CN117168469A - Combined navigation method and system for freely switching navigation modes - Google Patents
Combined navigation method and system for freely switching navigation modes Download PDFInfo
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Abstract
The application discloses a combined navigation method and a system for freely switching navigation modes, which are used for improving the limitation of an AGV (automatic guided vehicle) when navigating through a two-dimensional code through the flexibility of laser navigation, reducing the use frequency of the two-dimensional code mark in the two-dimensional code navigation and prolonging the service life of the two-dimensional code mark. The method is applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combination system. The method comprises the following steps: acquiring task demands; identifying a current environment through an environment sensing system; matching task precision for the current task requirement according to the current environment, wherein the task precision is divided into a high precision requirement and a low precision requirement; determining a working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode; when the high-precision requirement is determined, a two-dimensional code navigation mode is used; when a low accuracy requirement is determined, a laser navigation mode is used.
Description
Technical Field
The application relates to the field of navigation, in particular to a combined navigation method and system for freely switching navigation modes.
Background
AGV (Automated Guided Vehicle) automated guided vehicles are an automated transportation device commonly used in industrial and logistical applications to accomplish automated material handling and transportation tasks.
In the prior art, AGVs are under operating condition, and automatic navigation mainly passes through two-dimensional code navigation, but two-dimensional code navigation relies on the two-dimensional code sign that sets up at mill ground, in actual conditions, two-dimensional code sign can roll repeatedly because of the removal of AGVs, leads to impaired, and the route that two-dimensional code navigation can navigate has the limitation, is difficult to avoid when having the obstacle in the AGVs meets the route.
Disclosure of Invention
The application provides a combined navigation method and a system for freely switching navigation modes, which are used for improving the limitation of an AGV (automatic guided vehicle) when navigating through a two-dimension code through the flexibility of laser navigation, reducing the use frequency of the two-dimension code mark in the two-dimension code navigation and prolonging the service life of the two-dimension code mark.
The first aspect of the present application provides a combined navigation method for freely switching navigation modes, the method is applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combined system, and the method comprises the following steps:
acquiring task demands;
identifying a current environment through an environment sensing system;
matching task precision for the current task requirement according to the current environment, wherein the task precision is divided into a high precision requirement and a low precision requirement;
determining a working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
when the high-precision requirement is determined, a two-dimensional code navigation mode is used;
when a low accuracy requirement is determined, a laser navigation mode is used.
Optionally, after using the laser navigation mode when the low precision requirement is determined, the method further comprises:
acquiring real-time positioning;
judging whether a laser navigation map exists at the current position according to the real-time positioning;
if yes, the laser navigation mode is activated.
Optionally, after the acquiring the real-time positioning, the method further includes:
judging whether the real-time positioning is successfully acquired or not;
and if the real-time positioning acquisition fails, identifying the surrounding environment through the environment sensing system, and performing real-time positioning according to the data of the surrounding environment.
Optionally, after the two-dimensional code navigation mode is used when the high-precision requirement is determined, the method further includes:
activating a two-dimensional code vision camera;
acquiring offset according to feedback data of the two-dimensional code vision camera;
and correcting the displacement direction according to the offset.
Optionally, the matching task precision for the current task requirement according to the current environment includes:
acquiring feedback data of the environment sensing system;
judging whether the current operation environment exists or not according to the feedback data;
if the matching is in the operation environment, the matching is the high-precision requirement;
if the matching is in a non-working environment, the matching is a low precision requirement.
Optionally, after the current environment is identified by the environment sensing system, the method includes:
judging whether an obstacle exists in the current environment;
if yes, the environment sensing system is used for assisting in avoiding the obstacle.
A second aspect of the present application provides a system for switching navigation modes, the system being applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combination system, the system comprising:
the first acquisition unit is used for acquiring task demands;
the first identification unit is used for identifying the current environment through the environment sensing system;
the matching unit is used for matching task precision for the current task requirement according to the current environment, and the task precision is divided into a high precision requirement and a low precision requirement;
the determining unit is used for determining the working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
the two-dimensional code navigation unit is used for using a two-dimensional code navigation mode when the high-precision mode is determined;
and a laser navigation unit for using the laser navigation mode when the low precision mode is determined.
