Multi-path autonomous navigation type automatic vehicle guiding system and control method thereof

Abstract

The invention discloses a multipath autonomous navigation type automatic vehicle guiding system and a control method thereof, the multipath autonomous navigation type automatic vehicle guiding system comprises a laser positioning module, a magnetic field positioning module, a navigation module and a control module, and is characterized in that the laser positioning module, the magnetic field positioning module and the navigation module are all controlled by the control module; the laser positioning module is used for controlling and adjusting the laser transmitter and the laser receiver; the magnetic field positioning module is used for controlling and adjusting the magnetic field generator and the magnetic field sensor; the magnetic field generators are uniformly arranged in the warehouse space, the magnetic field generators are arranged in an array mode in the same horizontal plane, the magnetic field intensity generated by the magnetic field generators changes periodically, and the laser emitters in one period are arranged in the magnetic field generators in one period; a space magnetic diagram is also arranged in the control module; therefore, through the fusion positioning technology, the positioning precision is improved, and through combination and complementation of various data, the positioning reliability is enhanced.

Description

Technical Field

[0001] The present invention relates to a field related to AGV trolley control, and in particular to a multi-path autonomous navigation automatic guided vehicle system and a control method thereof. Background Art

[0002] With the growing demand for automation and intelligence in the logistics industry, the automatic guided vehicle (AGV) trolley, as an important part of the modern logistics system, plays an increasingly important role in improving logistics efficiency and reducing operating costs. By integrating advanced positioning, navigation and path planning technologies, the AGV trolley can realize the automatic handling, storage and distribution of goods, bringing unprecedented convenience to modern warehouses and logistics centers. As the core component of logistics automation, the intelligent vertical warehouse system combines information technology, sensor technology, automatic control technology, etc., and realizes the automatic handling and storage of goods through the AGV trolley. In this system, the AGV trolley plays a key role, and its performance directly affects the operating efficiency and stability of the entire system. At present, the AGV trolley has a variety of positioning technologies, such as magnetic stripe navigation, QR code positioning, laser navigation, etc. These technologies have their own advantages and disadvantages, but there are some common problems, such as low positioning accuracy, poor environmental adaptability, and high cost. In order to solve these problems, researchers have begun to explore new positioning technologies, such as magnetic field and laser fusion positioning technology, to improve the positioning accuracy and reliability of AGV trolleys. Summary of the invention

[0003] The present invention overcomes the deficiencies of the prior art and provides a multi-path autonomous navigation automatic guided vehicle system and a control method thereof.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is: a control method of an AGV vehicle, comprising the following steps: S1: Establish a stable magnetic field through source magnetic technology, record the magnetic field in the warehouse, and construct a spatial magnetic map based on the magnetic field conditions; S2: Position the AGV by preliminary magnetic field positioning and laser precise positioning, and determine the initial position of the AGV; S3: Plan the AGV route, evaluate each route through the evaluation function, and obtain the best route; S4: Control the AGV to travel along the best route, and use the fusion positioning method of magnetic field initial positioning and laser positioning to perform real-time positioning of the AGV.

[0005] In a preferred embodiment of the present invention, in S1, the specific steps of establishing a stable magnetic field are: S11: Use a number of electromagnets as magnetic field generators, and evenly arrange the electromagnets in the warehouse to form a three-dimensional magnetic field; S12: Use the controller to electrically connect to a plurality of electromagnets respectively, evenly place a plurality of magnetic field sensors in the warehouse space, and connect the magnetic field sensors to the controller to form a magnetic field control system.

[0006] In a preferred embodiment of the present invention, the control system adjusts the current input to the electromagnet through the controller to control the magnetic field strength of the electromagnet, and transmits the detected magnetic field strength to the controller in real time through the magnetic field sensor, and then controls the current through the controller so that the magnetic field strength changes periodically in the plane.

[0007] In a preferred embodiment of the present invention, the three-dimensional magnetic field is to set electromagnets on the floor, walls and shelves of the warehouse to cover the entire driving path of the AGV.

