CN113624249A

CN113624249A - Lock point operation execution method and device, electronic equipment and computer readable medium

Info

Publication number: CN113624249A
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: 2021-11-09
Anticipated expiration: 2041-08-26
Also published as: CN113624249B

Abstract

The embodiment of the disclosure discloses a lock point operation execution method, a lock point operation execution device, electronic equipment and a computer readable medium. One embodiment of the method comprises: determining the lock point boundary distance information of the automatic guided vehicle in response to the received key point location 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 performing locking point operation on 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 a field.

Description

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

Technical Field

The embodiment of the disclosure relates to the technical field of computers, in particular to a lock point operation execution method, a lock point operation execution device, electronic equipment and a computer readable medium.

Background

The locking point is a technology for locking a certain number of two-dimension code points in order to ensure the running continuity and safety of the automatic guided vehicle based on two-dimension code positioning during the running process of the automatic guided vehicle. At present, when performing lock point operation, the method generally adopted is as follows: the two-dimensional codes are fixed in the driving field of the automatic guided vehicle at equal intervals, the shortest distance between the two-dimensional codes meets the safe driving requirement of the automatic guided vehicle, and a certain number of two-dimensional code points on the driving axis of the automatic guided vehicle are locked in a rolling point locking mode.

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

the equidistant two-dimensional code point positions are only suitable for a partial rectangular field, the automatic guided vehicle can only stay on the equidistant two-dimensional code point positions to execute corresponding operation, and if a subsequent application scene is expanded and the automatic guided vehicle needs to stay between the two equidistant two-dimensional code point positions, all the equidistant two-dimensional code point positions in the field need to be adjusted, so that the expandability of a driving 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 the two-dimensional code points in the field, so that the automatic guided vehicle and the carried carrier which can be applied to the field are single, and the expansion of an application scene is not facilitated.

Disclosure of Invention

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary 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 above background section.

In a first aspect, some embodiments of the present disclosure provide a lock point operation execution method, including: 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; 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; and performing 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 the outline information of the automatic guided vehicle according to the key point location information; and determining the locking 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 contour information of the automatic guided vehicle includes: and in response to determining that the automatic guided vehicle is in an unloaded state, determining lock point boundary distance information of the automatic guided vehicle according to the profile information of the automatic guided vehicle.

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

Optionally, the determining 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 includes: determining a lock point reference coordinate by using the key point position 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 location information includes a key point location coordinate, the key point location coordinate is a center point coordinate of the automatic guided vehicle, and the lock point boundary distance information includes: a tail margin, a left margin and a right margin; and the determining a lock point reference coordinate by using the key point location information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set, including: rounding 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 values of the first multiple of the coordinate unit, the second multiple of the coordinate unit and 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; and translating the key point position coordinates 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.

Optionally, the performing a lock point operation on a map coordinate point included in the lock point region includes: selecting graph coordinate points from the lock point area as coordinate points to be locked to obtain a coordinate point set to be locked; determining a locking 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 a lock point state value representing locking.

Optionally, the performing a lock point operation on a map coordinate point included in the lock point region further includes: in response to determining that a lock point state value representing a locked coordinate point to be locked exists in the coordinate point set to be locked, determining whether each lock point state value representing the locked coordinate point to be locked in the coordinate point set to be locked is locked by the automatic guided vehicle; and in response to the fact that the coordinate point to be locked, which is represented by each locking point state value in the coordinate point set to be locked, is locked by the automatic guided vehicle, updating the locking point state value, which is represented by each locking point state value in the coordinate point set to be locked and is unlocked, of the coordinate point to be locked into the locking point state value which is represented by the locked coordinate point.

Optionally, the method further includes: in response to determining that a coordinate point locked by the automatic guided vehicle exists 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 into a lock point state value representing unlocking.

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

Optionally, the selecting a coordinate point of the graph from the lock point region as a coordinate point to be locked further includes: determining a central axis of the locking point area according to the driving 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 location 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 driving range of the automatic guided vehicle; dividing the two-dimensional map by a preset coordinate unit in the two-dimensional plane rectangular coordinate system to obtain a map coordinate point set; and selecting a preset number of map coordinate points from the map coordinate point set as key point position coordinate points to obtain a key point position coordinate point set.

Optionally, the method further includes: and sending a running instruction to the automatic guided vehicle in response to the fact that the execution of the locking point operation is successful.

