AGV navigation method and AGV system

Abstract

The invention relates to the technical field of automatic guided vehicle navigation. The invention provides an AGV navigation method and an AGV system, and the method comprises the steps: setting a tracking line for navigation on the ground, starting an AGV, building communication connection with an upper computer, and obtaining the current working state of the AGV and the corresponding road condition information; according to the current working state of the AGV and the corresponding road condition information, a corresponding route command is sent to the AGV through the upper computer, and the AGV receives the route command and analyzes the route command to obtain corresponding route control information; according to a matching result of the current position of the AGV and a route node in the route control information, the AGV is controlled to execute corresponding obstacle avoidance, node identification and tracking operation; and the AGV arrives at the target position node, executes a preset task, and returns to the charging station or waits for a next task after the task is completed. The problems that in the prior art, the computing resource requirement is high, the hardware cost is high, the environmental adaptability is poor, and the navigation map is difficult to update and maintain are solved.

Description

Technical Field

[0001] The present invention relates to the field of automatic guided vehicle (AGV) navigation technology, and in particular to an AGV navigation method and an AGV system. Background Art

[0002] In the fields of automated logistics, warehousing and intelligent manufacturing, AGV (automated guided vehicle), as a key automation equipment, undertakes tasks such as material handling and product assembly. The accuracy and reliability of its navigation system are directly related to the efficiency and stability of the entire production process.

[0003] Traditional AGV navigation technology mainly relies on pre-built navigation maps to determine the precise position and direction of the AGV in the map, so as to plan and execute the driving path. The navigation function is realized to a certain extent, but it also brings a lot of problems. First, the image processing and map matching algorithms are often very complex and require extremely high computing resources, which not only increases the hardware cost of the system, but also limits the deployment and application of AGV in resource-constrained environments. Secondly, with the changes in the environment, such as the movement of shelves and the emergence of new obstacles, the update and maintenance of the navigation map becomes particularly difficult, further pushing up the subsequent maintenance costs. Summary of the invention

[0004] The purpose of the present invention is to provide an AGV navigation method and an AGV system, aiming to solve the problem that the AGV navigation system in the prior art relies on complex image processing and map matching algorithms, resulting in high computing resource requirements, high hardware costs, poor environmental adaptability, and difficulty in updating and maintaining navigation maps.

[0005] The present invention is achieved through the following technical solutions:

[0006] An AGV navigation method comprises the steps of:

[0007] Set a tracking line for navigation on the ground, start the AGV, and establish a communication connection with the host computer to obtain the current working status of the AGV and the corresponding road condition information;

[0008] According to the current working status of the AGV and the corresponding road condition information, the host computer sends the corresponding route command to the AGV, and the AGV receives and analyzes the route command to obtain the corresponding route control information;

[0009] According to the matching result between the current position of the AGV and the route nodes in the route control information, the AGV is controlled to perform corresponding obstacle avoidance, node identification and tracking operations;

[0010] The AGV reaches the target location node, performs the preset task, and returns to the charging station or waits for the next task after the task is completed.

[0011] Optionally, the specific process of starting the AGV, establishing a communication connection with the host computer, and obtaining the current working status of the AGV and the corresponding road condition information is as follows:

[0012] After the AGV is started, it executes the preset initialization program and establishes a communication connection with the host computer through the built-in wireless communication module;

[0013] After the communication connection is established, the AGV checks its own working status and sends a status query request to the host computer through the wireless communication module to obtain the current road conditions and the operating status information of other AGVs;

[0014] The AGV conducts comprehensive analysis and processing of the current road conditions and the operating status information of other AGVs to determine the current working status and environmental conditions of the AGV.

[0015] Optionally, based on the current working status of the AGV and the environmental conditions in which it is located, if any abnormal state is detected, the AGV will be stopped immediately and the abnormal state information will be fed back to the host computer, requesting the host computer to intervene or provide a solution; if no abnormal state is detected, the AGV will enter a state of waiting for the host computer to send a route command, ready to receive and execute subsequent navigation tasks.