Optionally, the system includes:
the second acquisition unit is used for acquiring real-time positioning;
the first judging unit is used for judging whether a laser navigation map exists at the current position according to the real-time positioning;
and the first activating unit is used for activating the laser navigation mode when the judging result of the first judging unit is yes.
Optionally, the system includes:
the second judging unit is used for judging whether the real-time positioning is successfully acquired or not;
and the second identification unit is used for identifying the surrounding environment through the environment sensing system when the judgment result of the second judgment unit is that the real-time positioning acquisition fails, so that the real-time positioning is performed according to the data identified by the environment sensing system.
Optionally, the system further comprises:
the second activating unit is used for activating the two-dimensional code vision camera;
the third acquisition unit is used for acquiring the offset according to the feedback data of the two-dimensional code vision camera;
and the correction unit is used for correcting the displacement direction according to the offset.
Optionally, the matching unit includes:
the acquisition module is used for acquiring feedback data of the environment sensing system;
the first judging module is used for judging whether the current operation environment exists or not according to the feedback data;
the first matching module is used for matching into a high-precision mode when the judging result of the first judging module is in the working environment;
and the second matching module is used for matching the first working environment with the second working environment to be in a low-precision mode when the judging result of the first judging module is in the non-working environment.
Optionally, the system includes:
a third judging unit, configured to judge whether an obstacle exists in the current environment;
and the third activating unit is used for assisting the obstacle avoidance through the environment sensing system when the judging result of the third judging unit is yes.
A third aspect of the present application provides a system for switching navigation modes, including:
the device comprises a processor, a memory, an input/output unit and a bus;
the processor is connected with the memory, the input/output unit and the bus;
the processor specifically performs the same operations as the aforementioned first aspect.
According to the technical scheme, the acquired task requirements are analyzed, the surrounding environment is acquired by combining the environment sensing system, so that the current required task precision is determined, the navigation mode is determined by the task precision, the combined navigation mode is divided into two navigation modes of laser navigation and two-dimensional code navigation, so that the AGV (Automated Guided Vehicle) automatic guided vehicle can cooperate with the two-dimensional code navigation through the laser navigation in the task execution process, the limitation of the AGV in the two-dimensional code navigation process is perfected through the flexibility of the laser navigation, the use frequency of the two-dimensional code identification in the two-dimensional code navigation is reduced, and the service life of the two-dimensional code identification is prolonged.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for integrated navigation in a free-switching navigation mode according to the present application;
FIG. 2 is a flow chart of another embodiment of a method for integrated navigation in a free-switching navigation mode according to the present application;
FIG. 3 is a schematic structural diagram of an embodiment of a combined navigation method of the free-switching navigation mode in the present application;
FIG. 4 is a schematic diagram of another embodiment of a combined navigation system with free-switching navigation mode according to the present application;
fig. 5 is a schematic diagram of a system configuration of a combined navigation system with a free-switching navigation mode according to the present application.
Detailed Description
The application provides a combined navigation method and a system for freely switching navigation modes, which are used for improving navigation efficiency.
The following description of the embodiments of the present application will be made more apparent and fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the application are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The implementation main body of the application is an AGV (Automated Guided Vehicle, automatic guided vehicle), the specific use scene is in a factory building, and a map of an unsecured area is constructed in the factory building through a laser SLAM technology, wherein a laser radar for constructing the map is arranged on the diagonal of a sheet metal shell of the AGV.
Referring to fig. 1, the present application provides an embodiment of a combined navigation method for freely switching navigation modes, the method being applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combination system, and comprising:
101. acquiring task demands;
specifically, the task requirements of the AGV (Automated Guided Vehicle, automatic guided vehicle) include, but are not limited to, carrying in a factory or entering a station for processing, etc., and the task requirements are not limited herein, and the purpose of the task requirements is to allow the AGV to autonomously execute a work task, and after the AGV acquires the task requirements, the AGV will drive according to the task requirements and execute the task in the task requirements.
102. Identifying a current environment through an environment sensing system;
in practice, the task demands acquired by the AGV include, but are not limited to: carrying, butting and processing, wherein more than one task requirement can exist in the same task, and the task requirements are not limited in particular, but obviously, the AGV needs to move in the actual task execution process, after the AGV receives the task requirements, the task target can be determined according to the task requirements, so that the AGV moves to a task initial place to start to execute the task, after the AGV acquires the task requirements, the AGV can identify the current environment through an environment sensing system, so that the current position is determined, and the task execution step is confirmed according to the current environment.
