AGV laser radar calibration auxiliary detection system

Abstract

The invention relates to an AGV laser radar calibration auxiliary detection system which comprises a two-axis motion platform, a reflection device and a control device used for controlling the two-axis motion platform and the reflection device. A containing pool is arranged on the ground of the test site, the two-axis motion platform is installed in the containing pool, and a camera is installed over the containing pool; and a reflecting device A, a reflecting device B and a reflecting device C are respectively arranged at the left front part, the right front part and the right front part of the supporting plate. According to the scheme, the to-be-detected AGV is controlled to automatically run to the two-axis motion platform through the inspection program; the position of the AGV trolley is adjusted by controlling the two-axis motion platform, so that the point position in the laser radar of the AGV trolley is aligned with the detected reference point position; the system automatically identifies the model of the AGV, automatically adjusts the heights of the three groups of feature objects according to the model, and automatically completes verification and correction of the laser radar. According to the system, the workload of manual operation and adjustment can be greatly saved, and the calibration efficiency of the laser radar is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of detection and calibration technology, and in particular to an AGV laser radar calibration auxiliary detection system. Background Art

[0002] As AGVs are increasingly used in modern warehousing and logistics, the accuracy requirements for their positioning and navigation technology are becoming increasingly important. The positioning and navigation accuracy is highly dependent on the position accuracy of the sensor on the AGV, which requires high-precision measurement of the sensor's position on the AGV.

[0003] The traditional method involves mechanically designing fixed-position positioning holes on the AGV and then installing the LiDAR in these holes. However, mechanical manufacturing is subject to errors, as is tooling. Therefore, after installing the LiDAR in the holes, the LiDAR may not be level, meaning it has roll and pitch angles. Therefore, every AGV requires manual calibration of its LiDAR before shipment.

[0004] The existing calibration method is entirely manual. First, the AGV is manually controlled to move to the inspection position. Then, at least three sets of features are manually placed around the AGV to be inspected. The positions of the features are adjusted according to the position of the AGV to ensure that the three sets of features are at the same distance from the LiDAR. During the inspection process, the height of the features must be frequently adjusted manually to ensure that all features appear within the LiDAR's field of view. This calibration method is labor-intensive and inefficient. Summary of the Invention

[0005] Based on the above description, the present invention provides an AGV laser radar calibration auxiliary detection system to solve the defect that the existing calibration method requires frequent manual operation and adjustment.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: An AGV laser radar calibration auxiliary detection system includes a two-axis motion platform, a reflection device and a control device for controlling the two-axis motion platform and the reflection device; the reflection device has a height-adjustable triangular feature; a holding pool is set on the ground of the test site, the two-axis motion platform is installed in the holding pool, a camera is installed directly above the holding pool, and the camera is electrically connected to the control device; reference points are marked in the holding pool and the coordinates of the reference points in the captured image are calibrated, and reflection devices A, B and C are respectively installed in the left front, right front and right front of the support plate, so that the three sets of reflection devices The distance between the AGV and the support plate is equal; the inspection path of the AGV is marked on the rear of the support plate, and the inspection path is used to guide the AGV to automatically drive to the support plate; the center point is marked on the center of the top of the laser radar of each AGV to be inspected; when the AGV to be inspected drives onto the two-axis motion platform, the camera captures the image of the AGV to be inspected and the support plate, and the control device processes the image data to identify the model of the AGV and the position of the center point. The control device calls the design installation height H of the laser radar corresponding to the model of the AGV, and then controls the reflector to adjust the height of the feature to the height H; The control device calculates the actual horizontal and vertical distances between the center point and the reference point based on the coordinates of the center point, the coordinates of the reference point, and the actual length and width of the support plate. The control device then controls the two-axis motion platform to align the center point on the AGV with the reference point. Then, the laser radar of the AGV to be inspected rotates and scans the three groups of features to obtain laser point cloud data; the control device processes the laser point cloud data and identifies the features in the point cloud data, and adjusts the heights of the three groups of features according to the identification results. When all three groups of features appear in the point cloud data, the pitch angle and roll angle of the laser radar are calculated based on the height adjustment amount of the three groups of features.