[0016] Optionally, obstacles in the surrounding environment are detected in real time through visual sensors or grayscale sensors, and the travel speed and direction of the AGV are dynamically adjusted according to the location and distance information of the obstacles to complete the obstacle avoidance operation.

[0017] Optionally, a corresponding RFID tag is set at each route node. When the AGV reaches the route node, the information in the corresponding RFID tag of the route node is obtained through the RFID reader set on the AGV, and the AGV's travel route and speed are adjusted according to the information in the corresponding RFID tag to complete the node identification operation.

[0018] Optionally, several motion mode operation instructions are preset in the AGV, and the motion mode information required for the corresponding route node is preset in the information in the RFID tag corresponding to the route node. The AGV matches the motion mode operation instructions preset in the AGV according to the motion mode information required for the corresponding route node, and controls the AGV to complete the corresponding motion mode operation.

[0019] Optionally, a visual sensor installed on the AGV is used to obtain the position and direction of a tracking line installed on the ground in real time, and the AGV is navigated by combining the obtained tracking line information with a preset driving route to complete the tracking operation.

[0020] Optionally, the current heading angle of the AGV is calculated by a posture sensor and compared with a preset heading angle in the route control information, and the current heading angle of the AGV is adjusted according to the comparison result.

[0021] Optionally, during the movement of the AGV, the information in the RFID tag corresponding to the nearest route node in the direction of movement is obtained; if the AGV needs to perform a turning operation at the nearest route node in the direction of movement, the AGV is controlled to slow down, and the current heading angle of the AGV is compared with the preset steering angle of the nearest route node in the direction of movement, and the travel speed and heading angle of the AGV are dynamically adjusted according to the comparison result and the current travel speed of the AGV.

[0022] Based on the same inventive concept, the present invention also provides an AGV system for implementing the AGV navigation method, comprising:

[0023] Main control module, used to control the operation of the entire AGV system;

[0024] Wireless communication module, used to establish communication connection with the host computer, receive route commands and related information sent by the host computer, and send the working status and road condition information of AGV to the host computer;

[0025] The motion control module is used to control the motion mode of the AGV according to the route control information analyzed by the main control module;

[0026] A node identification module is used to obtain information in an RFID tag set at a route node when the AGV reaches the route node;

[0027] Tracking module, used to navigate the AGV based on the position and direction of the tracking line on the ground and the preset driving route;

[0028] Obstacle avoidance module, used to dynamically adjust the AGV's travel speed and direction based on the location and distance information of obstacles;

[0029] Vision module, used to provide visual information of the AGV's surroundings;

[0030] Display module, used to display the working status, error information and received host computer instructions of AGV;

[0031] Charging module, used for wireless charging of AGV.

[0032] The technical solution of the present invention has at least the following advantages and beneficial effects:

[0033] Simplify the navigation system and reduce hardware costs: By setting simple tracking lines on the ground for navigation, compared with traditional navigation technology based on complex maps, the complexity of the navigation system is greatly simplified, and the demand for high-performance computing resources is reduced, thereby reducing the hardware cost of the AGV system, allowing AGV to be flexibly deployed and applied in more resource-constrained environments.

[0034] Improve system flexibility and adaptability: Since tracking line navigation does not rely on pre-built static maps, it is more adaptable to environmental changes. When the environment changes, such as when shelves move or new obstacles appear, it is only necessary to adjust or rearrange the tracking lines without updating and maintaining complex navigation maps. This greatly simplifies subsequent maintenance work, reduces maintenance costs, and improves the overall flexibility and adaptability of the system.

[0035] Enhanced navigation accuracy and reliability: Direction control and positioning are performed by directly reading physical markers on the ground, which reduces the complexity of image processing and map matching algorithms, thereby improving navigation accuracy and reliability. This helps ensure the precise execution of AGVs in tasks such as material handling and product assembly, and improves the efficiency and stability of the entire production process.