103. Matching task precision for the current task requirement according to the current environment, wherein the task precision is divided into a high precision requirement and a low precision requirement;
specifically, the task request received by the AGV in the actual working environment is transferred and the workpiece is abutted, namely the workpiece is moved from the station A to the station B, and the abutting operation is completed at the station B, at this time, when the workpiece is transferred from the station A to the station B, the AGV can confirm that the precision requirement at this time is a low precision requirement, and when the AGV enters the station B to start abutting, the workpiece carried by the AGV needs to be abutted through the locating pin and the pin hole, so that the precision requirement at this time is confirmed to be a high precision requirement.
104. Determining a working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
after the task precision is determined, the AGV enters a navigation mode corresponding to the task precision according to the task requirement, specifically, the laser navigation positioning precision is +/-15 mm, and the two-dimensional code navigation can reach +/-3 mm.
105. When the high-precision requirement is determined, a two-dimensional code navigation mode is used;
specifically, tasks of high accuracy demand include operating the pinhole, AGV stops into station, gets into elevator etc. stop into narrow space or to the accurate work such as error tolerance of operation such as position requirement more accurate, this kind is higher to parking position demand, when the AGV needs to carry out the task of this kind of high accuracy demand, AGV can get into two-dimensional code navigation mode, navigates through the inside two-dimensional code sign of factory building.
106. When a low accuracy requirement is determined, a laser navigation mode is used.
Specifically, the laser navigation mode is essentially that a laser radar is arranged on the opposite angle of a sheet metal shell of the AGV, so that real-time information of the current environment is generated according to feedback data of the laser radar and a constructed map, the AGV can automatically navigate in a factory building of the constructed map according to information obtained by the laser SLAM, but accuracy of the feedback data of the SLAM map and the laser radar is interfered by other factors contained in the environment, and therefore navigation accuracy of the generated map is low.
The task of low accuracy requirement is the moving task of the AGV, such as in the case of passing through a secure aisle, etc., which only needs to be moved.
According to the technical scheme, the acquired task requirements are analyzed, the surrounding environment is acquired by combining the environment sensing system, the current required task precision is determined, the navigation mode is determined by the task precision, the navigation mode is divided into laser navigation and two-dimensional code navigation, so that the AGV (Automated Guided Vehicle) automatic guided vehicle can cooperate with the two-dimensional code navigation through the laser navigation in the task execution process, the limitation of the AGV in the two-dimensional code navigation process is perfected through the flexibility of the laser navigation, the use frequency of the two-dimensional code identification in the two-dimensional code navigation process is reduced, and the service life of the two-dimensional code identification is prolonged.
Referring to fig. 2, another embodiment of a method for switching navigation modes is provided in the present application, including:
201. acquiring task demands;
202. identifying a current environment through an environment sensing system;
steps 201 to 202 in this embodiment are similar to steps 101 to 102 in the previous embodiment, and detailed descriptions thereof are omitted here.
203. Judging whether an obstacle exists in the current environment;
specifically, the environment sensing system can collect the environmental data around the AGV, after the AGV receives the task demand, the AGV can acquire station data or data of the task execution place, the AGV at this time has a moving tendency, after the AGV has a moving tendency, the AGV can acquire and judge whether an obstacle exists in the moving tendency direction through the environment sensing system, and if the obstacle exists, step 204 is executed.
204. If yes, the environment sensing system is used for assisting in avoiding the obstacle.
After the AGV determines that the moving trend of the current scene is obstacle, the AGV calculates a moving path in real time according to the obstacle data fed back by the laser radar through preset logic. Thereby reducing the probability of the AGV jamming due to the obstacle.
205. Acquiring feedback data of the environment sensing system;
the feedback data of the environment sensing system mainly comprises the positioning data of the AGVs and the image data acquired by the environment sensing system and the carried cameras, and because the factory environment is complex, the positioning data acquired by the environment sensing system is only the position of the current AGVs, and the AGVs cannot be accurately acquired relative to the specific positions in the factory building, and the specific positions in the AGVs relative to the factory building are required to be determined together with the surrounding environment marks or the external environment outlines.