In a second aspect, some embodiments of the present disclosure provide a lock point operation performing apparatus, including: the first determining unit is configured to respond to the fact that key point location information sent by an automatic guided vehicle is received, and determine locking point boundary distance information of the automatic guided vehicle; 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; and the execution unit is configured to execute lock point operation on the map coordinate points included in the lock point area.

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

Optionally, the second determining subunit further includes an obtaining module and a second determining module. The obtaining module is configured to respond to the fact that the automatic guided vehicle is determined to be in a carrying state, and obtain contour information of a carrier carried by the automatic guided vehicle; a second determining module configured to determine lock point boundary distance information of the automatic guided vehicle using the contour information of the automatic guided vehicle and the contour 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 determination subunit is configured to determine a lock point reference coordinate by using the key point location information, the lock point boundary distance information and the coordinate unit, so as to obtain a lock point reference coordinate set; a lock point region determination subunit configured to determine the lock point region based on the lock point reference coordinate set, the coordinate unit, and the lock point distance.

Optionally, the key point location information includes a key point location coordinate, the key point location coordinate is a center point coordinate of the automatic guided vehicle, and the lock point boundary distance information includes: a tail margin, a left margin and a right margin; and the lock point reference coordinate determination subunit includes: the system comprises an upward rounding module, a target edge distance determining module and a coordinate translation module. The upward rounding module is configured to round up 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 determination module configured to determine a product value of the first multiple of the coordinate unit, the second multiple of the coordinate unit, and the third multiple of the coordinate unit with the coordinate unit as a target trailing margin, a target left margin, and a target right margin, respectively; and the coordinate translation module is configured to translate the key point position 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 execution unit includes: the device comprises a selection subunit, a lock point state value determination subunit and a first updating subunit. The selection subunit is configured to select a coordinate point from the lock point region as a coordinate point to be locked, and 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 to-be-locked coordinate point in the to-be-locked coordinate point set; 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 be locked into the lock point state value representing the locked state 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 the unlocked state.

Optionally, the execution unit further includes a third determining subunit and a second updating subunit. The third determining subunit is configured to, in response to determining that a lock point state value representing a locked coordinate point to be locked exists in the coordinate point set to be locked, determine whether each lock point state value representing the locked coordinate point to be locked in the coordinate point set to be locked is locked by the automatic guided vehicle; and the second updating subunit is configured to update the lock point state value of each lock point state value in the coordinate point set to be locked, which represents the unlocked coordinate point to be locked, to the lock point state value which represents the locked coordinate point in response to the determination that each lock point state value in the coordinate point set to be locked represents that the locked coordinate point is locked by the automatic guided vehicle.

Optionally, the apparatus further includes a to-be-released coordinate point determining unit and an updating unit. The coordinate point to be released determining unit is configured to determine each coordinate point locked by the automatic guided vehicle outside the locking point area as a coordinate point to be released in response to determining that a coordinate point locked by the automatic guided vehicle exists outside the locking 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 a lock point state value representing unlocking.

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

Optionally, the selecting subunit further includes a central axis determining unit and a second determining module for a coordinate point to be locked. The central axis determining unit is configured to determine a central axis of the lock point area according to the driving direction of the automatic guided vehicle; and the second determination module of the coordinate point 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 establishing unit is configured to establish a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the driving range of the automatic guided vehicle; the dividing unit is configured to divide the two-dimensional map in a preset coordinate unit in the two-dimensional plane rectangular coordinate system to obtain a map coordinate point set; and the selecting unit is configured to select a preset number of map coordinate points from the map coordinate point set as key point coordinate points to obtain a key point coordinate point set.

Optionally, the apparatus further includes a sending unit configured to send a driving instruction to the automatic guided vehicle in response to determining that the execution of the lock point operation is successful.

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, cause the one or more processors to implement the method described in any of the implementations of the first aspect.