[0008] In a preferred embodiment of the present invention, in S1, the spatial magnetic map is constructed by collecting magnetic field point data, wherein the point data includes magnetic field strength, direction and relative relationship of other points, and classifying and marking the magnetic field point data in three-dimensional software to form a spatial magnetic map.

[0009] In a preferred embodiment of the present invention, in S2, the preliminary magnetic field positioning is: a magnetic field sensor is installed on the AGV cart. When the AGV cart enters the warehouse, the magnetic field sensor detects the surrounding magnetic field, and compares the detection result with the spatial magnetic map to obtain the preliminary position of the AGHV cart; the laser precise positioning is: a laser receiver is installed on the AGV cart, and several laser transmitters are set within the period of the magnetic field, and the laser transmitter only emits lasers of one wavelength, so that the AGV cart receives lasers of different wavelengths to determine the specific position of the AGV cart.

[0010] In a preferred embodiment of the present invention, in S3, the path planning is that after the initial position and the target position of the AGV vehicle are clarified, the AGV vehicle automatically generates several routes, and the vehicle evaluates each path through an evaluation function to obtain the optimal path, wherein the evaluation includes factors affecting the efficiency and safety of the AGV vehicle, such as the length of the path, the number of obstacles, and the rate of change of the magnetic field.

[0011] A multi-path autonomous navigation automatic guided vehicle system, comprising a laser positioning module, a magnetic field positioning module, a navigation module and a control module, characterized in that: the laser positioning module, the magnetic field positioning module and the navigation module are all controlled by the control module; The laser positioning module is used to control and adjust the laser transmitter and the laser receiver; the magnetic field positioning module is used to control and adjust the magnetic field generator and the magnetic field sensor; and a control system is arranged in the control module.

[0012] In a preferred embodiment of the present invention, the magnetic field generators are evenly arranged inside the warehouse space. The magnetic field generators are arranged in an array in the same horizontal plane. The magnetic field intensity generated by the magnetic field generators changes periodically. The laser wavelength emitted by each laser emitter also changes periodically. One period of laser emitters is arranged in one period of magnetic field generators. A spatial magnetic map is also provided in the control module.

[0013] The present invention solves the defects existing in the background technology and has the following beneficial effects: (1) The present invention provides a multi-path autonomous navigation automatic guided vehicle system and a control method thereof. By combining magnetic field initial positioning and laser precise positioning, the AGV can quickly determine its position in the initial state. Magnetic field positioning provides basic position information, while laser positioning further refines the position through high-precision measurement. Compared with the existing technology, this fusion positioning technology not only improves the positioning accuracy, but also enhances the positioning reliability through the combination and complementation of multiple data. Even in complex environments, where there is magnetic field interference or laser scanning is limited, the system can obtain more accurate position information through another undisturbed positioning method.

[0014] (2) The present invention provides a multi-path autonomous navigation automatic guided vehicle system and a control method thereof. The path is quantitatively evaluated through an evaluation function, and the factors affecting the driving of the AGV, such as the length of the path, the number of obstacles, and the rate of change of the magnetic field intensity, can be comprehensively considered to select the best path for the AGV. Compared with the existing technology, this not only improves the working efficiency of the vehicle, but also reduces the risks and obstacles that the vehicle may encounter during driving. At the same time, through the flexibility and customizability of the evaluation function, the system can adapt to different working environments and task requirements.