[0007] As a preferred solution: the two-axis motion platform includes a base, a longitudinal slide located above the base, and a transverse slide located above the longitudinal slide, and the support plate is fixed to the transverse slide; the upper surface of the base is provided with a longitudinal guide rail, and the longitudinal slide is slidably connected to the longitudinal guide rail; the upper surface of the longitudinal slide is provided with a transverse guide rail, and the transverse slide is slidably connected to the transverse guide rail; a guide plate is connected to one side of the support plate, and the guide plate is used to guide the AGV car to the support plate; the two-axis motion platform also includes a first linear motor and a second linear motor; the first linear motor is arranged longitudinally, and a first connecting plate is provided on the side of the base, the housing of the first linear motor is fixed to the first connecting plate, and the output shaft of the first linear motor is connected to the longitudinal slide; the second linear motor is arranged transversely, and a second connecting plate is provided on the side of the longitudinal slide, the housing of the second linear motor is fixed to the second connecting plate, and the output shaft of the second linear motor is connected to the transverse slide.

[0008] As a preferred solution: the reflection device includes a column, a connecting seat fixed to the lower end of the column, and a servo motor fixed to the upper end of the column; the connecting seat is used to fix the reflection device to the ground, the column is a hollow structure, and a vertical screw rod is arranged inside the column, the servo motor is arranged in an inverted position and its output shaft is coaxially connected to the upper end of the screw rod, and the lower end of the screw rod is rotatably connected to the lower end of the column; a slider is also provided in the column, the screw rod passes through the slider and is threadedly engaged with the slider; the outer wall of the slider is in contact with the inner wall of the column, and the feature is located in front of the slider and is fixed to the slider.

[0009] As a preferred solution: the body of the AGV is marked with evenly distributed first positioning points, second positioning points and third positioning points in a circumferential direction surrounding the laser radar. The color combination of the three groups of positioning points is unique for each model of AGV; the control device identifies the model of the AGV by the three groups of positioning points and their color combination.

[0010] As a preferred solution, the pitch angle and roll angle of the laser radar are calculated as follows: the features in the point cloud data are identified. If three features cannot be detected at the same time, it means that the laser radar levelness is unqualified at this time. The features are controlled to move within ±100mm of the designed installation height of the laser radar until three markers can be seen; after adjustment, the heights of the three groups of features are recorded as H1, H2, and H3 respectively, and the roll angle of the radar at this time can be calculated as arctan[(H2-H1) / D]; after the roll angle adjustment is completed, the heights of the three detection devices should be consistent, recorded as H4; at this time, the radar Three triangular markers should be detectable. The radar is designed to be installed at a height of H, and the detection height is H4. If H=H4, it means the radar is completely level. If H is not equal to H4, it means the radar installation still has a pitch angle, and the pitch angle is arctan[(H4-H) / L], where L represents the distance between the reflector and the reference point. At this point, the installer can obtain the adjustment direction and amplitude of the pitch angle. After adjusting the pitch angle, adjust the height of the triangular feature on the detection device to H. The radar can detect three features at the same time, indicating that the radar installation level is qualified.

[0011] As a preferred solution: the control device includes a microprocessor module, and also includes an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module and a power supply module connected to the microprocessor module; wherein the motion control module is used to control the first linear motor and the second linear motor, and the drive module is used to control the servo motor.

[0012] Compared with the existing technology, the technical solution of this application has the following beneficial technical effects: this solution is designed by designing a two-axis motion platform for carrying the AGV to be inspected, and a reflective device that can automatically adjust the height of the feature object; the inspection program controls the AGV to be inspected to automatically drive to the two-axis motion platform; the AGV on the two-axis motion platform is positioned through image recognition positioning, and then the position of the AGV is adjusted by controlling the two-axis motion platform to align the point in the AGV's laser radar with the detection reference point; the system automatically identifies the model of the AGV and calls the design installation height corresponding to the laser radar of the AGV model, and automatically adjusts the height of the three sets of feature objects accordingly, automatically completing the verification and calibration of the laser radar. This system can greatly save the workload of manual operation and adjustment, and significantly improve the calibration efficiency of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 Schematic diagram of the structure of the two-axis motion platform in this embodiment; Figure 2 is a schematic structural diagram of the reflection device in this embodiment; Figure 3Schematic diagram of the AGV in this embodiment; Figure 4 for Figure 3 Enlarged view of part E in FIG; Figure 5 Schematic diagram of the system layout in this embodiment; Figure 6 is a schematic diagram of the control device in this embodiment; Figure 7 This is a schematic diagram of the AGV in this embodiment driving onto the two-axis motion platform; Figure 8 Schematic diagram of the center point and reference point in this embodiment; Figure 9 This is a schematic diagram of the two-axis motion platform after adjustment and alignment; Figure 10 Schematic diagram of height adjustment in this embodiment.