[0036] Optimize the task execution process: Through the communication connection between the host computer and the AGV, real-time monitoring of the AGV's working status and dynamic sending of route commands are realized, which not only enables the AGV to flexibly adjust the driving path according to the current road conditions and task requirements, but also automatically executes the preset task after reaching the target location node, and automatically returns to the charging station or waits for the next task after the task is completed, thereby optimizing the AGV's task execution process and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flowchart of the AGV navigation method according to an embodiment of the present invention;

[0038] Figure 2 It is a structural schematic diagram of an AGV system according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the main control flow of the AGV navigation method according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of the obstacle avoidance operation flow of the AGV navigation method according to an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a node identification operation flow of an AGV navigation method according to an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of a tracking operation flow of an AGV navigation method according to an embodiment of the present invention;

[0043] Figure 7 The figure is a schematic diagram of the motion mode control flow of the AGV navigation method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following is a specific implementation method in conjunction with the drawings.

[0045] Reference Figure 1 , an AGV navigation method, comprising the steps of:

[0046] Step 1: Set a tracking line for navigation on the ground, start the AGV, and establish a communication connection with the host computer to obtain the current working status of the AGV and the corresponding road condition information.

[0047] In some embodiments, the specific process of starting the AGV and establishing a communication connection with the host computer to obtain the current working status of the AGV and the corresponding road condition information is as follows:

[0048] After the AGV is started, it executes the preset initialization program and establishes a communication connection with the host computer through the built-in wireless communication module. After the communication connection is established, the AGV checks its own working status and sends a status query request to the host computer through the wireless communication module to obtain the current road conditions and the operating status information of other AGVs. The AGV conducts a comprehensive analysis and processing of the current road conditions and the operating status information of other AGVs to determine the current working status of the AGV and the environmental conditions in which it is located.

[0049] In some embodiments, the tracking line selects materials with high visibility and durability (such as special coatings or reflective materials) to draw the tracking line to ensure that the AGV's visual sensor or grayscale sensor can accurately identify it. According to the layout of the warehouse or factory, design and draw the tracking line that the AGV needs to follow. The tracking line should be clear, continuous, and contain necessary turns, branches, and intersections. After starting the AGV, execute the preset initialization program, including checking the working status of each sensor, actuator, communication module and other hardware, and loading the necessary software configuration. After the AGV is started, a connection request is sent to the host computer through the wireless communication module. The host computer receives and confirms the connection to establish a stable communication connection. The wireless communication module can communicate with the host computer through Wi-Fi, Bluetooth, Zigbee, etc. The AGV sends a status query request to the host computer through the wireless communication module, requesting the current working status (such as battery power, operating speed, working mode, etc.) and road condition information (such as the location of other AGVs, operating status, road congestion, etc.); after receiving the status query request, the host computer generates and sends response data containing the AGV working status and road condition information to the AGV based on real-time data or historical data; after receiving the response data, the AGV parses and processes the data, updates its own working status and road condition information, and provides basic data support for subsequent navigation and obstacle avoidance operations.

[0050] Step 2: According to the current working status of the AGV and the corresponding road condition information, the host computer sends the corresponding route command to the AGV, and the AGV receives and parses the route command to obtain the corresponding route control information.

[0051] In some embodiments, based on the current working status of the AGV and the environmental conditions in which it is located, if any abnormal state is detected, the AGV will be stopped immediately and the abnormal state information will be fed back to the host computer, requesting the host computer to intervene or provide a solution; if no abnormal state is detected, the AGV will enter a state of waiting for the host computer to send a route command, ready to receive and execute subsequent navigation tasks.

