map according to the feature points and the control points when the number of feature points corresponding to the line number is 2 and the number of control points is not 0; and a third line drawing unit, configured to draw a corresponding bezier curve on the recurrence map according to the feature points when the number of feature points corresponding to the line numbers is greater than 2.
Preferably, the map element data includes a start point position and a start point number, a target point position and a target point number, and a line number on the electronic map, and the map reproduction module further includes: a line color drawing unit configured to draw colors of the straight line segment, the spline curve, and the bezier curve as a first color in a case where the characteristic speed is a positive value, and draw colors of the straight line segment, the spline curve, and the bezier curve as a second color in a case where the characteristic speed is a negative value; a point drawing unit, configured to draw a start point and a number of the start point on the reproduction map according to the position of the start point and the number of the start point on the electronic map, and draw a target point and a number of the target point on the reproduction map according to the position of the target point and the number of the target point on the electronic map; and a line number drawing unit for drawing the number of the line on the reproduction map according to the line number on the electronic map.
Preferably, the map element data includes a marker position, a marker angle, and a position and content of a reference object, and the map reproduction module further includes: a marker drawing unit for drawing a marker on the reproduction map according to the marker position and the marker angle; and a reference drawing unit for drawing a reference on the reproduction map according to the position and content of the electronic map reference.
Preferably, the map reproduction module further comprises: the real-time drawing unit is used for drawing AGVs and AGV numbers on the reproduction map, and adjusting the AGV positions and the AGV appearances corresponding to the AGV numbers on the reproduction map in real time according to the AGV numbers, the AGV positions and the AGV operation states, wherein the AGV operation states and the AGV appearances are in one-to-one correspondence; and a map state drawing unit configured to perform setting of display/hidden switching operation for the number of the start point, the number of the target point, the number of the line, and the number of the AGV drawn on the reproduction map, and perform setting of zoom-in operation and zoom-out operation for the reproduction map.
Correspondingly, the invention also provides an electronic map reproduction method for AGV operation, which comprises the following steps: receiving the electronic map and map attribute configuration parameters; loading the electronic map; analyzing the electronic map to obtain map element data; reproducing the electronic map according to the map attribute configuration parameters and the map element data to obtain a reproduction map; and the AGV is communicated with the AGV to acquire an AGV number, an AGV position and an AGV running state, so that the AGV position and the AGV running state on the reproduction map are drawn and updated in real time.
Preferably, the map element data includes a line number, and feature points, control points and feature speeds corresponding to the line number, where the feature points include a start point, a target point and an intermediate point, and the reproducing the electronic map according to the map attribute configuration parameter and the map element data further includes: drawing and updating the size and background color of the reproduction map according to the map attribute configuration parameters; drawing corresponding straight line segments on the recurrence map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is 0; drawing a corresponding spline curve on the recurrence map according to the characteristic points and the control points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is not 0; and drawing a corresponding Bezier curve on the recurrence map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is larger than 2.
Preferably, the map element data includes a start point position and a start point number, a target point position and a target point number, and a line number on the electronic map, and the reproducing the electronic map according to the map attribute configuration parameter and the map element data further includes: drawing the colors of the straight line segment, the spline curve and the Bezier curve into a first color when the characteristic speed is positive, and drawing the colors of the straight line segment, the spline curve and the Bezier curve into a second color when the characteristic speed is negative; drawing the starting point and the number of the starting point on the reproduction map according to the position of the starting point and the number of the starting point on the electronic map, and drawing the target point and the number of the target point on the reproduction map according to the position of the target point and the number of the target point on the electronic map; and drawing the number of the line on the reproduction map according to the number of the line on the electronic map.
Preferably, the map element data includes a marker position, a marker angle, and a position and content of a reference object, and the reproducing the electronic map according to the map attribute configuration parameter and the map element data further includes: drawing a marker on the reproduction map according to the marker position and the marker angle; and drawing a reference object on the reproduction map according to the position and the content of the electronic map reference object.
Preferably, the reproducing the electronic map according to the map attribute configuration parameter and the map element data further includes: drawing an AGV and an AGV number on the reproduction map, and adjusting the AGV position and the AGV appearance corresponding to the AGV number on the reproduction map in real time according to the AGV number, the AGV position and the AGV running state, wherein the AGV running state corresponds to the AGV appearance one by one; and setting display/hidden switching operation for the number of the starting point, the number of the target point, the number of the line and the number of the AGV drawn on the reproduction map, and setting zoom-in operation and zoom-out operation for the reproduction map.