[0014] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. Two-axis motion platform; 101. Base; 102. Longitudinal guide rail; 103. Longitudinal slide; 104. First connecting plate; 105. First linear motor; 106. Transverse guide rail; 107. Transverse slide; 108. Second connecting plate; 109. Second linear motor; 110. Support plate; 111. Guide plate; 2. Reflection device; 201. Column; 202. Connecting seat; 203. Servo motor; 204. Screw; 205. Slider; 206. Feature; 3. AGV; 301. Vehicle body; 302. LiDAR; 303. Center point; 304. First positioning point; 305. Second positioning point; 306. Third positioning point; 4. Ground; 5. Holding pool; 6. Reference point; 7. Inspection path; 8. Camera; 9. Mounting bracket. DETAILED DESCRIPTION

[0015] An automatic detection system for the roll angle of an AGV laser radar 302 includes a two-axis motion platform 1, a reflection device 2 and a control device.

[0016] Reference Figure 1The two-axis motion platform 1 includes a base 101, a longitudinal slide 103 located above the base 101, a transverse slide 107 located above the longitudinal slide 103, and a support plate 110 located above the transverse slide 107. The upper surface of the base 101 is provided with a longitudinal guide rail 102, and the longitudinal slide 103 is slidably connected to the longitudinal guide rail 102, so that the longitudinal slide 103 can slide back and forth along the longitudinal guide rail 102. The upper surface of the longitudinal slide 103 is provided with a transverse guide rail 106, and the transverse slide 107 is slidably connected to the transverse guide rail 106, so that the transverse slide 107 can slide back and forth along the transverse guide rail 106. The support plate 110 is fixed to the transverse slide 107, and a guide plate 111 is connected to one side of the support plate 110, and the guide plate 111 is used to guide the AGV trolley 3 onto the support plate 110.

[0017] The two-axis motion platform 1 also includes a first linear motor 105 and a second linear motor 109. The first linear motor 105 is arranged longitudinally, and a first connecting plate 104 is arranged on the side of the base 101. The housing of the first linear motor 105 is fixed to the first connecting plate 104, and the output shaft of the first linear motor 105 is connected to the longitudinal slide 103. By controlling the extension and contraction of the output shaft of the first linear motor 105, the longitudinal slide 103 can be driven to slide back and forth along the longitudinal guide rail 102. The second linear motor 109 is arranged transversely, and a second connecting plate 108 is arranged on the side of the longitudinal slide 103. The housing of the second linear motor 109 is fixed to the second connecting plate 108, and the output shaft of the second linear motor 109 is connected to the transverse slide 107. By controlling the extension and contraction of the output shaft of the second linear motor 109, the transverse slide 107 can be driven to slide back and forth along the transverse guide rail 106.

[0018] Reference Figure 2 The reflecting device 2 includes a column 201, a connecting base 202 fixed to the lower end of the column 201, and a servo motor 203 fixed to the upper end of the column 201. The connecting base 202 is used to fix the reflecting device 2 to the ground 4. The column 201 is a hollow structure, and a vertical screw rod 204 is arranged inside it. The servo motor 203 is arranged in an inverted position and its output shaft is coaxially connected to the upper end of the screw rod 204. The lower end of the screw rod 204 is rotatably connected to the lower end of the column 201. A slider 205 is also provided in the column 201, and the screw rod 204 passes through the slider 205 and is threadedly engaged with it; the outer wall of the slider 205 contacts the inner wall of the column 201, which can prevent the slider 205 from rotating with the screw rod 204; when the servo motor 203 drives the screw rod 204 to rotate, it can drive the slider 205 to slide up and down. The reflective device 2 further includes a triangular feature 206, which is located in front of the slider 205 and fixed to the slider 205 so that the feature 206 can move up and down synchronously with the slider 205. The feature 206 is made of a high reflectivity material.

[0019] Reference Figure 3 and Figure 4 A center point 303 is marked at the center of the top of the laser radar 302 of the AGV 3. A first positioning point 304, a second positioning point, and a third positioning point 306 are evenly distributed on the body 301 of the AGV 3 and circumferentially around the laser radar 302. Center point 303 is the geometric center of the first positioning point 304, the second positioning point 305, and the third positioning point 306. The colors of the first positioning point 304, the second positioning point 305, and the third positioning point 306 on the body 301 of different AGV 3 models are different; and each model of AGV 3 has a unique combination of the three groups of positioning points.

