An AGV body path planning system for artificial diamond synthesis

Abstract

The present invention relates to the technical field of AGV body path planning for synthetic diamond synthesis, and discloses an AGV body path planning system for synthetic diamond synthesis, including a host computer master control system and several AGV body main control modules, the AGV body main control modules including a long-distance ultrasonic ranging module, an image acquisition module, a navigation guidance module, a safety obstacle avoidance module and an error correction module; the host computer master control system and the body main control module are guided by the AGV visual guidance method of the body. The present invention controls the operation of several AGV bodies through the AGV visual guidance method to form an integrated system, and through the distance ultrasonic ranging module, the image acquisition module, the navigation guidance module, the safety obstacle avoidance module and the error correction module, there is no need for manual guidance to set up signs such as reflectors, and when the AGV car encounters an obstacle, it promptly corrects the error and returns to the route track, reduces the risk of collision, and improves safety performance and work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of AGV body path planning for artificial diamond synthesis, in particular to an AGV body path planning system for artificial diamond synthesis. Background Art

[0002] The current synthesis technology of artificial diamonds mainly uses a six-sided top press to synthesize diamonds using static high-pressure means using a metal catalyst method. AGV bodies are now needed to transport raw materials.

[0003] AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its travel path and behavior can be controlled by a computer, or its travel path can be established using an electromagnetic track that is attached to the floor. The unmanned transport vehicle relies on the information brought by the electromagnetic track to move and act.

[0004] However, in the prior art, the AGV must use pre-arranged reflective panels or tape areas as path positioning to complete the transportation function of a specific path. The path planning, positioning and obstacle avoidance of the AGV are restricted, resulting in a waste of resources and inconvenient operation. Summary of the invention

[0005] The present invention provides an AGV body path planning system for artificial diamond synthesis, which uses a distance ultrasonic ranging module, an image acquisition module, a navigation guidance module, a safety obstacle avoidance module and an error correction module to replace the manually arranged reflective plates for path planning, and has the beneficial effect of intelligent control. It solves the problem that in the prior art mentioned in the above background technology, the AGV car must use a pre-arranged reflective plate or tape area as a path positioning to complete the transportation function of a specific path, the path planning, positioning and obstacle avoidance of the AGV car are limited, resources are wasted, and operation is inconvenient.

[0006] The present invention provides the following technical solution: an AGV body path planning system for synthetic diamond synthesis, comprising a host computer master control system and a plurality of AGV body main control modules, wherein the host computer master control system and the plurality of AGV body main control modules are communicatively connected;

[0007] The host computer master control system includes a path management module, a traffic dispatch module, a GPS positioning module and a visual monitoring module;

[0008] The path management module is used to plan the paths of multiple ACG vehicles;

[0009] The traffic dispatch module is used to publish travel tasks with the vehicle body corresponding to each AGV and send the information to the AGV vehicle body main control module;

[0010] The GPS positioning module is used to store the path map information, and after different path planning, receive the GPS location information corresponding to each AGV body, and display it on the map information in real time;

[0011] The visual monitoring module is used to present the path map information to the manager in the form of a three-dimensional dotted line map, and obtain the status information of each AGV body on the map information;

[0012] The AGV body main control module includes a long-distance ultrasonic ranging module, an image acquisition module, a navigation guidance module, a safety obstacle avoidance module and an error correction module;

[0013] The host computer master control system and the vehicle body main control module are guided by the AGV visual guidance method of the vehicle body;

[0014] The AGV visual guidance method comprises a first stage of triggering a set condition execution stage of a system initialization device, a second stage of continuous execution during system operation, and a third stage of generating deviations and correcting errors during system operation;

[0015] The first stage is the adaptive learning stage, and its specific steps are as follows:

[0016] S1, path image preprocessing, collecting road images through the image acquisition device in the image acquisition module, and transmitting the images and videos to the path management module;

[0017] The second stage is the road surface detection and planning stage during operation, and its steps are as follows;

[0018] S2, automatically selects and plans multiple routes based on road sample information, selects clear samples from the determined road video and imaging, and marks the left and right sides of the road surface and intersections to determine the sample area;