[0015] (3) The present invention provides a multi-path autonomous navigation automatic guided vehicle system and a control method thereof. By integrating multiple positioning methods through magnetic field and laser fusion positioning technology, the system's fault tolerance to single sensor failure is improved. Even if a sensor fails or the data is abnormal, the system can compensate and correct through the data of other sensors to ensure the normal operation of the vehicle. Compared with the existing technology, this positioning method makes the system more stable and reliable in practical applications and reduces the cost of maintenance and repair. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. Figure 1 is an overall flow chart of a preferred embodiment of the present invention; Figure 2 Flow chart of establishing a stable magnetic field according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0017] 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.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0019] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0021] As shown in the figure, a control method of an AGV vehicle includes the following steps: S1: Establish a stable magnetic field for the warehouse and construct a spatial magnetic map of the warehouse; S2: According to the spatial magnetic map, the AGV is positioned in real time by preliminary magnetic field positioning and precise laser positioning to determine the real-time initial position of the AGV. S3: According to the real-time initial position of the AGV, the AGV route is planned, and each route is evaluated by the evaluation function to obtain the best route; S4: Control the AGV to drive along the best route.

[0022] In a preferred embodiment of the present invention, in S1, the specific steps of establishing a stable magnetic field are: S11: Use a number of electromagnets as magnetic field generators, and evenly arrange the electromagnets in the warehouse to form a three-dimensional magnetic field; S12: Use the controller to electrically connect to a plurality of electromagnets respectively, evenly place a plurality of magnetic field sensors in the warehouse space, and connect the magnetic field sensors to the controller to form a magnetic field control system.

[0023] It should be noted that the establishment of the three-dimensional magnetic field is to divide the space in the warehouse into several equal-sized three-dimensional spaces, and the electromagnets are set on the walls, floors and shelves in the middle of each three-dimensional space, so as to form a three-dimensional magnetic field. The three-dimensional magnetic field is connected in series with the controller separately, so that the controller can independently control each electromagnet. During operation, the AGV trolley will change when it moves or is stationary in the magnetic field. When the object moves in the magnetic field, it will disturb the magnetic field around the AGV trolley, so that this disturbance will cause the local electromagnet magnetic force of the AGV trolley to change. This change is captured by the magnetic field sensor, that is, the magnetometer. The magnetometer transmits the captured information to the controller, so as to obtain the approximate position of the AGV trolley, and then the AGV trolley is positioned through preliminary magnetic field positioning and laser precise positioning. When the AGV trolley is running, each path is evaluated by the evaluation function to find the best path. Finally, the AGV trolley is controlled to travel along the best route, and the AGV trolley is positioned in real time by adopting the fusion positioning method of preliminary magnetic field positioning and laser positioning.

[0024] The control system of the present invention adjusts the current input to the electromagnet through the controller to control the magnetic field strength of the electromagnet, and transmits the detected magnetic field strength to the controller in real time through the magnetic field sensor, and then controls the current through the controller so that the magnetic field strength changes periodically in the plane.

[0025] It should be noted that the controller controls the magnitude and direction of the magnetic force generated by the electromagnet by controlling the magnitude of the current and the direction of the current flow, and the magnitude of the magnetic field at each point in the same plane changes periodically. That is, when six rows of electromagnets are arranged in a plane, they are arranged according to the electromagnetic strength of 1T, 2T, 1T, 2T, 1T, 2T, thereby forming a number of point magnetic fields with two rows of electromagnets as a cycle of electromagnetic strength, and the electromagnets completely cover the entire warehouse. When an object enters the warehouse or moves in the warehouse, the magnetic field at the corresponding position will evenly change, thereby initially positioning the object, i.e., the AGV cart.

[0026] In a preferred embodiment of the present invention, the three-dimensional magnetic field is to set electromagnets on the floor, walls and shelves of the warehouse to cover the entire driving path of the AGV.

[0027] In a preferred embodiment of the present invention, in S1, the spatial magnetic map is constructed by collecting magnetic field point data, wherein the point data includes magnetic field strength, direction and relative relationship of other points, and classifying and marking the magnetic field point data in three-dimensional software to form a spatial magnetic map.