[0020] Reference Figure 5 The automatic detection system requires setting up a holding pool 5 on the ground 4 of the test site, installing the two-axis motion platform 1 in the holding pool 5, making the support plate 110 flush with the ground 4, and there is space between the edge of the support plate 110 and the four walls of the holding pool 5.

[0021] In addition, a camera 8 needs to be installed directly above the holding pool 5 . The camera 8 is fixed to the ground 4 via a mounting bracket 9 . The camera 8 is used to capture images of the two-axis motion platform 1 .

[0022] It is also necessary to mark a reference point 6 within the holding pool 5 and calibrate its coordinates in the captured image. Reflectors 2A, 2B, and 2C are then installed on the left, front, and right sides of the support plate 110, respectively, ensuring that the distance L (L being the detection distance) between the three sets of reflectors 2 and the reference point 6 is equal. An inspection path 7 for the AGV 3 is marked behind the support plate 110. This path guides the AGV 3 to automatically drive onto the support plate 110.

[0023] Reference Figure 6 The control device in this embodiment includes a microprocessor module, an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module and a power supply module.

[0024] The image signal output of camera 8 is connected to the input of the image acquisition module, and the output of the image acquisition module is connected to the data receiving terminal of the microprocessor module. The storage module is connected to the data read / write interface of the microprocessor module and is used to store image data and other data. The communication module is connected to the signal transceiver interface of the microprocessor module and is used for communication and data transmission between the control device and the cloud system or other devices. The human-computer interaction module is connected to the I / O port of the microprocessor module and is used to detect interactive operations between the human and the control device.

[0025] The motion control module's signal receiving end is connected to the microprocessor module's control signal output end, which is in turn connected to the drive ends of the first and second linear motors 105, 109 of the two-axis motion platform 1. The motion control module is used to control the motion direction and stroke of the first and second linear motors 105, 109. The drive module's signal receiving end is connected to the microprocessor module's control signal output end, which is in turn connected to the drive end of the servo motor 203. The drive module is used to control the motion direction and stroke of the servo motor 203. The alarm module is connected to the microprocessor module's control signal output end and is used to emit audible and visual alarm signals. The power supply module is used to supply power to the camera 8 and various modules.

[0026] Because different models of AGVs 3 have different shapes and heights, and the laser radar 302 is typically mounted on top of the vehicle, it is necessary to calibrate the design installation height H of the laser radar 302 for each model of AGV 3. For example, the laser emission height when the pitch angle of the laser radar 302 is zero can be defined as the standard height of the laser radar 302. The data for the design installation height H of the laser radar 302 for each model of AGV 3 is stored in the storage module.

[0027] In addition, since the shapes and specifications of the AGV trolleys 3 are different, the positions where the AGV trolleys 3 finally stop on the support plate 110 will also be different. Before testing, it is necessary to ensure that the center point 303 of each AGV trolley 3 is aligned with the reference point 6.

[0028] The system works as follows: In the initial state, the heights of the features 206 of the three sets of reflectors 2 are uniformly set to a default height. An inspection program is written into each AGV 3. The inspection program controls the AGV 3 to travel from its starting point along the inspection path 7. After traveling a certain distance, the AGV 3 to be inspected stops on the two-axis motion platform 1.

[0029] Figure 7 Schematic diagram of the AGV trolley 3 to be inspected stopped on the two-axis motion platform 1.

[0030] Then the camera 8 captures the image of the AGV trolley 3 and the support plate 110 to be inspected. The image acquisition device camera 8 outputs the image signal and sends the collected image data to the microprocessing module, which processes the image data and stores the image data in the storage module.

[0031] The process of image processing by the microprocessor module is as follows: The microprocessor module includes an image recognition unit, a computing unit, and a data processing unit. The image recognition unit identifies the features and colors of the first, second, and third positioning points 304, 306 in the image. The microprocessor module determines the model of the current AGV 3 based on the identified points and their color combination.

[0032] After the microprocessor module determines the model of the AGV trolley 3 to be inspected, it retrieves the design installation height H of the laser radar 302 corresponding to the model of AGV trolley 3; then the microprocessor module sends a control instruction to the drive module to control the servo motor 203 to rotate, thereby adjusting the height of the feature object 206 to height H.