[0052] In some embodiments, the host computer first collects the current working status and road condition information from the AGV, including but not limited to the location, speed, battery power, surrounding obstacles, operating status of other AGVs, etc. of the AGV. Based on the collected data, the host computer uses a path planning algorithm (such as Dijkstra algorithm, A* algorithm, RRT algorithm, etc.) to plan a preset driving route for the AGV. The preset driving route needs to avoid obstacles as much as possible, while considering the operating conditions of other AGVs and possible traffic congestion points. According to the preset driving route, the host computer generates corresponding route commands; the route commands include information such as target location, route nodes, speed limit, steering angle, etc., and are encoded in a specific data format (such as JSON, XML, etc.). The host computer and the AGV establish a connection through a wireless communication module, and follow the pre-agreed communication protocol (such as TCP / IP, MQTT, HTTP, etc.) for data transmission; the host computer encapsulates the generated route command into a data packet and sends it to the AGV through the wireless communication module. During the transmission process, the data packet needs to be encrypted and verified to ensure the integrity and security of the data.

[0053] Step 3: According to the matching result between the current position of the AGV and the route node in the route control information, the AGV is controlled to perform corresponding obstacle avoidance, node identification and tracking operations.

[0054] In some embodiments, obstacles in the surrounding environment are detected in real time through visual sensors or grayscale sensors, and obstacles are identified through image processing algorithms (such as edge detection, contour recognition, etc.). According to the location and distance information of the obstacle, the impact of the obstacle on the AGV's movement is evaluated, and it is determined whether the AGV's travel speed and direction need to be adjusted to avoid the obstacle. According to the results of the obstacle information analysis, the AGV's travel speed and direction are dynamically adjusted through the motion control module. If the obstacle is close, the AGV will slow down or stop and re-plan the route; if the obstacle is far away, the AGV will gradually adjust its direction, bypass the obstacle, and complete the obstacle avoidance operation.

[0055] In some embodiments, reference Figure 4, run the obstacle avoidance master program through the main control module, perform initialization operations, and set the initial state and parameters for the obstacle avoidance process. After initialization, the AGV obtains signals in the surrounding environment through the radar device. These signals come from obstacles or other objects that may affect the travel of the AGV. The read signal needs to be confirmed for validity. If the signal is invalid, the obstacle avoidance process is exited to ensure the reliability of the signal and help eliminate noise or false alarms. If the signal is confirmed to be valid, the system records the time when the signal is first received, and determines whether the movement direction of the AGV before receiving the signal is consistent with the current line patrol direction of the AGV; if not, the obstacle avoidance process is exited, indicating that the movement trajectory has changed, that is, the obstacle avoidance operation is completed; if consistent, the obstacle avoidance is stopped, and it is determined whether the waiting time exceeds the threshold. If it does not exceed the threshold, the radar device is used to re-acquire the signal in the surrounding environment to determine the validity of the re-acquired signal. If the re-acquired signal is invalid, the obstacle avoidance process is exited. If valid, the time of re-acquiring the signal is recorded, and it is determined whether the movement direction of the AGV before receiving the new signal is consistent with the current line patrol direction of the AGV. Through this cyclic process, it is possible to pulse-detect whether there is an obstacle in front of the AGV during driving and avoid the obstacle. When the waiting time exceeds the threshold, it means that the obstacle has moved away or no longer poses a threat. The AGV will exit the obstacle avoidance mode and return to the host computer for further intervention or continue to perform other tasks.

[0056] In some embodiments, a corresponding RFID tag is set at each route node. When the AGV reaches the route node, the RFID reader set on the AGV obtains the information in the RFID tag corresponding to the route node. The RFID tag contains information such as the location and type of the node (such as turning point, branch point, etc.) and subsequent driving route suggestions. The main control module parses the information in the RFID tag and adjusts the AGV's route and speed according to the information in the corresponding RFID tag; if the route node is a turning point, the AGV will perform a steering operation according to the steering angle information in the tag; if the route node is a branch point, the AGV will select the correct branch route according to the driving route suggestion in the tag to complete the node identification operation.