[0028] It should be noted that after the electromagnets are arranged, the intensity and direction of the current flowing through each electromagnet are recorded to determine the magnetic field intensity and direction at the position. The initial three-dimensional spatial magnetic map is formed by modeling through three-dimensional modeling software, and the three-dimensional magnetic map is imported into the controller. The controller captures the change of magnetic force in the magnetic field through a magnetometer, and transmits the captured data to the controller. The controller compares the initial three-dimensional spatial magnetic map, thereby marking the position where the magnetic force changes on the spatial magnetic map, and because it generates current as a magnet or due to electromagnetic induction, it will generate or change the magnetic field around it. Since the magnetic field intensity decreases with increasing distance, this change is most significant near the object, that is, the closer to the object, the greater the degree of change of the magnetic field. It can be seen that when the object is in this warehouse, the closer to the object, the greater the degree of change of the magnetic field. Therefore, in the marking process, the position of the magnetic field change is marked by gradient color, so as to perform real-time positioning of the initial positioning of the AGV car.

[0029] In a preferred embodiment of the present invention, in S2, the preliminary magnetic field positioning is: a magnetic field sensor is installed on the AGV cart. When the AGV cart enters the warehouse, the magnetic field sensor detects the surrounding magnetic field, and compares the detection result with the spatial magnetic map to obtain the preliminary position of the AGHV cart; the laser precise positioning is: a laser receiver is installed on the AGV cart, and several laser transmitters are set within the period of the magnetic field, and the laser transmitter only emits lasers of one wavelength, so that the AGV cart receives lasers of different wavelengths to determine the specific position of the AGV cart.

[0030] It should be noted that after the electromagnets are arranged, the laser emitters are arranged again. Each laser emitter can only emit a laser of one wavelength, and the wavelength of the laser emitted by the laser emitter also changes periodically under the same period of magnetic field. The magnetic field is only set to change periodically in horizontal rows, while the laser emitters are set to change periodically in both horizontal and vertical rows. For example: There are six horizontal rows of magnetic fields, two rows form one cycle, and the magnetic field has three identical cycles in total; in each of the three identical cycles, there is a laser emitter with one cycle, and each laser emitter can only emit laser of one wavelength. The wavelength of the laser emitter in one cycle is set from short to long, and only a laser emitter with a wavelength of one cycle is set in the vertical row, so that in the initial positioning process through the magnetic field, a local range is obtained, and the local range can be determined in a certain cycle of the magnetic field. Finally, the laser receiver on the AGV car obtains two lasers of different wavelengths emitted by the horizontal laser emitters and the vertical laser emitters within the magnetic field cycle, so as to obtain the exact position of the AGV car, which is equivalent to the entire warehouse being divided into several squares by the magnetic field, and finally the squares are divided into several chessboards by laser, thereby completing the real-time positioning of the precise positioning of the AGV car.

[0031] In a preferred embodiment of the present invention, in S3, the path planning is that after the initial position and the target position of the AGV vehicle are clarified, the AGV vehicle automatically generates several routes, and the vehicle evaluates each path through an evaluation function to obtain the optimal path, wherein the evaluation includes factors affecting the efficiency and safety of the AGV vehicle, such as the length of the path, the number of obstacles, and the rate of change of the magnetic field.

[0032] It should be noted that in the process of path planning, the path is planned by combining the order of the path, the length of the path, the situation of obstacles, the condition of the AGV and the load of the AGV. The specific format is:

[0033] Among them, path length (L): the total length of the path. Obstacle density (O): the number or density of obstacles on the path, which can be expressed by the number of obstacles on the path or the proportion of the area occupied by obstacles. AGV car condition (V): considering factors such as the battery power and wear of the car, it can be expressed by a comprehensive indicator. Load condition (W): considering factors such as the weight and distribution of the load, it can also be expressed by a comprehensive indicator.

[0034] P represents a specific path. Α, β, γ, and δ are weight coefficients used to adjust the degree of influence of different factors on the total cost. L(P) is the length function of path P, which returns the total length of the path. O(P) is the obstacle density function of path P, which returns the number or density of obstacles on the path. V(P) is the AGV vehicle condition function, which returns a comprehensive index indicating the vehicle's driving ability or performance on path P. W(P) is the load condition function, which returns a comprehensive index indicating the impact of the load on path P.