[0019] S3, extracting the offset and curvature radius of the travel reference line from the path information, and calculating a reasonable travel speed and turning radius value;

[0020] S4, the host computer master control system combines the offset and curvature radius of the extracted travel reference line to calculate the reasonable travel speed and turning radius value and stores them in the path management module;

[0021] The traffic dispatch module is used to publish the travel tasks for the vehicle body corresponding to each AGV, and the information is sent to the AGV vehicle body main control module for running the travel;

[0022] Deviations are generated during operation in the third stage and then errors are corrected;

[0023] S5, when the AGV body main control module receives the travel task and the travel task issued by the traffic dispatch module deviates from the map information, the map information is marked with red as the deviation information, and an alarm command and a stop command are issued;

[0024] S6, calculate the deviation value between the deviation information and the original path information, calculate the distance on the road, and then issue an error correction command to the AGV body main control module to restore the travel operation state.

[0025] As an optional solution of the AGV vehicle path planning system for synthetic diamond synthesis described in the present invention, wherein: the distance ultrasonic ranging module is used to perform ultrasonic ranging on both sides of the road;

[0026] The image acquisition module is used to collect and store cargo image information, charging pile location, insulation box location, graphite block image information, road surface information, obstacle information, and image information;

[0027] The navigation guidance module is used to perform navigation guidance on the travel route.

[0028] As an optional solution of the AGV vehicle body path planning system for synthetic diamond synthesis described in the present invention, wherein: the safety obstacle avoidance module is used to urgently identify and remind obstacle information on the road surface, and then change the travel route;

[0029] The error correction module is used to correct the erroneous positioning and the travel deviation during the travel and then restore the initial travel to issue instructions.

[0030] As an optional solution of the AGV vehicle body path planning system for synthetic diamond synthesis described in the present invention, wherein: the AGV vehicle body main control module also includes a power supply module and a motor drive module;

[0031] The power supply module is used to reserve power supply equipment and emergency power supply batteries, and a charging pile is set to automatically charge reminders and set automatic charging paths when the AGV body is not in use;

[0032] The motor drive module is used to drive the AGV body and is provided with a parameter monitoring unit to regularly monitor the rotation speed information of the motor drive module.

[0033] As an optional solution of the AGV vehicle body path planning system for synthetic diamond synthesis described in the present invention, wherein: the path management module includes a map management unit and a path planning unit;

[0034] The path planning unit includes a path planning algorithm, and the path planning algorithm includes a shortest path algorithm, a shortest path with priority, a weighted path rule and a dynamic planning path algorithm.

[0035] As an optional solution of the AGV vehicle body path planning system for artificial diamond synthesis described in the present invention, wherein: the AGV vehicle body main control module also includes an inertia correction module;

[0036] The inertia correction module is used to perform inertia correction on the AGV body, establish a first initial standing posture at the first starting point by installing a laser radar, and record and store the first initial standing posture;

[0037] After each transport of the AGV body, the AGV body main control module performs inertia correction to restore the first initial standing posture.

[0038] As an optional solution of the AGV vehicle path planning system for artificial diamond synthesis described in the present invention, the image acquisition module includes a position sensor, a speed sensor, an acceleration sensor, a visual sensor, and multiple intelligent sensors for fusion.

[0039] As an optional solution of the AGV vehicle path planning system for synthetic diamond synthesis described in the present invention, the information in step S1 also includes:

[0040] a) Edge detection image processing;

[0041] b) Road pattern judgment and road centerline extraction: According to the overall distribution of the white road surface, it is determined whether the current road pattern is a straight road, a turning road, an intersection or a three-way intersection. The AGV path planning module uses different strategies for path planning for intersections and non-intersections according to the shape and pattern of the road, and extracts the corresponding travel reference curve.

[0042] As an optional solution of the AGV vehicle path planning system for artificial diamond synthesis described in the present invention, the host computer master control system adopts an industrial computer or a MUC controller.

[0043] As an optional solution of the AGV vehicle path planning system for synthetic diamond synthesis described in the present invention, wherein: the safety obstacle avoidance module includes a distance measurement unit, a reminder unit and an audible and visual alarm unit;

[0044] The distance measuring unit is used to measure the safe distance to obstacles during driving;

[0045] The reminder unit is used to ensure safe driving within a preset safety distance and to remind the driver when the distance exceeds the preset safety distance.