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

The above embodiments of the present disclosure have the following advantages: through the lock point operation execution method of some embodiments of the present disclosure, 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 carrier with any size can run safely in a field. Particularly, cause the scalability of automatic guide car route of traveling poor, can be applied to the automatic guide car in the place and carry the ware comparatively single, be unfavorable for the reason of the extension of using the scene to lie in: equidistant two-dimensional codes are fixed in the field, and only a certain number of two-dimensional code point positions on a driving central axis of the automatic guided vehicle are locked when the point locking operation is executed. Based on this, the lock point operation execution method of some embodiments of the present disclosure determines a lock point region according to lock point boundary distance information of an automatic guided vehicle, wherein an empty automatic guided vehicle or an automatic guided vehicle with a carrier is completely within the lock point region. And then, performing point locking operation on the map coordinate points in the point locking area to realize area point locking. Thus, the safe driving of the automatic guided vehicle and the vehicle carrier of any size in the field can be ensured. Meanwhile, when regional locking is carried out, the size and the locking distance of the automatic guide vehicle and the carrier are only needed to be considered, and the distance between the two-dimensional codes fixed in the field is not needed to be considered, so that the variable-distance two-dimensional code point position navigation can be realized, 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 various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements 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 diagram of some embodiments of a lock point operation execution method according to the present disclosure;

FIG. 3 is a flow diagram of further embodiments of a method of performing a lock point operation according to the present disclosure;

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

FIG. 5 is a schematic block 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 is to be understood that the 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 for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

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

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the 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 one application scenario of a lock point operation execution method of 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 automatic guided vehicle 102 in response to receiving the key point location information 103 sent by the automatic guided vehicle 102. Then, the computing device 101 may determine a lock point region 107 according to a preset coordinate unit 105, a preset lock point distance 106, the key point location information 103, and the lock point boundary distance information 104, where the lock point region 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, it may be implemented as a distributed cluster composed of multiple 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 enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And 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 implementation needs dictate.

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:

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

In some embodiments, an execution subject of the lock point operation execution method (e.g., the computing device 101 shown in fig. 1) may determine 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. Wherein, the lock point boundary distance information includes lock point edge distance. A numerical 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. The target distance value may be one-half of the longest side of the sides of the respective types of automated guided vehicles and the sides of the respective types of carriers in the automated guided vehicle travel field.

In some optional implementation manners 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 execution main body may further perform the following steps:

firstly, establishing a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the driving range of the automatic guided vehicle. In practice, the origin of coordinates and the positive direction of the coordinate axis of the two-dimensional rectangular plane coordinate system may be set according to practical applications, and are not specifically limited herein.

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

By way of example, the 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 as key point position coordinate points to obtain a key point position coordinate point set. The two-dimensional code can be fixed in the driving field of the automatic guided vehicle and the position represented by each key point position coordinate point in the key point position coordinate point set. A preset number of map coordinate points can be selected from the map coordinate point set according to the requirements of an actual application scene. The distances between each of the key point location coordinate points in the set of key point location coordinate points may be different.

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

Step 202, determining a lock point region 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 location information may include a unique key point location identifier. The key point location unique identifier may be used to uniquely identify one key point location. The key point position may be a coordinate point position of a fixed two-dimensional code in a driving field where the automatic guided vehicle travels. The unique key point location identifier in the key point location information may be identified by scanning a two-dimensional code fixed on a certain coordinate point location after the automatic guided vehicle reaches the coordinate point location of the fixed two-dimensional code. The corresponding relation between the key point location unique identifier and the key point location coordinate can be recorded in advance. The coordinates of the key point location represented by the key point location information can be determined according to the unique key point location identifier in the key point location information.

The determining, by the execution main 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 method comprises the steps of firstly, determining key point location coordinates corresponding to key point location unique identifications included in key point location information according to a corresponding relation between key point location unique identifications recorded in advance and key point location coordinates, and obtaining target key point location coordinates. The target key point position 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 rounding up 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.

And thirdly, respectively translating the coordinates of the target key point positions by the length of the target edge distance along two axis directions to obtain a corner point coordinate set. Wherein the set of corner point coordinates comprises 4 corner point coordinates. Each corner coordinate in the set of corner coordinates may enclose a rectangle.

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

And fourthly, extending the rectangle defined by the corner coordinates in the corner coordinate set along the running direction of the automatic guided vehicle based on the locking point distance to obtain a locking point area.

As an example, the traveling direction of the above-described automatic guided vehicle may be a lateral axis positive direction. The locking point distance may be 500 cm. The coordinates of the four corner points of the lock point region may be: (80, 120),(620, 100),(620, 80),(80, 80).

The lock point boundary distance information includes a lock point edge distance which is one half of the longest edge of the edge lengths of the automatic guided vehicles of the respective types and the carrier of the respective types in the automatic guided vehicle travel field. Therefore, the rectangle defined by the corner coordinate set determined by the lock point margin included in the lock point boundary distance information and the target key point coordinates may include each type of automatic guided vehicle and each type of vehicle carrier in the automatic guided vehicle driving field. Therefore, after subsequent locking points, any type of automatic guidance vehicle-mounted device can be safely moved.