According to the invention, the electronic map is reproduced according to the map attribute configuration parameters and the map element data obtained by analyzing the loaded electronic map, so that the reproduction map is obtained, and therefore, the development of the high-level integrated application program of the electronic map can be carried out, and the integration level of the electronic map and the scheduling system and the management efficiency of the AGV system are greatly improved.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a block diagram of an electronic map reproduction system for AGV operation provided by the present invention.
FIG. 2 is a block diagram of another electronic map reproduction system for AGV operation provided by the present invention.
FIG. 3 is a flow chart of the electronic map reproduction method for AGV operation provided by the invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the scope of the invention.
Fig. 1 is a block diagram of an electronic map reproduction system for an AGV operation according to the present invention, and as shown in fig. 1, the system includes a map loading module 10, a data analyzing module 20, and a map reproduction module 30.
The data receiving module 10 is used for receiving the electronic map and the map attribute configuration parameters. Map attribute configuration parameters may be understood as appearance elements of the map, such as the size and background color of the electronic map.
The map loading module 20 is used for loading an electronic map. The electronic map is the map that needs to be reproduced, and the map loading module 20 loads the electronic map that needs to be reproduced.
The data parsing module 30 is configured to parse the electronic map to obtain map element data. The map element parameters can be understood as information elements needed for drawing a map, and the process of analyzing the electronic map to obtain the map element parameters can be realized in a mode of the prior art.
The map reproduction module 40 is configured to reproduce the electronic map according to the map attribute configuration parameters and the map element data, so as to obtain a reproduced map. In the case where the data parsing module 20 parses the map element data, the map rendering module 40 may render a map, that is, a process of rendering the electronic map loaded by the map loading module 20, according to the map attribute configuration parameters received by the data receiving module 10 and the information parsed by the data parsing module 30.
The data communication module 50 is configured to communicate with an AGV to obtain an AGV number, an AGV position, and an AGV running state, so as to perform real-time drawing and updating on the AGV position and the AGV running state on the reproduction map. Those skilled in the art will appreciate that the status of the AGV is constantly changing and the position of the AGV is changing in real time, so real time map updates of the position and status of the AGV are required. Generally, an electronic map corresponds to a plurality of AGVs, each having a unique AGV number in order not to be confused, and the data communication module 40 communicates with each AGV to obtain the position and operating status of each AGV. Those skilled in the art will appreciate that the process of real-time mapping updates to the AGVs, AGV positions and AGV operating states on the regeneration map is accomplished by the map regeneration module 40.
As shown in fig. 2, the map reproduction module 40 includes an attribute drawing unit 401, a first line drawing unit 403, a second line drawing unit 404, and a third line drawing unit 405.
The map element data may include a line number and feature points, control points, and feature speeds corresponding to the line number, wherein the feature points include a start point, a target point, and an intermediate point. The lines include a straight line and a curve line, the straight line is a straight line segment, the curve line is a curve with a limited length, the running path of the AGV includes a plurality of lines, and in order to distinguish the plurality of lines, each line is given a number, namely, the line number. The characteristic points are key points for determining the running path of the AGV, and comprise a starting point, a target point (which can be understood as an ending point) and a point where the AGV needs to turn, and the path (comprising a straight line and a curve line) between each starting point and a corresponding target point is a line and has a unique line number. The control point is a point for controlling the traveling path of the AGV, such as a point for controlling the speed or turning direction of the AGV. The characteristic speed is the running speed of the AGV. Generally, the running path of the AGV corresponding to one electronic map includes a plurality of lines, each line has its own line number, and the features corresponding to each line include feature points, control points and feature speeds.
The attribute drawing unit 401 is used to draw the size and background color of the updated reproduction map according to the map attribute configuration parameters. The attribute drawing unit 401 draws the size and background color of the reproduction map according to the map attribute configuration parameters received by the data receiving module 30. Wherein the map attribute configuration parameters may include a size and a background color of the electronic map, and the attribute drawing unit 401 may draw the size and the background color of the reproduction map according to the size and the background color of the electronic map.