206. Judging whether the current operation environment exists or not according to the feedback data;
specifically, after the AGV obtains the feedback data of the environment sensing system, it can be confirmed by the feedback data of the environment sensing system whether the current position of the AGV is located at the end of the task execution, where the end location is the working environment of the AGV, when the AGV is located in the working environment, step 207 is executed, and when the AGV is located in the non-working environment, step 208 is executed.
207. If the matching is in the operation environment, the matching is the high-precision requirement;
the work environment is accompanied by a higher accuracy requirement, thus when the AGV is in the work environment, meaning that the AGV is about to perform a task, at which point the AGV will match the current accuracy requirement to a high accuracy requirement.
208. If the matching is in a non-working environment, the matching is a low precision requirement.
The non-working environment means that the current AGV first task is to reach the working environment, so that the AGV can consider that the task at the moment is fast moved to the working environment according to preset logic, and the precision requirement is matched to be a low precision requirement.
209. Determining a working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
210. when the high-precision requirement is determined, a two-dimensional code navigation mode is used;
steps 209 to 210 in this embodiment are similar to steps 104 to 105 in the previous embodiment, and detailed descriptions thereof are omitted here.
211. Activating a two-dimensional code vision camera;
specifically, the two-dimensional code vision camera is installed at the center of the AGV chassis, and the two-dimensional code vision camera always shoots at the frequency of 30Hz so as to obtain the two-dimensional code identification arranged on the factory floor. The two-dimension code identification set on the factory floor is about 1.5m in setting distance, the two-dimension code identification contains a moving direction from the current two-dimension code to the next two-dimension code, a two-dimension code navigation mode is needed, and a plurality of two-dimension code identifications are needed to be set in the factory.
212. Acquiring offset according to feedback data of the two-dimensional code vision camera;
the AGV can remove to next two-dimensional code sign according to this data when obtaining that a two-dimensional code sign carries data, and the AGV can lead to the position to appear a small amount of skew because of self performance or other external factors when removing, consequently after the AGV obtained the data of next two-dimensional code sign, can carry out the acquisition of offset to the current AGV state according to the data that the two-dimensional code carried.
213. And correcting the displacement direction according to the offset.
After the offset is obtained, the AGV can finely adjust the current position of the AGV according to the offset, so that the AGV can accurately reach the next two-dimensional code mark.
214. When a low accuracy requirement is determined, a laser navigation mode is used.
Step 214 in this embodiment is similar to step 106 in the previous embodiment, and detailed description thereof is omitted here.
215. Acquiring real-time positioning;
specifically, the real-time positioning can be directly obtained through a SLAM map constructed in a laser navigation mode, and also can be obtained through position information carried by a two-dimensional code identifier, so that the purpose is to determine the relative position of the current AGV in a factory.
216. Judging whether the real-time positioning is successfully acquired or not;
in practical situations, there are land plots without identification or positions where laser navigation is not constructed, so there are situations where real-time positioning cannot be successfully acquired, and when the AGV fails to acquire real-time positioning, step 217 is performed.
217. And if the real-time positioning acquisition fails, identifying the surrounding environment through the environment sensing system, and performing real-time positioning according to the data of the surrounding environment.
The AGV can acquire the environment outline of the environment where the AGV is located or the identification used for assisting the positioning of the AGV through the environment sensing system, and the data can help the AGV to relatively determine the relative position of the current AGV and the factory, so that the real-time positioning is realized.
218. Judging whether a laser navigation map exists at the current position according to the real-time positioning;
when the laser navigation map is embodied, the laser navigation map is divided into laser radar real-time feedback data set by the AGV and a constructed plant map, and the purpose is to enable the AGV to adaptively process the current environment in the constructed map by the laser radar SLAM under the working state of the AGV.
Specifically, starting the laser navigation mode needs to determine that the AGV is located in the area of the constructed map, in a practical situation, there may be a situation that a part of the area of a factory building is not being constructed for a special reason, but when the AGV is located in the position of the constructed map of the factory, the AGV needs to be guaranteed to be located in the position of the constructed map of the factory by using the laser navigation mode, so when the AGV is located in the position of the laser navigation map, step 219 is executed.