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

In some embodiments, the execution subject may execute a lock point operation on all map coordinate points included in the lock point region. The map coordinate point is a coordinate point in which the ratio of the abscissa value to the ordinate value to the coordinate unit is an integer. The lock point operation may mark all map coordinate points included in the lock point region as occupied by the automated guided vehicle.

In some optional implementations of some embodiments, the execution main body may further send a running instruction to the automatic guided vehicle in response to determining that the execution of the lock point operation is successful.

With further reference to fig. 3, a flow 300 of further embodiments of a lock point operation execution method is illustrated. 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 location information sent by the automatic guided vehicle.

In some embodiments, the determining, by an execution subject (e.g., the computing device 101 shown in fig. 1) of the lock point operation execution method, 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 may include:

and step 3011, determining profile information of the automatic guided vehicle according to the key point location information.

The key point location information may include a key point location coordinate and an automatic guided vehicle unique identifier. The automatic guided vehicle unique identifier 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 automatic guided vehicle can be determined through the unique identification of the automatic guided vehicle included in the key point location information. The profile information includes an automatic guide vehicle rear margin and an automatic guide vehicle side margin. The key point location coordinates included in the key point location information may represent current coordinates of a center point of the automatic guided vehicle. The key point location coordinates in the key point location information may be identified by scanning the two-dimensional code fixed on the coordinate point location after the automatic guided vehicle reaches the coordinate point location of a certain fixed two-dimensional code. The auto-guided vehicle trailing edge distance may represent a vertical distance between a center point of the auto-guided vehicle and the auto-guided vehicle trailing edge. The automatic guide vehicle side distance may represent a vertical distance between a center point of the automatic guide vehicle and the automatic guide vehicle side. The trailing edge and the side edge are determined according to the traveling direction of the automatic guided vehicle.

And step 3012, determining the 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 guide vehicle tail margin and the automatic guide vehicle side margin included in the profile information and the preset buffer distance can be determined as a target tail margin and a target side margin, respectively. And determining the target tail margin and the target side margin as the lock point boundary distance information of the automatic guided vehicle.

The automatic guide vehicle tail margin and the automatic guide vehicle side margin are matched with the size of the automatic guide vehicle, but when the automatic guide vehicle-mounted loader is large in size, the safe driving of the automatic guide vehicle cannot be ensured by determining a lock point area through the automatic guide vehicle tail margin and the automatic guide vehicle side margin. Therefore, the automatic guide vehicle tail edge distance and the automatic guide vehicle side edge distance are amplified through the preset buffer distance, the target tail edge distance and the target side edge distance are obtained, and therefore the safe running of the automatic guide vehicle with the loader can be guaranteed.

In some optional implementations of some embodiments, the execution body may 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. The automatic guide vehicle rear margin and the automatic guide vehicle side margin included in the contour information can be directly determined as the lock point boundary distance information for determining the automatic guide 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:

in the first step, in response to the fact that the automatic guided vehicle is determined to be in a carrying state, contour information of a carrier carried by the automatic guided vehicle is obtained. The contour information of the carrier comprises a carrier tail edge distance and a carrier side edge distance. The trailing edge and the side edge are determined according to the traveling direction of the automatic guided vehicle. The carrying state may be a state of automatically guiding the on-vehicle loader.

And secondly, determining the locking 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. The maximum trailing edge distance and side edge distance of the carrier trailing edge distance and the carrier side edge distance included in the profile information of the carrier and the maximum trailing edge distance and side edge distance of the automatic guided vehicle side edge distance included in the profile information of the automatic guided vehicle may be determined as the lock point boundary distance information of the automatic guided vehicle.

Therefore, the locking point boundary distance information which is more consistent with the current size of the automatic guided vehicle can be determined respectively aiming at the no-load state and the carrying state of the automatic guided vehicle. Therefore, the situation that the finally determined locking point area is too large and occupies too much site driving resources is avoided.

And 302, determining a lock point reference coordinate by using the key point position information, the lock point boundary distance information and the coordinate unit to obtain a lock point reference coordinate set.