[0057] In some embodiments, reference Figure 5, run the node identification master program through the main control module. After the node identification master program is started, perform initialization operations and prepare various parameters and configurations. After initialization is completed, the AGV enters the RFID signal reading stage, and the AGV tries to read the signals of the surrounding RFID tags. After reading the RFID signal, the system needs to determine whether the signal is valid. If the signal is invalid (possibly due to weak signal, interference or tag damage, etc.), the process will return to the main control program and start again. If the signal is valid, the system enters the signal parsing stage. In this stage, the AGV parses the information in the RFID signal, such as position, direction, etc. After the parsing is completed, it is determined whether the current route node is the end point. If it is the end point, that is, it reaches the target location, the AGV stops moving and feeds back the current state to the upper computer. If the current node is not the end point, the AGV enters the deceleration and preparation for turning stage. At this time, the AGV will decelerate and prepare to turn to the next target position according to the parsed signal information. Before preparing to turn, the AGV will obtain the current position information and feed back the current state of the AGV to the upper computer. At the same time, the AGV will control the AGV to turn according to the angle information in the RFID tag signal, thereby completing the node identification operation.

[0058] In some embodiments, reference Figure 7 , several motion mode operation instructions are preset in the AGV, including but not limited to: high-speed tracking mode, medium-speed tracking mode, low-speed tracking mode, curve mode, in-place turning mode and reverse mode. The motion mode information required for the corresponding route node is preset in the information in the RFID tag corresponding to the route node. The AGV matches the motion mode operation instructions preset in the AGV according to the motion mode information required for the corresponding route node, and controls the AGV to complete the corresponding motion mode operation. The motion mode information required for the corresponding route node may include at least one motion mode information, that is, the corresponding motion mode operation instruction can be completed through multiple motion modes.

[0059] In some embodiments, a visual sensor installed on the AGV is used to obtain the position and direction of a tracking line installed on the ground in real time, and the AGV is navigated by combining the obtained tracking line information with a preset driving route to complete the tracking operation.

[0060] In some embodiments, the current heading angle of the AGV is calculated by a posture sensor and compared with a preset heading angle in the route control information, and the current heading angle of the AGV is adjusted according to the comparison result.

[0061] In some embodiments, during the movement of the AGV, information in the RFID tag corresponding to the nearest route node in the direction of movement is obtained; if the AGV needs to perform a turning operation at the nearest route node in the direction of movement, the AGV is controlled to slow down, and the current heading angle of the AGV is compared with the preset steering angle of the nearest route node in the direction of movement, and the travel speed and heading angle of the AGV are dynamically adjusted according to the comparison result and the current travel speed of the AGV.

[0062] In some embodiments, reference Figure 6 , run the tracking main control program through the main control module, and perform initialization processing to prepare for subsequent image processing and navigation tasks. Obtain image information of the AGV's surrounding environment through devices such as cameras or sensors; extract the preset tracking line from the acquired image information. The tracking line is the path mark that the AGV needs to follow, which can be a line on the ground, a barcode, a QR code, etc. According to the extracted tracking line, calculate the offset between the current position of the AGV and the tracking line to determine whether the AGV needs to adjust its position to stay on the tracking line. According to the calculation result of the offset, select the appropriate action mode to control the speed of the left and right wheels of the AGV. For example, if the AGV deviates to the left, the system can choose the action mode of adjusting to the right. If the AGV is detected to be out of bounds (i.e., leaving the preset tracking area) during the tracking process, the system will trigger the processing flow of returning to the out-of-bounds exception, including stopping the AGV, recalculating the offset, and adjusting the action mode to ensure that the AGV can return to the tracking line.

[0063] Step 4: The AGV arrives at the target location node, performs the preset task, and returns to the charging station or waits for the next task after the task is completed.