219. If yes, the laser navigation mode is activated.
Specifically, when the laser navigation mode fails to be activated, the AGV needs to move to the range of the laser navigation map, and at the moment, the AGV can move to the range of the laser navigation map by means of the environment sensing module and construct a real-time laser SLAM map according to the environment sensing system.
This situation generally occurs in the factory building of distinguishing the floor, when the laser navigation map is built in the first floor of the factory building and the laser navigation map is not built in the second floor, then the AGV needs to get back to the first floor from the second floor of the factory building, the range that the AGV can possibly appear and can not activate the laser navigation mode, except for the first floor of the factory building, the distance from the elevator to the first floor of the factory building is further reduced, generally, no mark can be arranged at the open place such as an elevator gallery or a safe passage, the surrounding mark can be obtained through the environment sensing system after the AGV leaves the first floor of the factory building, specifically, in the actual situation, the surrounding mark is besides the environment information obtained through the camera, the light reflecting plate for enabling the AGV to quickly obtain the required information can be arranged in the specific area inside the factory, so that the AGV can quickly relocate to the built map through real-time data fed back through laser radar navigation, and under the general circumstances, the laser navigation map is built in the working area.
When the AGV enters the laser navigation map range, the laser navigation mode is actively activated.
The above describes the integrated navigation method of the free switching navigation mode in detail, and the following describes the integrated navigation system of the free switching navigation mode in detail.
Referring to fig. 3, an embodiment of a combined navigation system for freely switching navigation modes is provided in the present application, including:
a first obtaining unit 301, configured to obtain a task requirement;
a first identifying unit 302, configured to identify a current environment through the environment sensing system;
a matching unit 303, configured to match task accuracy for a current task requirement according to the current environment, where the task accuracy is divided into a high-accuracy requirement and a low-accuracy requirement;
the determining unit 304 is configured to determine a working mode of the navigation combination system according to the matched task precision, where the working mode includes a laser navigation mode and a two-dimensional code navigation mode;
a two-dimensional code navigation unit 305 for using a two-dimensional code navigation mode when determining to be a high-precision mode;
the laser navigation unit 306 is configured to use the laser navigation mode when the low precision mode is determined.
In this embodiment, the functions of each unit correspond to the steps in the embodiment shown in fig. 1, and are not described herein.
Referring to fig. 4, another embodiment of a combined navigation system with free-switching navigation mode according to the present application includes:
a first obtaining unit 401, configured to obtain a task requirement;
a first identifying unit 402, configured to identify a current environment through the environment sensing system;
a third judging unit 403, configured to judge whether an obstacle exists in the current environment;
and a third activating unit 404, configured to assist, when the determination result of the third determining unit 403 is yes, obstacle avoidance by the environmental awareness system.
A matching unit 405, configured to match task accuracy for a current task demand according to the current environment, where the task accuracy is divided into a high-accuracy demand and a low-accuracy demand;
a determining unit 406, configured to determine a working mode of the navigation combination system according to the matched task precision, where the working mode includes a laser navigation mode and a two-dimensional code navigation mode;
a two-dimensional code navigation unit 407 for using a two-dimensional code navigation mode when determining to be a high-precision mode;
a second activating unit 408 for activating the two-dimensional code vision camera;
a third obtaining unit 409, configured to obtain an offset according to feedback data of the two-dimensional code vision camera;
and a correction unit 410, configured to correct the displacement direction according to the offset.
The laser navigation unit 411 is configured to use a laser navigation mode when determining to be a low precision mode.
A second acquiring unit 412, configured to acquire real-time positioning;
a second judging unit 413, configured to judge whether the real-time positioning is successfully acquired;
and a second identifying unit 414, configured to identify, when the second judging unit 413 judges that the real-time positioning acquisition fails, the surrounding environment through the environment sensing system, so that real-time positioning is performed according to the data identified by the environment sensing system.
A first judging unit 415, configured to judge whether a laser navigation map exists at the current position according to the real-time positioning;
and a first activating unit 416, configured to activate the laser navigation mode when the determination result of the first determining unit 415 is yes.
In the present application, the matching unit 405 includes:
an acquisition module 4051, configured to acquire feedback data of the environmental awareness system;
a first judging module 4052, configured to judge whether the current operation environment is in accordance with the feedback data;
a first matching module 4053, configured to match to a high-precision mode when the determination result of the first determining module 4052 is in the operation environment;
and a second matching module 4054, configured to match the first matching module 4052 to a low-precision mode when the determination result is in the non-working environment.
