The invention relates to an automatic guide vehicle, an automatic guide 
system and a navigation method based on an ultrasonic range finder. The automatic guide vehicle comprises a drive 
chassis, an automatic guide vehicle body, a drive device, a 
gyroscope, a displacement 
encoder, a drive controller, an ultrasonic range finder receiving device and a controller, wherein the automatic guide vehicle body and the drive device are arranged on the drive 
chassis, the 
gyroscope, the displacement 
encoder, the drive controller, the ultrasonic range finder receiving device and the controller are arranged on the automatic guide vehicle body, and the 
gyroscope is used for acquiring a driving course angle of the automatic guide vehicle based on the ultrasonic range finder; the displacement 
encoder acquires the driving displacement of the automatic guide vehicle based on the ultrasonic range finder; the drive controller controls the drive device; the ultrasonic range finder receiving device which is arranged on the automatic guide vehicle body receives an ultrasonic 
signal and calculates a transmission distance value of the ultrasonic 
signal; and the controller is respectively electrically connected with the gyroscope, the encoder, the drive controller and the ultrasonic range finder receiving device and calculates a running 
route of the automatic guide vehicle based on the ultrasonic range finder according to the acquired course angle, the displacement and the distance value and controls the drive device to run through the drive controller.