[0064] In some embodiments, when the AGV moves along the tracking line to the preset target position node, the node identification module will be activated; by reading the information in the RFID tag set at the target position node, it is confirmed that the AGV has reached the specified position. After confirming that it has reached the target position node, the AGV will further calibrate its position through the visual module and the tracking module to ensure that it is accurately docked at the node; if there is a deviation in the position, the motion control module will make fine adjustments until the AGV is completely aligned with the target position. The main control module will parse the task instructions in the RFID tag and call the corresponding functional module to perform the task according to the task type. For example, if the task is to move materials at a specified location, the AGV will use a mechanical arm or a pallet and other devices to move the material from the source position to the target position. In the process of executing the task, the AGV will monitor the surrounding environment in real time through the visual module and the obstacle avoidance module to ensure the safe execution of the task. In the process of executing the task, the AGV will feedback the status and progress of the task execution to the host computer in real time through the wireless communication module; if any problems or abnormalities are encountered, the AGV will immediately stop the task and send an error report to the host computer to request further instructions or solutions. When the AGV completes the preset task, the main control module will confirm the completion of the task; if the task is successfully executed, the AGV will update its internal state and prepare to enter the next stage. According to the instructions of the host computer or the preset strategy of the AGV, the AGV will choose to return to the charging station for charging, or stay at the current location and wait for the next task; if it chooses to return to the charging station, the AGV will use the tracking module and obstacle avoidance module to plan a safe return route and travel along the route to the charging station; at the charging station, the AGV will use the charging module for wireless charging until the battery power reaches the preset threshold; if it chooses to wait for the next task, the AGV will remain in standby mode and maintain communication connection with the host computer through the wireless communication module in real time, so as to receive new task instructions at any time. In the process of returning to the charging station or waiting for the task, the AGV will display its current status, remaining power, task progress and other information in real time through the display module; at the same time, the AGV will also record this information in its internal memory for subsequent analysis and optimization.

[0065] Based on the same inventive concept, corresponding to any of the above embodiments and methods, the present invention provides an AGV system for implementing the method described in any of the above embodiments, including:

[0066] The main control module is used to control the operation of the entire AGV system, including parsing the route commands sent by the host computer, coordinating the work of each module, and handling abnormal situations.

[0067] The wireless communication module is used to establish a communication connection with the host computer, receive route commands and related information sent by the host computer, and send the AGV's working status and road condition information to the host computer; it supports multiple communication protocols (such as TCP / IP, MQTT, HTTP, etc.) and has data encryption and verification functions to ensure the integrity and security of data transmission.

[0068] The motion control module is used to control the motion mode of the AGV according to the route control information analyzed by the main control module. It can dynamically adjust the motion parameters of the AGV according to different road conditions and task requirements to achieve accurate navigation and positioning.

[0069] The node identification module is used to obtain the information in the RFID tag set at the route node when the AGV arrives at the route node, including the location and type of the node and subsequent driving route suggestions.

[0070] The tracking module is used to navigate the AGV based on the position and direction of the tracking line on the ground and the preset driving route to ensure that the AGV can travel along the predetermined path.

[0071] The obstacle avoidance module is used to dynamically adjust the speed and direction of the AGV according to the location and distance information of the obstacle; and to monitor obstacles in the surrounding environment in real time through devices such as visual sensors or radars.

[0072] The vision module is used to provide visual information of the AGV's surrounding environment, assisting in tracking, obstacle avoidance, and task execution.

[0073] The display module is used to display the working status, error information and received host computer commands of the AGV, so that the operator can monitor the operation of the AGV in real time.

[0074] The charging module is used to wirelessly charge the AGV to ensure that the AGV maintains sufficient power during long-term operation.

Claims

1. An AGV navigation method, characterized in that: Includes steps: Set a tracking line for navigation on the ground, start the AGV, and establish a communication connection with the host computer to obtain the current working status of the AGV and the corresponding road condition information; According to the current working status of the AGV and the corresponding road condition information, the host computer sends the corresponding route command to the AGV, and the AGV receives and analyzes the route command to obtain the corresponding route control information; According to the matching result between the current position of the AGV and the route nodes in the route control information, the AGV is controlled to perform corresponding obstacle avoidance, node identification and tracking operations; The AGV reaches the target location node, performs the preset task, and returns to the charging station or waits for the next task after the task is completed.