In some embodiments, the determining, by the execution main body, lock point reference coordinates by using the key point location information, the lock point boundary distance information, and the coordinate unit to obtain a lock point reference coordinate set may include:

and step one, respectively determining the product value of a numerical value obtained by upwards rounding the ratio of the automatic guide vehicle tail edge distance or carrier tail edge distance to the automatic guide vehicle side edge distance or carrier side edge distance to the coordinate unit, which is included in the lock point boundary distance information, and the coordinate unit as a target tail edge distance and a target side edge distance.

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

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

In some optional implementation manners of some embodiments, the key point location information includes a key point location coordinate, where the key point location 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 executing body may determine the lock point reference coordinate by using the key point location 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:

first, the ratios of the tail margin, the left margin and the right margin to the coordinate unit are rounded up to obtain a first multiple of the coordinate unit, a second multiple of the coordinate unit and a third multiple of the coordinate unit.

And secondly, respectively determining the product values of the first multiple of the coordinate unit, the second multiple of the coordinate unit and 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 key point position coordinates by using the target tail margin, the target left margin and the target right margin to obtain a lock point reference coordinate set, wherein the method comprises the following substeps:

the first substep is to translate the key point location coordinates included in the key point location information by the distance of the target trailing edge distance in the direction opposite to the direction of the automatic guided vehicle, to obtain translation coordinates.

A second substep of translating said translation coordinate by a distance of said target left margin along the left side of the direction perpendicular to said automated guided vehicle direction to obtain a lock point reference coordinate.

And a third substep of translating the translation coordinate by the distance of the target right margin along the right side in the direction perpendicular to the automatic guidance traveling direction to obtain another lock point reference coordinate.

As an example, referring to fig. 4, first, the ratios of the trailing edge distance 401, the left edge distance 402, the right edge distance 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. Then, the product values of the coordinate unit first multiple 405, the coordinate unit second multiple 406, and the coordinate unit third multiple 407 with respect to the coordinate unit 404 are determined as a target trailing edge 408, a target left edge 409, and a target right edge 410, respectively. Finally, the key point position coordinates 411 are translated by using the target tail margin 408, the target left margin 409 and the target right margin 410, and a lock point reference coordinate set 412 is obtained.

And step 303, determining a lock point area according to the lock point reference coordinate set, the coordinate unit and the lock point distance.

In some embodiments, the determining the lock point region according to the lock point reference coordinate set, the coordinate unit, and the lock point distance may include:

first, the ratio of the locking point distance to the coordinate unit is rounded up to obtain a fourth multiple of the coordinate unit.

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

And thirdly, translating each locking point reference coordinate in the locking point reference coordinate set along the advancing direction of the automatic guided vehicle by the target locking point distance to obtain two new locking 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 the graph coordinate points from the lock point area as coordinate points to be locked to obtain a coordinate point set to be locked.

In some embodiments, the execution subject may select all map coordinate points from the lock point region as coordinate points to be locked, to obtain a set of coordinate points to be locked.

In some optional implementations of some embodiments, the execution subject may determine each map coordinate point on the area boundary of the lock point area as a coordinate point to be locked.

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

Optionally, the executing body selects a coordinate point from the lock point region as a coordinate point to be locked, and may further include the following steps:

the method comprises the following steps that firstly, a central axis of the locking point area is determined according to the running direction of the automatic guided vehicle. And the central axis of the locking 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 above-described lock point region is large, it is possible to include other automatic guided vehicles having a size smaller than the length and width of the lock point region in the lock point region. Therefore, the automatic guided vehicle collides with another automatic guided vehicle when traveling in the lock point region. Therefore, the map coordinate point on the central axis of the locking point area is used as the coordinate point to be locked, so that the situation can be avoided to a certain extent. The safety of the automatic guided vehicle in running is improved while excessive consumption of computing resources of an execution subject is reduced.

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

In some embodiments, the execution subject may determine a lock point state value of each coordinate point to be locked in the set of coordinate points to be locked. And the initial locking point state values of the map coordinate points represent unlocking. The execution main body stores lock point state values of all map coordinate points.

As an example, the above-described lock point state value may be 0 or 1. When the lock point status value is 0, it may indicate unlocking. When the lock point status value is 1, it can be characterized as being locked.

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 unlocking, updating the lock point state value of each to-be-locked coordinate point in the to-be-locked coordinate point set to represent a locked lock point state value.

In some embodiments, the execution subject may update the lock point state value of each coordinate point to be locked in the set of coordinate points to be locked to represent a locked lock point state value 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.