[0033] Reference Figure 8 The image recognition unit identifies and locates the center point 303 in the image. After identifying the center point 303 and its coordinates in the image, the calculation unit calculates the horizontal coordinate difference and vertical coordinate difference between the center point 303 and the reference point 6 based on the coordinates of the center point 303 in the image and the coordinates of the reference point 6. The calculation unit then converts the actual horizontal distance and vertical distance between the center point 303 and the reference point 6 according to the actual length and width of the support plate 110 and the aforementioned horizontal coordinate difference and vertical coordinate difference.

[0034] The converted longitudinal and lateral distances are the control strokes of the first linear motor 105 and the second linear motor 109, respectively. The microprocessor module sends instructions to the motion control module, causing the motion control module to control the first linear motor 105 and the second linear motor 109 to drive the longitudinal slide 103 and the lateral slide 107 to slide the required distances, respectively. At this time, the center point 303 on the AGV 3 is aligned with the reference point 6.

[0035] Figure 9 This is a schematic diagram of the two-axis motion platform 1 after movement so that the center point 303 is aligned with the reference point 6.

[0036] Then, the laser radar 302 of the AGV 3 to be inspected can rotate and scan the three groups of features 206 at a zero-degree inclination angle to obtain laser point cloud data.

[0037] The data processing unit of the microprocessor module processes the laser point cloud data and extracts the point cloud with a reflectivity greater than 70% in the radar point cloud data. If it contains three triangles, it means that the radar pitch angle and roll angle meet the requirements.

[0038] If the three features 206 cannot be detected simultaneously, it means that the levelness of the laser radar 302 is unqualified. At this time, the microprocessor module controls the alarm module to issue an abnormal alarm signal, reminding the installer to install and calibrate the laser radar 302. At the same time, the microprocessor module sends the abnormal alarm information to an external device or cloud platform through the communication module.

[0039] Since the reflectors 2 are arranged in order in the radar field of view, it is only necessary to adjust the height of the undetected feature 206 of the reflector 2. The feature 206 is controlled to move within ±100 mm of the designed installation height of the laser radar 302 until the three markers are visible.

[0040] Reference Figure 10 After adjustment, the heights of the three sets of features 206 are recorded as H1, H2, and H3. Since the radar scan is a plane, the centers of the three detection devices can be connected into a straight line. Figure 10 As shown, D is the horizontal distance between the reflectors. The radar's roll angle can be calculated as arctan[(H2-H1) / D]. The installer can now determine the roll angle adjustment direction and amplitude.

[0041] After the roll angle adjustment is complete, the three detection devices should be at the same height, designated H4. The radar should now be able to detect the three triangular markers. Given the radar's design installation height of H, and the detection height of H4, if H = H4, the radar is completely level. If H is not equal to H4, the radar installation still has a pitch angle. The pitch angle is arctan[(H4 - H) / L], and the distance between reflector 2 and reference point 6 is L. At this point, the installer can determine the pitch angle adjustment direction and range.

[0042] After adjusting the pitch angle, the height of the triangular feature 206 on the detection device is adjusted to H. The radar can detect three features 206 at the same time, indicating that the radar installation level is qualified. At this time, the microprocessor module controls the alarm module to issue a normal prompt signal.

[0043] After the detection is completed, the current AGV trolley 3 moves away from the support plate 110 along the original path. The microprocessor module sends instructions to the drive module and the motion control module, causing the motion control module to control the two-axis motion platform 1 to reset and the drive module to control the three sets of features 206 to return to the default height.

[0044] Then the next AGV moves along the inspection path 7 to the two-axis motion platform 1 and repeats the above steps. No more details will be given! The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An AGV laser radar calibration auxiliary detection system, characterized by: The invention comprises a two-axis motion platform, a reflection device and a control device for controlling the two-axis motion platform and the reflection device; the reflection device has a height-adjustable triangular feature; a holding pool is set on the ground of the test site, the two-axis motion platform is installed in the holding pool, a camera is installed directly above the holding pool, and the camera is electrically connected to the control device; a reference point is marked in the holding pool and the coordinates of the reference point in the captured image are calibrated, and a reflection device A, a reflection device B and a reflection device C are respectively installed in the left front, the front and the right front of the support plate, so that the distance between the three groups of reflection devices and the reference point is 1 / 4. equal; mark the inspection path of the AGV car behind the support plate, and the inspection path is used to guide the AGV car to automatically drive to the support plate; mark the center point at the center of the top of the laser radar of each AGV car to be inspected; when the AGV car to be inspected drives onto the two-axis motion platform, the camera captures the image of the AGV car to be inspected and the support plate, and the control device processes the image data to identify the model of the AGV car and the position of the center point. The control device calls the design installation height H of the laser radar corresponding to the model of the AGV car, and then controls the reflector to adjust the height of the feature object to height H; The control device calculates the actual horizontal and vertical distances between the center point and the reference point based on the coordinates of the center point, the coordinates of the reference point, and the actual length and width of the support plate. The control device then controls the two-axis motion platform to align the center point on the AGV with the reference point. Then, the laser radar of the AGV to be inspected rotates and scans the three groups of features to obtain laser point cloud data; the control device processes the laser point cloud data and identifies the features in the point cloud data, and adjusts the heights of the three groups of features according to the identification results. When all three groups of features appear in the point cloud data, the pitch angle and roll angle of the laser radar are calculated based on the height adjustment amount of the three groups of features.