[0046] The preset distance value also includes a critical value;

[0047] The sound and light alarm unit performs sound and light alarm when a critical value is reached, and sends an alarm signal to the upper computer master control system.

[0048] The present invention has the following beneficial effects:

[0049] 1. This AGV body path planning system for synthetic diamond synthesis collects, stores, records and identifies cargo image information, charging pile location, insulation box location, graphite block image information, road surface information, obstacle information, and image information through an image acquisition module, and then transmits the data information to a navigation guidance module to carry out itinerary cargo transportation and move to various locations for work. It does not require manual guidance to set up reflective panels and other signs, and recognizes commands through image information;

[0050] Through the communication connection between the host computer master control system and several AGV body main control modules, the operation of several AGV bodies is controlled through the AGV visual guidance method to form an integrated system. There is no need for manual guidance to set reflective panels and other signs. The application is flexible and work efficiency is improved.

[0051] 2. This AGV body path planning system for synthetic diamond synthesis monitors the paths of multiple AGVs through path management modules, traffic dispatch modules, GPS positioning modules and visual monitoring modules, and keeps track of travel information at any time. When the AGV deviates from the map information, it not only marks and alarms immediately, but also can correct errors in time through error correction modules, and returns to the scheduled path for itinerary operation, thus reducing the need for manual operation due to erroneous driving, saving manual inspection and processing costs, and improving work efficiency.

[0052] Through the distance measurement unit, reminder unit and sound and light alarm unit in the safety obstacle avoidance module, the risk of collision is reduced when the AGV encounters an obstacle during its journey, and when a collision occurs, it stops and alarms immediately, thereby improving safety performance.

[0053] 3. The AGV body path planning system for artificial diamond synthesis, the power supply module and the motor drive module monitor the parameter information of the AGV vehicle, such as the power and motor speed, and provide timely reminders to improve safety. The inertia correction module corrects the inertia in time after each transport and returns to the first initial standing position, thereby improving the intelligence of the AGV vehicle during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a schematic diagram of the connection between the host computer master control system and the AGV body main control module of the present invention.

[0055] Figure 2 It is a schematic diagram of the overall control structure of the host computer of the present invention.

[0056] Figure 3 This is a schematic diagram of the structure of the AGV body main control module of the present invention.

[0057] Figure 4 Schematic diagram of the steps of the AGV visual guidance method of the present invention.

[0058] Figure 5 This is a schematic diagram of the steps of the first stage of the present invention, which is the adaptive learning stage. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] Example 1

[0061] AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path and has safety protection and various transfer functions. It is a transport vehicle that does not require a driver in industrial applications and uses a rechargeable battery as its power source. Generally, its travel path and behavior can be controlled by a computer, or its travel path can be established using an electromagnetic track that is attached to the floor. The unmanned transport vehicle relies on the information brought by the electromagnetic track to move and act.

[0062] However, in the prior art, the AGV must use pre-arranged reflective panels or tape areas as path positioning to complete the transportation function of a specific path. The path planning, positioning and obstacle avoidance of the AGV are restricted, resulting in a waste of resources and inconvenient operation.

[0063] The present invention provides the following technical solution: an AGV body path planning system for synthetic diamond synthesis, comprising a host computer master control system and a plurality of AGV body main control modules, wherein the host computer master control system and the plurality of AGV body main control modules are communicatively connected;

[0064] The host computer master control system includes a path management module, a traffic dispatch module, a GPS positioning module and a visual monitoring module;

[0065] The path management module is used to plan the paths of multiple ACG vehicles;

[0066] The traffic dispatch module is used to publish travel tasks with the vehicle body corresponding to each AGV and send the information to the AGV vehicle body main control module;

[0067] The GPS positioning module is used to store the path map information, and after different path planning, receive the GPS location information corresponding to each AGV body, and display it on the map information in real time;

[0068] The visual monitoring module is used to present the path map information to the manager in the form of a three-dimensional dotted line map, and obtain the status information of each AGV body on the map information;