Step 307, in response to determining that the coordinate point to be locked exists in the coordinate point set to be locked, the coordinate point to be locked, which is locked and represented by the lock point state value, determines whether each lock point state value in the coordinate point set to be locked is locked by the automatic guided vehicle.

In some embodiments, the execution subject may determine, in response to determining that a lock point state value indicates that a locked coordinate point exists in the set of coordinate points to be locked, whether each lock point state value indicates that the locked coordinate point to be locked is locked by the automatic guided vehicle. 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 point to be locked is represented by the locking state value of each locking point in the coordinate point set to be locked or not can be determined according to the pre-recorded corresponding relation.

And 308, in response to the fact that the coordinate point to be locked, which is represented by each locking point state value in the coordinate point set to be locked and locked, is locked by the automatic guided vehicle, updating the locking point state value, which is represented by each locking point state value in the coordinate point set to be locked and unlocked, of the coordinate point to be locked, to the locking point state value which is represented by each locking point state value in the coordinate point set to be locked.

In some embodiments, the execution subject may update, in response to determining that each lock point state value in the set of to-be-locked coordinate points indicates that a locked to-be-locked coordinate point is locked by the automatic guided vehicle, a lock point state value of each lock point state value in the set of to-be-locked coordinate points indicates that an unlocked to-be-locked coordinate point is locked to indicate a locked lock point state value.

Step 309, in response to determining that the coordinate point locked by the automatic guided vehicle exists outside the lock point region, determining each coordinate point locked by the automatic guided vehicle outside the lock point region as a coordinate point to be released, and obtaining a coordinate point set to be released.

In some embodiments, the execution main body may determine, in response to determining that there is a coordinate point locked by the automatic guided vehicle outside the lock point region, each coordinate point locked by the automatic guided vehicle outside the lock point region as a coordinate point to be released, resulting in a set of coordinate points to be released. Wherein the coordinate point locked by the automatic guided vehicle may be determined to exist outside the lock point region according to a correspondence recorded in advance.

And 310, updating the lock point state value of each coordinate point to be released in the coordinate point set to be released into a lock point state value representing unlocking.

In some embodiments, the execution subject may update the lock point state value of each to-be-released coordinate point in the to-be-released coordinate point set to a lock point state value that indicates unlocking.

As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the flow 300 of the lock point operation execution method in some embodiments corresponding to fig. 3 embodies an expansion step of determining the lock point region. Therefore, the solutions described in the embodiments can determine the lock point areas respectively for the no-load state and the carrying state of the automatic guided vehicle, avoid locking irrelevant areas, avoid that the finally determined lock point areas are too large and occupy too many driving resources in a field, 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 methods shown in the above figures, the present disclosure provides some embodiments of a lock point operation performing apparatus, which correspond to those of the method embodiments shown in fig. 2, and which may be applied in various electronic devices in particular.

As shown in fig. 5, the lock point operation performing device 500 of some embodiments includes: a first determination unit 501, a second determination unit 502 and an execution unit 503. The first determining unit 501 is configured to determine, in response to receiving key point location information sent by an automatic guided vehicle, lock point boundary distance information of the automatic guided vehicle; a second determining unit 502 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 503 configured to execute a lock point operation on a map coordinate point 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 contour information of the automatic guided vehicle according to the key point location information; and a second determining subunit configured to determine the lock point boundary distance information of the automatic guided vehicle using the contour information of the automatic guided vehicle.

Optionally, the second determining unit 502 includes a lock point reference coordinate determining subunit and a lock point region determining subunit. The lock point reference coordinate determination subunit is configured to determine a lock point reference coordinate by using the key point location information, the lock point boundary distance information and the coordinate unit, so as to obtain a lock point reference coordinate set; a lock point region determination subunit configured to determine the lock point region based on the lock point reference coordinate set, the coordinate unit, and the lock point distance.

Optionally, the executing unit 503 includes: the device comprises a selection subunit, a lock point state value determination subunit and a first updating subunit. The selection subunit is configured to select a coordinate point from the lock point region as a coordinate point to be locked, and 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 to-be-locked coordinate point in the to-be-locked coordinate point set; 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 be locked into the lock point state value representing the locked state 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 the unlocked state.

