Physical parameter verification method for AGV trolley and AGV trolley

Abstract

The embodiment of the invention discloses a physical parameter verification method for an AGV trolley and the AGV trolley. The method includes the following steps of: recording a first measurement rotation angle of a steering wheel of the AGV trolley at the first starting point, a first initial azimuth angle of the AGV trolley, and an initial zero offset value of the steering wheel; after enablingthe AGV trolley to travel a first predetermined distance from the first starting point, recording a first final azimuth angle when the AGV trolley stops at the first parking point, recording a firstactual walking distance from the first starting point to the first parking point, and calculating the corresponding first azimuth angle variation amount according to the first initial azimuth angle and the first final azimuth angle; calculating the corresponding actual rotation angle when the preset rotation angle of the steering wheel is zero according to the wheelbase, the first azimuth angle variation amount and the first actual walking distance of the AGV trolley, and calculating a verified zero offset value of the steering wheel according to the first measurement rotation angle, the initial zero offset value and the actual rotation angle; and setting the verified zero offset value as the final zero offset value, and further completing the verification of the zero offset value of the steering wheel.

Description

technical field [0001] The invention relates to the technical field of automatic guided vehicles, in particular to a method for checking physical parameters of an AGV and the AGV. Background technique [0002] The forklift AGV (Automated Guided Vehicle) car of lidar has been widely used in automated factories, and the AGV car needs to be corrected for relevant physical parameters before leaving the factory. Among them, the zero offset of the steering wheel The value and the installation angle of the lidar are the more critical physical parameters. In the traditional technology, the correction method of the zero offset value of the steering wheel is as follows: manually select a reference line on the ground, pull the forklift to walk along the reference line in a straight line, manually modify the zero offset value according to the degree of forklift deviation from the reference line, repeat This step is until the straight line deviation of the AGV trolley is within the allo...

AI Technical Summary

Problems solved by technology

Therefore, the traditional method of manually correcting the physical parameters of the AGV trolley is cumbersome to operate, low in efficiency, and has large random errors, making it difficult to form a unified and standardized operation process

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