The first line drawing unit 403 is configured to draw a corresponding line segment on the recurrence map according to the feature point when the number of feature points corresponding to the line number is 2 and the number of control points is 0. One line includes at least two feature points, namely a start point and a target point, that is, the number of feature points corresponding to one line number is at least 2, so that a line with the number of feature points of 2 indicates that the feature points corresponding to the line only include the start point and the target point, and a control point with the number of 0 indicates that no control point exists on the corresponding line. In other words, the first line drawing unit 403 is configured to draw a corresponding straight line segment, i.e., a line connecting the start point and the target point, on the reproduction map according to the start point and the target point in a case where there are only the start point and the target point on one line and there is no control point.
The second line drawing unit 404 is configured to draw a corresponding spline curve on the recurrence map according to the feature points and the control points when the number of feature points corresponding to the line number is 2 and the number of control points is not 0. The line with the number of control points other than 0 indicates that there is a control point corresponding to the line, so the second line drawing unit 404 is configured to draw a corresponding spline curve on the recurrence map according to the start point, the target point and the control point in the case that there is the start point, the target point and the control point on the line.
The third line drawing unit 405 is configured to draw a corresponding bezier curve on the recurrence map according to the feature points when the number of feature points corresponding to the line numbers is greater than 2. The number of feature points greater than 2 indicates that the feature points on one line include not only the start point and the target point, but also other feature points, that is, intermediate points, that is, the third line drawing unit 405 is configured to draw corresponding bezier curves on the recurrence map according to the feature points in the case where there are two or more feature points such as the start point, the target point, the intermediate point, and the like on one line. It should be understood that the starting point, the target point, the intermediate point, and the control point are all resolved by the data resolution module 30.
As shown in fig. 2, the map reproduction module 40 further includes a line color drawing unit 406 for drawing the colors of the straight line segment, the spline curve, and the bezier curve as a first color in the case where the feature speed is a positive value, and drawing the colors of the straight line segment, the spline curve, and the bezier curve as a second color in the case where the feature speed is a negative value. That is, the line color drawing unit 406 determines the colors of the straight line segment, the spline curve, and the bezier curve from the positive and negative values of the feature speed. The linear line segment, the spline curve and the Bezier curve can be collectively called as lines, the color of the lines drawn on the reproduction map is determined according to the positive value and the negative value of the characteristic speed, the color of the forward line is drawn under the condition that the speed is positive value, the color of the backward line is drawn under the condition that the speed is negative value, the color of the forward line and the color of the backward line are different, and the specific color can be determined according to specific conditions. It should be appreciated that the color of each line may not be one, that is, the direction of travel of the AGV over one line may include forward and reverse, then the line of the forward portion draws the color of the forward line and the line of the reverse portion draws the color of the reverse line. For example, the AGV forward line in the reproduction map may be represented as a dark blue color and the backward line may be represented as a red color.
The map element data may include a start point and a start point number, a target point and a target point number, and a line number on the electronic map, and as shown in fig. 2, the map reproduction module 40 further includes a point drawing unit 408 and a line number drawing unit 409.
The point drawing unit 408 is configured to draw the start point position and the number of the start point on the reproduction map according to the start point position and the start point number on the electronic map, and draw the target point and the number of the target point on the reproduction map according to the target point position and the target point number. Generally, an electronic map has a plurality of start points and target points, and in order not to be confused, each start point and each target point has a unique characteristic point number, and the point drawing unit 408 reproduces the numbers of the start points and the start points on the reproduction map according to the positions of the start points and the start point numbers on the electronic map, and reproduces the numbers of the target points and the target points on the reproduction map according to the positions of the target points and the target point numbers on the electronic map.
The line number drawing unit 409 is configured to draw the number of the line on the reproduction map according to the line number. Generally, an electronic map has a plurality of lines, and in order not to cause confusion, each line has a unique line number, and the line number drawing unit 409 reproduces the line numbers on the reproduction map according to the line numbers on the electronic map.
The map element data may include marker position, marker angle, and position and content of the reference. The marker position may be represented by an X-coordinate and a Y-coordinate, and the marker angle may be understood as the angle of the marker to the ground, which may be represented by an angle value.
As shown in fig. 2, the map reproduction module 40 further includes a marker drawing unit 407 and a reference drawing unit 410.
The marker drawing unit 407 is configured to draw markers on a reproduction map according to marker positions and marker angles. Those skilled in the art will appreciate that the AGV may record the AGV position by interaction with the marker as it passes the marker, and the data communication module 50 may then obtain the corresponding AGV position. For example, the laser navigation AGV system marker may be a laser reflecting plate, the two-dimensional code navigation AGV system marker may be a two-dimensional code, and the electromagnetic navigation AGV system marker may be a magnetic nail. It should be appreciated that the data parsing module 30 may parse the content of the resulting marker, from which the marker rendering unit 407 may render the marker.