[0035] For example: L(P): is calculated based on the total transit time or distance of route P. If route P1 takes 2 hours and route P2 takes 3 hours, then L(P1) may be less than L(P2).

[0036] O(P): This takes into account the congestion, road conditions, or power required when multiple AGVs on route P are running simultaneously. For example, if route P1 is often congested, while route P2 is slightly longer but has smooth traffic, then O(P1) may be greater than O(P2).

[0037] V(P): represents the risk on route P, such as obstacles between paths, and the maximum and minimum speeds that the AGV can travel. For example, if route P1 passes through an area with an obstacle angle, then V(P1) may be high. W(P): This is a function of the load condition.

[0038] Example: Consider the following situation: The length of path P1 is 10 meters, the obstacle density is 0.2 (indicating that 20% of the path has obstacles), the car is in good condition (score 1.0), and the load is light (score 0.8).

[0039] The length of path P2 is 8 meters, the obstacle density is 0.1 (indicating that there are obstacles on 10% of the path), the car is in average condition (score of 0.8), and the load is heavy (score of 1.2).

[0040] Set the weights to α=1 (weight of path length), β=2 (weight of obstacle density), γ=0.5 (weight of car condition), and δ=0.3 (weight of load condition).

[0041] Based on the above calculation, the cost of path P1 and path P2 is:

[0042]

[0043] According to the calculation results, we can see that the cost of path P2 is lower, so we can consider P2 to be a better path. The weights of each coefficient are obtained through the set judgment rules. The specific judgment rules are as follows: 1. Business needs and goals: The main goal is to improve transportation efficiency, so the weight of path length α should be relatively high. At the same time, ensuring safety is also important, so the weight of obstacle density β should also be high.

[0044] 2. Environmental factors: Assuming that there are certain obstacles in the environment where the AGV runs, but not too many, the weight of obstacle density β is moderate. The environment has little impact on the vehicle condition γ, so the weight of this factor can be relatively low.

[0045] 3. AGV characteristics: The performance of the AGV will slightly decrease when the battery is low or the load is heavy, but the overall impact is not significant, so the weights of the vehicle condition γ and the load condition δ are moderate.

[0046] 4. Historical data and experience: According to historical data, path length has the greatest impact on transportation efficiency, followed by obstacle density. Vehicle condition and load condition have relatively little impact on performance.

[0047] Combining the above four judgment rules, each factor in the four weights is compared with each other, and then normalized to make the sum of all weight coefficients 1. After that, weighted calculation is performed to obtain the evaluation of each path and select the optimal path.

[0048] The AGV is controlled to travel along the best route, and the AGV is positioned in real time by combining magnetic field initial positioning and laser positioning.

[0049] A multi-path autonomous navigation automatic guided vehicle system, comprising a laser positioning module, a magnetic field positioning module, a navigation module and a control module, wherein the laser positioning module, the magnetic field positioning module and the navigation module are all controlled by the control module; The laser positioning module is used to control and adjust the laser transmitter and the laser receiver; the magnetic field positioning module is used to control and adjust the magnetic field generator and the magnetic field sensor; and a control system is arranged in the control module.

[0050] In a preferred embodiment of the present invention, the magnetic field generators are evenly arranged inside the warehouse space. The magnetic field generators are arranged in an array in the same horizontal plane. The magnetic field intensity generated by the magnetic field generators changes periodically. The laser wavelength emitted by each laser emitter also changes periodically. One period of laser emitters is arranged in one period of magnetic field generators. A spatial magnetic map is also provided in the control module.