In this embodiment, the functions of each unit correspond to the steps in the embodiment shown in fig. 2, and are not described herein.
Referring to fig. 5, another embodiment of a combined navigation system with free-switching navigation mode according to the present application includes:
a processor 501, a memory 502, an input/output unit 503, and a bus 504;
the processor 501 is connected to the memory 502, the input/output unit 503, and the bus 504;
the processor 501 specifically performs operations corresponding to the steps in the methods of fig. 1 to 2, and detailed descriptions thereof are omitted herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM, random access memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Claims (10)
1. The integrated navigation method of the free switching navigation mode is characterized in that the method is applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combined system, and the method comprises the following steps:
acquiring task demands;
identifying a current environment through an environment sensing system;
matching task precision for the current task requirement according to the current environment, wherein the task precision is divided into a high precision requirement and a low precision requirement;
determining a working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
when the high-precision requirement is determined, a two-dimensional code navigation mode is used;
when a low accuracy requirement is determined, a laser navigation mode is used.
2. The method of claim 1, wherein after using the laser navigation mode when the low accuracy requirement is determined, the method further comprises:
acquiring real-time positioning;
judging whether a laser navigation map exists at the current position according to the real-time positioning;
if yes, the laser navigation mode is activated.
3. The method of claim 2, wherein after the acquiring the real-time position fix, the method further comprises:
judging whether the real-time positioning is successfully acquired or not;
and if the real-time positioning acquisition fails, identifying the surrounding environment through the environment sensing system, and performing real-time positioning according to the data of the surrounding environment.
4. The method of claim 1, wherein after using the two-dimensional code navigation mode when the high precision requirement is determined, the method further comprises:
activating a two-dimensional code vision camera;
acquiring offset according to feedback data of the two-dimensional code vision camera;
and correcting the displacement direction according to the offset.
5. The method according to any one of claims 1 to 4, wherein said matching task accuracy for current task demands according to the current environment comprises:
acquiring feedback data of the environment sensing system;
judging whether the current operation environment exists or not according to the feedback data;
if the matching is in the operation environment, the matching is the high-precision requirement;
if the matching is in a non-working environment, the matching is a low precision requirement.
6. The method according to any one of claims 1 to 4, wherein after the current environment is identified by the environment awareness system, the method comprises:
judging whether an obstacle exists in the current environment;
if yes, the environment sensing system is used for assisting in avoiding the obstacle.
7. A system for switching navigation modes, wherein the system is applied to an automatic guided vehicle for indoor operation provided with an environment sensing system and a navigation combination system, the system comprising:
the first acquisition unit is used for acquiring task demands;
the first identification unit is used for identifying the current environment through the environment sensing system;
the matching unit is used for matching task precision for the current task requirement according to the current environment, and the task precision is divided into a high precision requirement and a low precision requirement;
the determining unit is used for determining the working mode of the navigation combination system according to the matched task precision, wherein the working mode comprises a laser navigation mode and a two-dimensional code navigation mode;
the two-dimensional code navigation unit is used for using a two-dimensional code navigation mode when the high-precision mode is determined;
and a laser navigation unit for using the laser navigation mode when the low precision mode is determined.
8. The system of claim 7, wherein the system comprises:
the second acquisition unit is used for acquiring real-time positioning;
the first judging unit is used for judging whether a laser navigation map exists at the current position according to the real-time positioning;
and the first activating unit is used for activating the laser navigation mode when the judging result of the first judging unit is yes.
9. The system of claim 8, wherein the system comprises:
the second judging unit is used for judging whether the real-time positioning is successfully acquired or not;
and the second identification unit is used for identifying the surrounding environment through the environment sensing system when the judgment result of the second judgment unit is that the real-time positioning acquisition fails, so that the real-time positioning is performed according to the data identified by the environment sensing system.
10. The system of claim 7, wherein the system further comprises:
the second activating unit is used for activating the two-dimensional code vision camera;
the third acquisition unit is used for acquiring the offset according to the feedback data of the two-dimensional code vision camera;
and the correction unit is used for correcting the displacement direction according to the offset.
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