Optionally, the execution unit 503 further includes a third determining subunit and a second updating subunit. The third determining subunit is configured to, in response to determining that a lock point state value representing a locked coordinate point to be locked exists in the coordinate point set to be locked, determine whether each lock point state value representing the locked coordinate point to be locked in the coordinate point set to be locked is locked by the automatic guided vehicle; and the second updating subunit is configured to update the lock point state value of each lock point state value in the coordinate point set to be locked, which represents the unlocked coordinate point to be locked, to the lock point state value which represents the locked coordinate point in response to the determination that each lock point state value in the coordinate point set to be locked represents that the locked coordinate point is 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 locked by the automatic guided vehicle outside the locking point area as a coordinate point to be released in response to determining that a coordinate point locked by the automatic guided vehicle exists outside the locking 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 a 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 establishing unit is configured to establish a two-dimensional plane rectangular coordinate system in a two-dimensional map representing the driving range of the automatic guided vehicle; the dividing unit is configured to divide the two-dimensional map in a preset coordinate unit in the two-dimensional plane rectangular coordinate system to obtain a map coordinate point set; and the selecting unit is configured to select a preset number of map coordinate points from the map coordinate point set as key point coordinate points to obtain a key point coordinate point set.

Optionally, the apparatus 500 further includes a sending unit configured to send a driving instruction to the automatic guided vehicle in response to determining that the lock point operation is successfully executed.

It will be understood that the elements described in the apparatus 500 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 500 and the units included therein, and are not described herein again.

Referring now to fig. 6, shown is a schematic diagram of an electronic device 600 suitable for use in implementing some embodiments of the present disclosure. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 6, electronic device 600 may include a processing means (e.g., central processing unit, graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with 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 necessary 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 via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 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 illustrates an electronic device 600 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams 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 illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

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. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination 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 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, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. 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, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications 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 network.

The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled 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 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; 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; and performing locking point operation on the map coordinate points included in the locking point area.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of 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 type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

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

The functions described herein above 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: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

Claims

1. A lock point operation execution method comprises the following steps:

determining lock point boundary distance information of an automatic guided vehicle in response to receiving key point location 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 location information and the lock point boundary distance information, wherein the lock point area comprises at least one map coordinate point;

and performing locking point operation on the map coordinate points included in the locking point area.

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

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

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

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

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

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

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

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

5. The method according to one of claims 1 to 4, wherein the determining 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 includes:

determining a lock point reference coordinate by using the key point position 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.

6. The method of claim 5, wherein the keypoint location information comprises keypoint location coordinates, the keypoint location coordinates being center point coordinates of the automated guided vehicle, the lock point boundary distance information comprising: a tail margin, a left margin and a right margin; and

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

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

respectively determining the product values of the first multiple of the coordinate unit, the second multiple of the coordinate unit and 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;

and translating the key point position coordinates 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.

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

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

determining a locking 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 a lock point state value representing locking.

8. The method of claim 7, wherein the performing a lock point operation on a map coordinate point included in the lock point region further comprises:

in response to determining that a coordinate point to be locked exists in the coordinate point set to be locked, wherein the coordinate point to be locked has a lock point state value representing locking, determining whether each lock point state value in the coordinate point set to be locked represents that the coordinate point to be locked has been locked by the automatic guided vehicle;

and in response to the fact that the coordinate point to be locked, which is represented by each locking point state value in the coordinate point set to be locked and locked, is locked by the automatic guided vehicle, updating the locking point state value, which is represented by each locking point state value in the coordinate point set to be locked and unlocked, of the coordinate point to be locked into the locking point state value which is represented and locked.

9. The method of claim 7 or 8, wherein the method further comprises:

in response to the fact that the 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 into a lock point state value representing unlocking.

10. The method of claim 7, wherein said selecting a coordinate point from the lock point region as a coordinate point to be locked comprises:

and determining each map coordinate point on the area boundary of the lock point area as a coordinate point to be locked.

11. The method of claim 10, wherein said selecting a coordinate point from said lock point region as a coordinate point to be locked further comprises:

determining a central axis of the locking point area according to the driving direction of the automatic guided vehicle;

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

12. The method of claim 1, wherein prior to the determining a lock point boundary of an automatic lead vehicle in response to receiving key point location information sent by the automatic lead vehicle, the method further comprises:

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

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

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

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

and sending a driving instruction to the automatic guided vehicle in response to the fact that the execution of the locking point operation is successful.

14. A lock point operation performing device comprising:

the first determination unit is configured to determine locking point boundary distance information of an automatic guided vehicle in response to receiving key point location information sent by the automatic guided vehicle;

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 a map coordinate point included in the lock point region.

15. 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, cause the one or more processors to implement the method of any one of claims 1-13.

16. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-13.