2. The AGV navigation method according to claim 1, characterized in that: The specific process of starting the AGV, establishing a communication connection with the host computer, and obtaining the current working status of the AGV and the corresponding road condition information is as follows: After the AGV is started, it executes the preset initialization program and establishes a communication connection with the host computer through the built-in wireless communication module; After the communication connection is established, the AGV checks its own working status and sends a status query request to the host computer through the wireless communication module to obtain the current road conditions and the operating status information of other AGVs; The AGV conducts comprehensive analysis and processing of the current road conditions and the operating status information of other AGVs to determine the current working status and environmental conditions of the AGV.

3. The AGV navigation method according to claim 2, characterized in that: According to the current working status of the AGV and the environment it is in, if any abnormal state is detected, the AGV will stop immediately and the abnormal state information will be fed back to the host computer, requesting the host computer to intervene or provide a solution; if no abnormal state is detected, the AGV will enter the state of waiting for the host computer to send a route command, ready to receive and execute subsequent navigation tasks.

4. The AGV navigation method according to claim 1, characterized in that: Obstacles in the surrounding environment are detected in real time through visual sensors or grayscale sensors. The speed and direction of the AGV are dynamically adjusted according to the location and distance information of the obstacles to complete the obstacle avoidance operation.

5. The AGV navigation method according to claim 1, characterized in that: A corresponding RFID tag is set at each route node. When the AGV reaches the route node, the RFID reader set on the AGV obtains the information in the corresponding RFID tag of the route node, and adjusts the AGV's travel route and speed according to the information in the corresponding RFID tag to complete the node identification operation.

6. The AGV navigation method according to claim 5, characterized in that: Several motion mode operation instructions are preset in the AGV, and the motion mode information required for the corresponding route node is preset in the information in the RFID tag corresponding to the route node. The AGV matches the motion mode operation instructions preset in the AGV according to the motion mode information required for the corresponding route node, and controls the AGV to complete the corresponding motion mode operation.

7. The AGV navigation method according to claim 1, characterized in that: Through the visual sensor installed on the AGV, the position and direction of the tracking line set on the ground are obtained in real time. The AGV is navigated by combining the obtained tracking line information with the preset driving route to complete the tracking operation.

8. The AGV navigation method according to claim 1, characterized in that: The current heading angle of the AGV is calculated by the attitude sensor and compared with the preset heading angle in the route control information, and the current heading angle of the AGV is adjusted according to the comparison result.

9. The AGV navigation method according to claim 8, characterized in that: During the movement of the AGV, the information in the RFID tag corresponding to the nearest route node in the direction of travel is obtained; if the AGV needs to turn at the nearest route node in the direction of travel, the AGV is controlled to slow down, and the current heading angle of the AGV is compared with the preset steering angle of the nearest route node in the direction of travel. According to the comparison result and the current travel speed of the AGV, the travel speed and heading angle of the AGV are dynamically adjusted.

10. An AGV system, used to implement the AGV navigation method according to any one of claims 1 to 9, characterized in that: include: Main control module, used to control the operation of the entire AGV system; Wireless communication module, used to establish communication connection with the host computer, receive route commands and related information sent by the host computer, and send the working status and road condition information of AGV to the host computer; The motion control module is used to control the motion mode of the AGV according to the route control information analyzed by the main control module; A node identification module is used to obtain information in an RFID tag set at a route node when the AGV reaches the route node; Tracking module, used to navigate the AGV based on the position and direction of the tracking line on the ground and the preset driving route; Obstacle avoidance module, used to dynamically adjust the AGV's travel speed and direction based on the location and distance information of obstacles; Vision module, used to provide visual information of the AGV's surroundings; Display module, used to display the working status, error information and received host computer instructions of AGV; Charging module, used to charge the AGV.

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