2. The AGV laser radar calibration auxiliary detection system according to claim 1 is characterized by: The two-axis motion platform includes a base, a longitudinal slide located above the base, and a transverse slide located above the longitudinal slide, and the support plate is fixed to the transverse slide; the upper surface of the base is provided with a longitudinal guide rail, and the longitudinal slide is slidably connected to the longitudinal guide rail; the upper surface of the longitudinal slide is provided with a transverse guide rail, and the transverse slide is slidably connected to the transverse guide rail; a guide plate is connected to one side of the support plate, and the guide plate is used to guide the AGV car to the support plate; the two-axis motion platform also includes a first linear motor and a second linear motor; the first linear motor is arranged longitudinally, and a first connecting plate is provided on the side of the base, the housing of the first linear motor is fixed to the first connecting plate, and the output shaft of the first linear motor is connected to the longitudinal slide; the second linear motor is arranged transversely, and a second connecting plate is provided on the side of the longitudinal slide, the housing of the second linear motor is fixed to the second connecting plate, and the output shaft of the second linear motor is connected to the transverse slide.

3. The AGV laser radar calibration auxiliary detection system according to claim 2 is characterized by: The reflecting device includes a column, a connecting seat fixed to the lower end of the column, and a servo motor fixed to the upper end of the column; the connecting seat is used to fix the reflecting device to the ground, the column is a hollow structure, a vertical screw is arranged inside the column, the servo motor is inverted and its output shaft is coaxially connected to the upper end of the screw, and the lower end of the screw is rotatably connected to the lower end of the column; a slider is also provided in the column, the screw passes through the slider and is threadedly engaged with it; the outer wall of the slider is in contact with the inner wall of the column, and the feature is located in front of the slider and is fixed to the slider.

4. The AGV laser radar calibration auxiliary detection system according to claim 1 is characterized by: The first positioning point, the second positioning point and the third positioning point are evenly distributed on the body of the AGV and in the circumferential direction surrounding the laser radar. The color combination of the three groups of positioning points is unique for each model of AGV. The control device identifies the model of the AGV by the three groups of positioning points and their color combination.

5. The AGV laser radar calibration auxiliary detection system according to claim 1 is characterized in that: The pitch and roll angles of the laser radar are calculated as follows: the features in the point cloud data are identified. If three features cannot be detected at the same time, it means that the laser radar level is unqualified. The features are controlled to move within ±100mm of the designed installation height of the laser radar until three markers can be seen. After adjustment, the heights of the three groups of features are recorded as H1, H2, and H3 respectively. The roll angle of the radar at this time can be calculated as arctan[(H2-H1) / D]. After the roll angle adjustment is completed, the heights of the three detection devices should be consistent, recorded as H4. At this time, the radar should be able to Three triangular markers are detected. The radar is designed to be installed at a height of H. The detection height is now H4. If H=H4, it means the radar is now completely level. If H is not equal to H4, it means the radar installation still has a pitch angle, and the pitch angle is arctan[(H4-H) / L], where L represents the distance between the reflector and the reference point. At this point, the installer can obtain the adjustment direction and amplitude of the pitch angle. After adjusting the pitch angle, the height of the triangular feature on the detection device is adjusted to H. The radar can detect three features at the same time, indicating that the radar installation level is qualified.

6. The AGV laser radar calibration auxiliary detection system according to claim 3 is characterized by: The control device includes a microprocessor module, and also includes an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module and a power supply module connected to the microprocessor module; wherein the motion control module is used to control the first linear motor and the second linear motor, and the drive module is used to control the servo motor.

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