[0051] It should be noted that a control system is arranged inside the control module. The control module sends adjustment signals to the magnetic field positioning module and the laser positioning module through the control system. The magnetic field positioning module adjusts several magnetic field generators, i.e., electromagnets, to generate different magnetic fields through the adjustment signals, performs initial positioning of the AGV, and transmits the initial positioning signals to the spatial magnetic map for marking. The laser positioning module adjusts several magnetic field transmitters to emit lasers of different wavelengths through the adjustment signals, and the laser receiver is arranged on the AGV, and obtains the precise position of the AGV by receiving a set of laser wavelengths.

[0052] Specifically, the initial positioning of the magnetic field is specifically to evenly arrange a number of electromagnets in the warehouse, and the control system controls the size of the current output to each control module and the direction of the input current, thereby controlling the size and direction of the magnetic field generated by the electromagnet, and the size of the magnetic field is set according to a periodic cycle, and the magnetic field generated by two rows of electromagnets in the same plane is a cycle, that is, assuming that the row of electromagnets near the warehouse door is the first row, and several rows of electromagnets are arranged in sequence, then the first row and the second row are a cycle, and so on. In the same cycle, the electromagnetic strength of the first row is 1T and the electromagnetic strength of the second row is 2T, and the electromagnets in each row are 1T and 2T, respectively. The magnetic fields generated by the magnets are in opposite directions, thereby dividing the interior of the warehouse into several blocks. Each block has an electromagnetic field generated by an electromagnet, and several magnetometers are installed in the warehouse. The magnetometers can detect the strength and direction of the surrounding magnetic field. When the AGV is in the warehouse, the AGV will disturb the surrounding magnetic field, and as the AGV moves, the magnetic field around the track of the AGV will change. The spatial magnetic map is set according to the placement of the electromagnet in the warehouse. The spatial magnetic map is set in the control system. When the magnetometer detects a change in the magnetic field at a certain position, the position is standardized and accurately positioned by laser.

[0053] Specifically, laser precise positioning is achieved by setting up a laser transmitter and a laser receiver. There is only one laser receiver on the AGV. The laser transmitter and laser receiver are also controlled by the control system. The laser transmitter emits a laser, which is received by the laser receiver on the AGV. The received laser is transmitted to the control system. The control system then displays the detailed position of the standard on the spatial magnetic map on the control module for warehouse managers to view. In detail, each laser emitter can only emit laser of one wavelength, and the laser emitter is also set according to the periodic change of the wavelength of the laser it emits. There is only one cycle of laser emitter in one cycle of the magnetic field. The magnetic field generated by two rows of electromagnets in the magnetic field is one cycle. The spacing between each laser emitter in the laser is one-fifth of the width of the AGV cart. Each laser emitter emits only one laser of a different wavelength. Several laser emitters emit several lasers of different wavelengths. Lasers of different wavelengths form a cycle. The wavelength of the laser in each cycle is the same, and these several cycles of laser emitters are arranged in a horizontal row in the warehouse like the electromagnets, and several vertical rows of laser emitters are arranged. The spacing between the several vertical rows of laser emitters is one-fifth of the width of the AGV cart. The vertical and horizontal rows are arranged in a horizontal plane, and the wavelengths of the lasers emitted by the vertical row laser emitters are also different wavelengths. The wavelengths of different lasers emitted by the horizontal and vertical rows of laser transmitters are controlled by the control system. During the movement of the AGV, the laser receiver on the AGV receives the wavelength signals of the horizontal and vertical rows of lasers and transmits them to the control system, forming coordinate signals marked on the spatial magnetic map.

[0054] In summary, through the combination of magnetic field initial positioning and laser precise positioning, the warehouse is divided into several blocks through a periodic magnetic field. When the AGV is moving or stationary, the AGV disturbs the surrounding magnetic field, causing the surrounding magnetic field to change and be detected by the magnetometer. The control system marks the detected changed magnetic field on the spatial magnetic map. At the same time, the horizontal and vertical laser transmitters in the corresponding period emit lasers, so that the warehouse forms a coordinate system, and the wavelength is the coordinate of each point. The laser receiver receives the horizontal and vertical laser wavelength signals to determine the specific position of the AGV and mark it on the spatial magnetic map.