The reference drawing unit 410 is used for drawing a reference on a reproduction map according to the position and content of the electronic map reference. The position of the electronic map reference object can be represented by an X coordinate and a Y coordinate, and the content of the electronic map reference object can be a preset or analyzed background picture or other external electronic exchange data files. The reference drawing unit 410 reproduces the reference on the reproduction map according to the position and content of the electronic map reference.
As shown in fig. 2, the map reproduction module 40 further includes real-time drawing units and 402 and a map state drawing unit 411.
The real-time drawing unit 402 is used for drawing AGVs and AGVs numbers on the reproduction map and adjusting AGVs positions and AGVs appearances corresponding to the AGVs numbers on the reproduction map in real time according to the AGVs numbers, AGVs positions and AGVs operation states, wherein, the AGVs operation states and the AGVs appearances are in one-to-one correspondence. The AGV position may be represented by an X coordinate and a Y coordinate, which are understood to be the coordinates of the electronic map on the loaded electronic map and the coordinates of the duplicate map on the duplicate map. The running states of the AGV may include, for example, idle, load, low power, traffic jam (blocking other AGVs), blocked (blocked by other AGVs), scram, failure, etc., and the different states of the AGV may have corresponding appearance legends, and the real-time drawing unit 402 may update the appearance of each AGV according to the running state of each AGV, that is, may adjust the appearance of the AGV according to the appearance legends of the different states of the AGV, for example, may adjust the color of the AGV on the reproduction map, etc.
The map state drawing unit 411 is used for setting display/hidden switching operations for the number of the start point, the number of the target point, the number of the line, and the AGV number drawn on the reproduction map, and for setting zoom-in operation and zoom-out operation for the reproduction map. After the map state drawing unit 411 completes the setting of the display/concealment switching operation, the zoom-in operation, and the zoom-out operation, the display/concealment switching operation of reproducing the start point number of the map, the number of the target point, the number of the line, and the AGV number can be realized by a shortcut key or a mouse, and the zoom-in and zoom-out operation of reproducing the map can also be realized by a shortcut key or a mouse wheel. This process may be implemented in a manner known in the art, and will not be described in detail herein.
The data analysis module 30 analyzes the electronic map in the process of reproducing the loaded electronic map, so that the file type, the file version, the creation time, the creator, the modification time, the modifier, the system name, the map name, the number of feature points, the number of lines, the number of markers, and the like of the electronic map can be obtained, and a technician can set the reproduced map according to actual conditions. The file type may include an electronic data exchange format such as XML, JSON, access.
FIG. 3 is a flowchart of the electronic map reproduction method for AGV operation provided by the invention, as shown in FIG. 3, the method includes:
step S301, receiving an electronic map and map attribute configuration parameters;
step S302, loading an electronic map;
step S303, analyzing the electronic map to obtain map element data;
step S304, the electronic map is reproduced according to the map attribute configuration parameters and the map element data to obtain a reproduced map;
and step S305, the AGV position and the AGV running state are obtained through communication with the AGV, so that the AGV position and the AGV running state on the reproduction map are drawn and updated in real time.
The map element data comprises line numbers, and feature points, control points and feature speeds corresponding to the line numbers, wherein the feature points comprise a starting point, a target point and an intermediate point, and the reproduction of the electronic map according to map attribute configuration parameters and the map element data further comprises: drawing and updating the size and background color of the reproduction map according to the map attribute configuration parameters; drawing corresponding straight line segments on the reproduction map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is 0; drawing a corresponding spline curve on the reproduction map according to the characteristic points and the control points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is not 0; and drawing a corresponding Bezier curve on the reproduction map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is larger than 2.
The map element data comprises a starting point position and a starting point number, a target point position and a target point number and a line number on the electronic map, and the reproduction of the electronic map according to the map attribute configuration parameters and the map element data further comprises: drawing the colors of the linear line segment, the spline curve and the Bezier curve into a first color when the characteristic speed is positive, and drawing the colors of the linear line segment, the spline curve and the Bezier curve into a second color when the characteristic speed is negative; drawing the starting point and the number of the starting point on the reproduction map according to the position of the starting point and the number of the starting point on the electronic map, and drawing the target point and the number of the target point on the reproduction map according to the position of the target point and the number of the target point on the electronic map; and drawing the line numbers on the reproduction map according to the line numbers on the electronic map.