[0069] The AGV body main control module includes a long-distance ultrasonic ranging module, an image acquisition module, a navigation guidance module, a safety obstacle avoidance module and an error correction module;

[0070] The host computer master control system and the vehicle body main control module are guided by the AGV visual guidance method of the vehicle body;

[0071] The AGV visual guidance method comprises a first stage of triggering a set condition execution stage of a system initialization device, a second stage of continuous execution during system operation, and a third stage of generating deviations and correcting errors during system operation;

[0072] The first stage is the adaptive learning stage, and its specific steps are as follows:

[0073] S1, path image preprocessing, collecting road images through the image acquisition device in the image acquisition module, and transmitting the images and videos to the path management module;

[0074] The second stage is the road surface detection and planning stage during operation, and its steps are as follows;

[0075] S2, automatically selects and plans multiple routes based on road sample information, selects clear samples from the determined road video and imaging, and marks the left and right sides of the road surface and intersections to determine the sample area;

[0076] S3, extracting the offset and curvature radius of the travel reference line from the path information, and calculating a reasonable travel speed and turning radius value;

[0077] S4, the host computer master control system combines the offset and curvature radius of the extracted travel reference line to calculate the reasonable travel speed and turning radius value and stores them in the path management module;

[0078] The traffic dispatch module is used to publish the travel tasks for the vehicle body corresponding to each AGV, and the information is sent to the AGV vehicle body main control module for running the travel;

[0079] Deviations are generated during operation in the third stage and then errors are corrected;

[0080] S5, when the AGV body main control module receives the travel task and the travel task issued by the traffic dispatch module deviates from the map information, the map information is marked with red as the deviation information, and an alarm command and a stop command are issued;

[0081] S6, calculate the deviation value between the deviation information and the original path information, calculate the distance on the road, and then issue an error correction command to the AGV body main control module to restore the travel operation state.

[0082] Wherein: the distance ultrasonic ranging module is used to perform ultrasonic ranging on both sides of the road;

[0083] The image acquisition module is used to collect and store cargo image information, charging pile location, insulation box location, graphite block image information, road surface information, obstacle information, and image information;

[0084] The navigation guidance module is used to perform navigation guidance on the travel route.

[0085] Wherein: the safety obstacle avoidance module is used to urgently identify and remind obstacles on the road surface, and then change the travel route;

[0086] The error correction module is used to correct the erroneous positioning and the travel deviation during the travel and then restore the initial travel to issue instructions.

[0087] The image acquisition module collects, stores, records and identifies cargo image information, charging pile location, thermal box location, graphite block image information, road pavement information and obstacle information, and then transmits the data information to the navigation guidance module to carry out the journey cargo transportation and move it to various locations for work. There is no need for manual guidance to set up reflective panels and other signs, and commands are recognized through image information.

[0088] The error correction module and the safety obstacle avoidance module can be used to urgently identify and warn of obstacles on the road, and the travel deviation can be corrected in time to restore the initial journey. This reduces the need for manual operation due to erroneous driving, saves manual inspection and processing costs, and improves work efficiency.

[0089] Through the communication connection between the host computer master control system and several AGV body main control modules, the operation of several AGV bodies is controlled through the AGV visual guidance method to form an integrated system. There is no need for manual guidance to set up reflective plates and other signs. The application is flexible and the work efficiency is improved.

[0090] The paths of multiple AGVs are monitored through the path management module, traffic dispatch module, GPS positioning module and visual monitoring module, and the travel information is under control at any time. When the AGV deviates from the map information, it is not only marked and alarmed in the first time, but also corrected in time through the error correction module, and the scheduled path is restored for travel operation, which reduces the need for manual operation due to erroneous driving, saves the cost of manual inspection and processing, and improves work efficiency.

[0091] Example 2

[0092] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the AGV body main control module also includes a power supply module and a motor drive module;

[0093] The power supply module is used to reserve power supply equipment and emergency power supply batteries, and a charging pile is set to automatically charge reminders and set automatic charging paths when the AGV body is not in use;

[0094] The motor drive module is used to drive the AGV body and is provided with a parameter monitoring unit to regularly monitor the rotation speed information of the motor drive module.