[0055] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A control method for an AGV, characterized in that: The following steps are involved: S1: Establish a stable magnetic field for the warehouse and construct a spatial magnetic map of the warehouse; S2: According to the spatial magnetic map, the AGV is positioned in real time by preliminary magnetic field positioning and precise laser positioning to determine the real-time initial position of the AGV. S3: According to the real-time initial position of the AGV, the AGV route is planned, and each route is evaluated by the evaluation function to obtain the best route; S4: Control the AGV to drive along the best route.

2. The control method of an AGV according to claim 1, characterized in that: In S1, the specific steps of establishing a stable magnetic field are: S11: Use a number of electromagnets as magnetic field generators, and evenly arrange the electromagnets in the warehouse to form a three-dimensional magnetic field; S12: Use the controller to electrically connect to a plurality of electromagnets respectively, evenly place a plurality of magnetic field sensors in the warehouse space, and connect the magnetic field sensors to the controller to form a magnetic field control system.

3. The control method of an AGV according to claim 2 is characterized in that: The control system adjusts the current input to the electromagnet through the controller to control the magnetic field strength of the electromagnet, and transmits the detected magnetic field strength to the controller in real time through the magnetic field sensor, and then controls the current through the controller so that the magnetic field strength changes periodically in the plane.

4. The control method of an AGV according to claim 2, characterized in that: The three-dimensional magnetic field is to set electromagnets on the floor, walls and shelves of the warehouse to cover the entire driving path of the AGV.

5. The control method of an AGV according to claim 1, characterized in that: In S1, the spatial magnetic map is constructed by collecting magnetic field point data, wherein the point data includes magnetic field strength, direction and relative relationship of other points, and classifying and marking the magnetic field point data in three-dimensional software to form a spatial magnetic map.

6. The control method of an AGV according to claim 1, characterized in that: In S2, the preliminary magnetic field positioning is to install a magnetic field sensor on the AGV. When the AGV enters the warehouse, the magnetic field sensor detects the surrounding magnetic field and compares the detection result with the spatial magnetic map to obtain the preliminary position of the AGHV. The laser precise positioning is to install a laser receiver on the AGV, set up several laser transmitters within the period of the magnetic field, and the laser transmitter only emits lasers of one wavelength, so that the AGV receives lasers of different wavelengths to determine the specific position of the AGV.

7. The control method based on the AGV according to claim 1 is characterized in that: In S3, the path planning is that after the initial position and target position of the AGV are determined, the AGV automatically generates several routes. The AGV evaluates each path through an evaluation function to obtain the optimal path, wherein the evaluation includes factors that affect the efficiency and safety of the AGV, such as the length of the path, the number of obstacles, and the rate of change of the magnetic field.

8. An intelligent vertical warehouse system based on an AGV, based on a multi-path autonomous navigation automatic guided vehicle system according to any one of claims 1 to 7, comprising a laser positioning module, a magnetic field positioning module, a navigation module and a control module, characterized in that: The laser positioning module, the magnetic field positioning module and the navigation module are all controlled by the control module; The laser positioning module is used to control and adjust the laser transmitter and the laser receiver; the magnetic field positioning module is used to control and adjust the magnetic field generator and the magnetic field sensor; and a control system is arranged in the control module.

9. A multi-path autonomous navigation automatic guided vehicle system according to claim 8, characterized in that: The magnetic field generators are evenly arranged inside the warehouse space. The magnetic field generators are arranged in an array in the same horizontal plane. The magnetic field intensity generated by the magnetic field generator changes periodically. The laser wavelength emitted by each laser emitter also changes periodically. One period of laser emitters is set in one period of magnetic field generators.

10. The multi-path autonomous navigation automatic guided vehicle system according to claim 1, characterized in that: A spatial magnetic pattern is also arranged in the control module, and the magnetic field generator is an electromagnet.

Images