Automatic guided vehicle based on map matching and guide method of automatic guided vehicle

Abstract

The invention provides an automatic guided vehicle based on map matching and a guide method of the automatic guided vehicle. The automatic guided vehicle comprises a map creation module, a location module, a human-machine interaction module, a route planning module, an autonomous navigation module and a dispatching system module, wherein the map creation module is used for creating an environmental map; the automatic guided vehicle utilizes the carried location module to match the observed local environmental information with a preliminarily created global map to obtain pose information under the global situation; the human-machine interaction module is used for displaying the information and working state of the automatic guided vehicle in the map in real time; the route planning module is used for planning a feasible optimum route in the global map; the automatic guided vehicle is autonomously navigated by virtue of the autonomous navigation module according to the planned route; the dispatching system module is used for dispatching the automatic guided vehicle closest to a calling site to go to work. By adopting the automatic guided vehicle, no other auxiliary location facility is needed, no alteration is made for the environment, the capability of the automatic guided vehicle is completely depended, the automatic guided vehicle is utterly ignorant to the environment, and no priori information is provided.

Description

technical field [0001] The present invention relates to an automatic guided vehicle and its guidance method, in particular to an automatic guided vehicle based on map matching and its guidance method. Background technique [0002] With the vigorous development of the logistics industry in my country, the market demand for various high-end logistics equipment has expanded dramatically. At present, the main guidance methods are: electromagnetic guidance, laser guidance based on reflectors, visual guidance, and infrared guidance. There are many defects in the existing navigation technology, the specific technology is as follows: [0003] The Chinese invention patent application with publication number 104102222A discloses a method for precise positioning of AGVs. This method needs to pre-arrange several reflectors with certain intervals in the workplace, and obtain the coordinates of the reflectors in advance. The main disadvantages of this method are high cost and strict en...

AI Technical Summary

Problems solved by technology

The main disadvantages of this method are that it is more troublesome to change or expand the path, it is relatively troublesome to lay the guide line, the magnetic strip is easy to be damaged when laid on the ground, the limitation of the complex path is large, and the task is difficult to complete when there is a complex path

[0005] The Chinese invention patent application with the publication number 104122895A discloses an AGV visual navigation system. The main disadvantage is that it also needs to maintain the path and is greatly affected by the light.

[0006] The Chinese utility model patent application with the announcement number 202711064U discloses an AGV trolley guidance sensor device, which uses an infrared sensor for navigation. The main disadvantages are that the infrared sensor has a small detection range, less information, relatively low accuracy, and complicated The limitations of the path are also very large, and the task is difficult to complete when there is a complex path

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