[0095] The power supply module and the motor drive module improve safety by monitoring parameter information such as power and motor speed and providing timely reminders.

[0096] Example 3

[0097] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the path management module includes a map management unit and a path planning unit;

[0098] The path planning unit includes a path planning algorithm, and the path planning algorithm includes a shortest path algorithm, a shortest path with priority, a weighted path rule and a dynamic planning path algorithm.

[0099] Intelligent computing can be reflected through the path planning algorithm. Through fuzzy control, neural networks, genetic algorithms and their combination, human experience can be simulated, nonlinearity can be approached, self-organization and self-learning functions can be achieved, and a certain degree of fault tolerance can be achieved. The application of these methods in path planning will make the mobile AGV more flexible and intelligent in a dynamic environment.

[0100] Example 4

[0101] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the AGV body main control module also includes an inertia correction module;

[0102] The inertia correction module is used to perform inertia correction on the AGV body, establish a first initial standing posture at the first starting point by installing a laser radar, and record and store the first initial standing posture;

[0103] After each transport of the AGV body, the AGV body main control module performs inertia correction to restore the first initial standing posture.

[0104] Through the inertia correction module, timely inertia correction is performed after each transport and the first initial standing posture is restored, thus improving the intelligence of the AGV during operation.

[0105] Example 5

[0106] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the image acquisition module includes a position sensor, a velocity sensor, an acceleration sensor, a visual sensor, and multiple intelligent sensors for fusion.

[0107] Example 6

[0108] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the information in step S1 also includes:

[0109] a) Edge detection image processing;

[0110] b) Road pattern judgment and road centerline extraction: According to the overall distribution of the white road surface, it is determined whether the current road pattern is a straight road, a turning road, an intersection or a three-way intersection. The AGV path planning module uses different strategies for path planning for intersections and non-intersections according to the shape and pattern of the road, and extracts the corresponding travel reference curve.

[0111] By simulating human experience, the straight roads, turning roads, intersections or three-way intersections in the road mode can simulate the path travel patterns of human experience, and then through the reference curve, the self-learning function is improved and a certain fault tolerance is achieved.

[0112] Example 7

[0113] This embodiment is an explanation based on the embodiment 1. For details, please refer to Figure 1-5 , wherein: the host computer master control system adopts an industrial computer or a MUC controller.

[0114] The safety obstacle avoidance module includes a distance measuring unit, a reminder unit and an audible and visual alarm unit;

[0115] The distance measuring unit is used to measure the safe distance to obstacles during driving;

[0116] The reminder unit is used to ensure safe driving within a preset safety distance and to remind the driver when the distance exceeds the preset safety distance.

[0117] The preset distance value also includes a critical value;

[0118] The sound and light alarm unit performs sound and light alarm when a critical value is reached, and sends an alarm signal to the upper computer master control system.

[0119] Through the distance measuring unit, reminder unit and sound and light alarm unit, when the AGV encounters an obstacle during its journey, the risk of collision is reduced, and in the event of a collision, it stops and alarms immediately, thereby improving safety performance.