The map element data comprises a marker position, a marker angle, a position and a content of a reference object, and the reproduction of the electronic map according to the map attribute configuration parameters and the map element data further comprises: drawing a marker on the reproduction map according to the marker position and the marker angle; and drawing the reference object on the reproduction map according to the position and the content of the reference object of the electronic map.
Wherein, the reproducing the electronic map according to the map attribute configuration parameters and the map element data further comprises: drawing an AGV and an AGV number on a reproduction map, and adjusting the AGV position and the AGV appearance corresponding to the AGV number on the reproduction map in real time according to the AGV number, the AGV position and the AGV operation state, wherein the AGV operation state corresponds to the AGV appearance one by one; setting the display/hidden switching operation for the numbers of the feature points and the numbers of the lines drawn on the reproduction map, and setting the zoom-in operation and the zoom-out operation for the reproduction map.
It should be noted that, the specific details and benefits of the electronic map reproduction method for the running of the AGV provided by the present invention are similar to those of the electronic map reproduction system for the running of the AGV provided by the present invention, and are not repeated herein.
The foregoing details of the optional implementation of the embodiment of the present invention have been described in detail with reference to the accompanying drawings, but the embodiment of the present invention is not limited to the specific details of the foregoing implementation, and various simple modifications may be made to the technical solution of the embodiment of the present invention within the scope of the technical concept of the embodiment of the present invention, and these simple modifications all fall within the protection scope of the embodiment of the present invention.
According to the electronic map system for AGV operation and the reproduction technology thereof, the existing designed electronic map can be provided for a third party application program, the electronic map system is used for developing a highly integrated high-level application program integrating data and a graphical operation interface by AGV manufacturers and system integrators, the development of the highly integrated application program is facilitated, the highly integrated management of equipment can be performed for end users, the operation and maintenance efficiency of the system is improved, standardized products can be formed for the AGV manufacturers and the system integrators, different users can input specific engineering application only by configuring map files, the electronic map system is simple and practical, the user experience is good, and the electronic map system has important significance in engineering application.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations of embodiments of the present invention are not described in detail.
In addition, any combination of various embodiments of the present invention may be performed, so long as the concept of the embodiments of the present invention is not violated, and the disclosure of the embodiments of the present invention should also be considered.
Claims (10)
1. An electronic map reproduction system for the operation of an AGV, comprising:
the data receiving module is used for receiving the electronic map and map attribute configuration parameters;
the map loading module is used for loading the electronic map;
the data analysis module is used for analyzing the electronic map to obtain map element data;
the map reproduction module is used for reproducing the electronic map according to the map attribute configuration parameters and the map element data to obtain a reproduction map; and
and the data communication module is used for communicating with the AGVs to acquire AGV numbers, AGV positions and AGV running states, so as to draw and update the AGV positions and the AGV running states on the reproduction map in real time.
2. The electronic map reproduction system for an AGV operation according to claim 1, wherein the map element data includes a line number and feature points, control points, and feature speeds corresponding to the line number, wherein the feature points include a start point, a target point, and an intermediate point, and the map reproduction module further includes:
an attribute drawing unit for drawing and updating the size and background color of the reproduction map according to the map attribute configuration parameters; and
a first line drawing unit, configured to draw a corresponding line segment on the recurrence map according to the feature points when the number of feature points corresponding to the line number is 2 and the number of control points is 0;
a second line drawing unit, configured to draw a corresponding spline curve on the recurrence map according to the feature points and the control points when the number of feature points corresponding to the line number is 2 and the number of control points is not 0; and
and the third line drawing unit is used for drawing a corresponding Bezier curve on the recurrence map according to the characteristic points when the number of the characteristic points corresponding to the line numbers is more than 2.
3. The electronic map reproduction system for an AGV operation according to claim 2, wherein the map element data includes a start point position and a start point number, a target point position and a target point number, and a line number on the electronic map, the map reproduction module further comprising:
a line color drawing unit configured to draw colors of the straight line segment, the spline curve, and the bezier curve as a first color in a case where the characteristic speed is a positive value, and draw colors of the straight line segment, the spline curve, and the bezier curve as a second color in a case where the characteristic speed is a negative value;
a point drawing unit, configured to draw a start point and a number of the start point on the reproduction map according to the position of the start point and the number of the start point on the electronic map, and draw a target point and a number of the target point on the reproduction map according to the position of the target point and the number of the target point on the electronic map; and
and the line number drawing unit is used for drawing the number of the line on the reproduction map according to the line number on the electronic map.