[0120] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0121] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An AGV body path planning system for synthetic diamond synthesis, including a host computer master control system and several AGV body main control modules, characterized in that: The host computer master control system is communicatively connected with several AGV body main control modules; The host computer master control system includes a path management module, a traffic dispatch module, a GPS positioning module and a visual monitoring module; The path management module is used to plan the paths of multiple ACG vehicles; The traffic dispatch module is used to publish travel tasks with the vehicle body corresponding to each AGV and send the information to the AGV vehicle body main control module; The GPS positioning module is used to store the path map information, and after different path planning, receive the GPS location information corresponding to each AGV body, and display it on the map information in real time; The visual monitoring module is used to present the path map information to the manager in the form of a three-dimensional dotted line map, and obtain the status information of each AGV body on the map information; The AGV body main control module includes a long-distance ultrasonic ranging module, an image acquisition module, a navigation guidance module, a safety obstacle avoidance module and an error correction module; The host computer master control system and the vehicle body main control module are guided by the AGV visual guidance method of the vehicle body; The AGV visual guidance method comprises a first stage of triggering a set condition execution stage of a system initialization device, a second stage of continuous execution during system operation, and a third stage of generating deviations and correcting errors during system operation; The first stage is the adaptive learning stage, and its specific steps are as follows: S1, path image preprocessing, collecting road images through the image acquisition device in the image acquisition module, and transmitting the images and videos to the path management module; The second stage is the road surface detection and planning stage during operation, and its steps are as follows; S2, automatically selects and plans multiple routes based on road sample information, selects clear samples from the determined road video and imaging, and marks the left and right sides of the road surface and intersections to determine the sample area; S3, extracting the offset and curvature radius of the travel reference line from the path information, and calculating a reasonable travel speed and turning radius value; S4, the host computer master control system combines the offset and curvature radius of the extracted travel reference line to calculate the reasonable travel speed and turning radius value and stores them in the path management module; The traffic dispatch module is used to publish the travel tasks for the vehicle body corresponding to each AGV, and the information is sent to the AGV vehicle body main control module for running the travel; Deviations are generated during operation in the third stage and then errors are corrected; S5, when the AGV body main control module receives the travel task and the travel task issued by the traffic dispatch module deviates from the map information, the map information is marked with red as the deviation information, and an alarm command and a stop command are issued; S6, calculate the deviation value between the deviation information and the original path information, calculate the distance on the road, and then issue an error correction command to the AGV body main control module to restore the travel operation state.

2. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1 is characterized in that: The ultrasonic distance measurement module is used to perform ultrasonic distance measurement on both sides of the road; The image acquisition module is used to collect, store, record and identify cargo image information, charging pile location, insulation box location, graphite block image information, road surface information, obstacle information and image information; The navigation guidance module is used to perform navigation guidance on the travel route.

3. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The safety obstacle avoidance module is used to urgently identify and remind obstacles on the road surface, thereby changing the travel route; The error correction module is used to correct the erroneous positioning and the travel deviation during the travel and then restore the initial travel to issue instructions.

4. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The AGV body main control module also includes a power supply module and a motor drive module; The power supply module is used to reserve power supply equipment and emergency power supply batteries, and a charging pile is set to automatically charge reminders and set automatic charging paths when the AGV body is not in use; The motor drive module is used to drive the AGV body and is provided with a parameter monitoring unit to regularly monitor the rotation speed information of the motor drive module.

5. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The path management module includes a map management unit and a path planning unit; The path planning unit includes a path planning algorithm, and the path planning algorithm includes a shortest path algorithm, a shortest path with priority, a weighted path rule and a dynamic planning path algorithm.

6. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The AGV body main control module also includes an inertia correction module; The inertia correction module is used to perform inertia correction on the AGV body, establish a first initial standing posture at the first starting point by installing a laser radar, and record and store the first initial standing posture; After each transport of the AGV body, the AGV body main control module performs inertia correction to restore the first initial standing posture.

7. The AGV vehicle path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The image acquisition module includes a position sensor, a velocity sensor, an acceleration sensor, a visual sensor, and multiple intelligent sensors for fusion.

8. The AGV vehicle path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The information in step S1 also includes: a) Edge detection image processing; b) Road pattern judgment and road centerline extraction: According to the overall distribution of the white road surface, it is determined whether the current road pattern is a straight road, a turning road, an intersection or a three-way intersection. The AGV path planning module uses different strategies for path planning for intersections and non-intersections according to the shape and pattern of the road, and extracts the corresponding travel reference curve.

9. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The host computer master control system adopts an industrial computer or a MUC controller.

10. The AGV vehicle body path planning system for synthetic diamond synthesis according to claim 1, characterized in that: The safety obstacle avoidance module includes a distance measuring unit, a reminder unit and an audible and visual alarm unit; The distance measuring unit is used to measure the safe distance from obstacles during driving; The reminder unit is used to ensure safe driving within a preset safety distance and to remind when the distance exceeds the preset safety distance. The preset distance value also includes a critical value; The sound and light alarm unit performs sound and light alarm when a critical value is reached, and sends an alarm signal to the upper computer master control system.

Images