4. The electronic map reproduction system for an AGV operation according to claim 1 or 2, wherein the map element data includes a marker position, a marker angle, and a position and a content of a reference, the map reproduction module further comprising:
a marker drawing unit for drawing a marker on the reproduction map according to the marker position and the marker angle; and
and the reference object drawing unit is used for drawing the reference object on the reproduction map according to the position and the content of the electronic map reference object.
5. The electronic map reproduction system for operation of an AGV of claim 3, wherein the map reproduction module further comprises:
the real-time drawing unit is used for drawing AGVs and AGV numbers on the reproduction map, and adjusting the AGV positions and the AGV appearances corresponding to the AGV numbers on the reproduction map in real time according to the AGV numbers, the AGV positions and the AGV operation states, wherein the AGV operation states and the AGV appearances are in one-to-one correspondence; and
and the map state drawing unit is used for setting display/hiding switching operation on the number of the starting point, the number of the target point, the number of the line and the AGV number drawn on the reproduction map and setting zoom-in operation and zoom-out operation on the reproduction map.
6. An electronic map reproduction method for AGV operation is characterized in that the method comprises the following steps:
receiving the electronic map and map attribute configuration parameters;
loading the electronic map;
analyzing the electronic map to obtain map element data;
reproducing the electronic map according to the map attribute configuration parameters and the map element data to obtain a reproduction map; and
and the AGV is communicated with the AGV to acquire an AGV number, an AGV position and an AGV running state, so that the AGV position and the AGV running state on the reproduction map are drawn and updated in real time.
7. The method of reproduction of an electronic map for operation of an AGV according to claim 6, wherein the map element data includes a line number and feature points, control points, and feature speeds corresponding to the line number, wherein the feature points include a start point, a target point, and an intermediate point, and wherein the reproduction of the electronic map according to the map attribute configuration parameters and the map element data further includes:
drawing and updating the size and background color of the reproduction map according to the map attribute configuration parameters;
drawing corresponding straight line segments on the recurrence map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is 0;
drawing a corresponding spline curve on the recurrence map according to the characteristic points and the control points under the condition that the number of the characteristic points corresponding to the line numbers is 2 and the number of the control points is not 0; and
and drawing a corresponding Bezier curve on the recurrence map according to the characteristic points under the condition that the number of the characteristic points corresponding to the line numbers is larger than 2.
8. The method of reproducing an electronic map for an AGV operation according to claim 7, wherein the map element data includes a start point position and a start point number, a target point position and a target point number and a line number on the electronic map, and wherein reproducing the electronic map according to the map attribute configuration parameter and the map element data further comprises:
drawing the colors of the straight line segment, the spline curve and the Bezier curve into a first color when the characteristic speed is positive, and drawing the colors of the straight line segment, the spline curve and the Bezier curve into a second color when the characteristic speed is negative;
drawing the starting point and the number of the starting point on the reproduction map according to the position of the starting point and the number of the starting point on the electronic map, and drawing the target point and the number of the target point on the reproduction map according to the position of the target point and the number of the target point on the electronic map; and
and drawing the number of the line on the reproduction map according to the number of the line on the electronic map.
9. The electronic map reproduction method for an AGV operation according to claim 6 or 7, wherein the map element data includes a marker position, a marker angle, and a position and a content of a reference object, and the reproducing the electronic map according to the map attribute configuration parameter and the map element data further includes:
drawing a marker on the reproduction map according to the marker position and the marker angle; and
and drawing a reference object on the reproduction map according to the position and the content of the reference object of the electronic map.
10. The method of reproducing an electronic map for an AGV operation according to claim 8, wherein said reproducing the electronic map according to the map attribute configuration parameters and the map element data further comprises:
drawing an AGV and an AGV number on the reproduction map, and adjusting the AGV position and the AGV appearance corresponding to the AGV number on the reproduction map in real time according to the AGV number, the AGV position and the AGV running state, wherein the AGV running state corresponds to the AGV appearance one by one; and
and setting display/hiding switching operation on the number of the starting point, the number of the target point, the number of the line and the number of the AGV drawn on the reproduction map, and setting zoom-in operation and zoom-out operation on the reproduction map.
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