An AGV parameter calibration method, device, equipment, medium and product

Abstract

The embodiment of the application provides an AGV parameter calibration method, device, equipment, medium and product, relates to the field of engineering machinery control, and the method replaces the cumbersome process that manual data collection, deviation recording in the prior art use physical tools by automatically collecting the attitude angle difference of AGV at the preset starting point and terminal point and the deviation distance of the actual terminal point of AGV and the preset straight line path, automatically optimizes the rudder wheel angle bias value based on the attitude angle difference, and automatically optimizes the zero position bias coefficient based on the deviation distance, replaces the manual parameter adjustment process of manual dependence on empirical formula or trial-and-error method in an algorithm-driven parameter optimization mode, does not need manual repeated participation in testing and adjustment, reduces manual intervention in the calibration process, shortens the calibration period, and the parameter optimization process is accurate and controllable, avoids the uncertainty caused by human experience, solves the low AGV parameter calibration efficiency problem in the prior art, and realizes the rapid and accurate calibration of AGV parameters.

Description

Technical Field

[0001] This application relates to the field of engineering machinery control, and in particular to an AGV parameter calibration method, device, equipment, medium and product. Background Technology

[0002] Automated Guided Vehicle (AGV) parameter calibration refers to the process of calibrating and optimizing various core control parameters involved in AGV operation. During operation, AGV is affected by various factors, and the initially set control parameters will gradually deviate from the optimal value, resulting in a decline in its driving accuracy, positioning accuracy and other performance. AGV parameter calibration is crucial to ensuring its high-precision navigation, accurate docking and efficient operation.

[0003] In existing technologies, operators use physical tools such as measuring tapes, laser rangefinders, and angle gauges to conduct multiple fixed-point movement tests on AGVs within a specific area. By manually recording the AGV's actual movement trajectory and the deviation between the stopping position and the theoretical value, and then gradually adjusting key parameters in the controller, such as the steering wheel zero position and the odometer coefficient, based on empirical formulas or trial and error, until the AGV's performance on the test path reaches an acceptable accuracy range.

[0004] However, existing technologies suffer from low efficiency in AGV parameter calibration. The entire calibration process relies on manual operation, from using physical tools to collect data and record deviations to manually adjusting controller parameters. This requires manual intervention throughout the process, making the calibration cumbersome and time-consuming. The repeated trial-and-error process of multiple fixed-point tests, deviation recording, and parameter adjustments further prolongs the calibration cycle. Moreover, the effectiveness of parameter adjustments depends on the operator's experience, making it difficult to complete the calibration work quickly and accurately. Summary of the Invention

[0005] This application provides an AGV parameter calibration method, apparatus, equipment, medium, and product to solve the problem of low efficiency in AGV parameter calibration in the prior art.

[0006] In a first aspect, embodiments of this application provide an AGV parameter calibration method, including:

[0007] Obtain the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point;

[0008] The preset steering wheel angle offset value is optimized based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The optimized steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0009] Obtain the deviation distance; wherein, the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path;

[0010] The preset zero-position offset coefficient is optimized based on the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction, and the optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed.

[0011] The AGV is configured with parameters based on the optimized steering wheel angle offset value and the optimized zero-position offset coefficient so that the AGV can travel in a straight line in multiple preset driving modes.

[0012] In one possible design, optimizing the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value includes:

[0013] In response to the difference being equal to a preset threshold, the steering wheel angle offset value is determined as the optimized steering wheel angle offset value;

[0014] In response to the difference being greater than the threshold, the wheel angle offset value is reduced to obtain a reduced steering wheel angle offset value;

[0015] In response to the reduced steering wheel angle offset value being equal to the threshold, the reduced steering wheel angle offset value is determined as the optimized steering wheel angle offset value;

[0016] In response to the difference being less than the threshold, the steering wheel angle offset value is increased to obtain an increased steering wheel angle offset value;

[0017] In response to the increased steering wheel angle offset value being equal to the threshold, the increased steering wheel angle offset value is determined as the optimized steering wheel angle offset value.

[0018] In one possible design, after optimizing the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value, the method further includes:

[0019] The optimized steering wheel angle offset value is stored in a preset power failure protection zone so that the AGV can correct the steering wheel angle according to the optimized steering wheel angle offset value after power failure and restart.

[0020] In one possible design, after optimizing the preset zero-position offset coefficient based on the deviation distance to obtain the optimized zero-position offset coefficient, the method further includes:

[0021] The mileage deviation of the AGV is obtained; wherein, the mileage deviation is the deviation between the first mileage and the second mileage, the first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter processing error, wear or ground slippage of the AGV.

[0022] The preset steering wheel mileage feedback coefficient is optimized based on the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient. The optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by the wheel diameter machining error, the wear, or the ground slippage.

[0023] In one possible design, after optimizing the preset steering wheel mileage feedback coefficient based on the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient, the method further includes:

[0024] Obtain the parking position deviation of the AGV; wherein, the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position;

[0025] The preset parking distance parameters are optimized based on the parking position deviation to obtain optimized parking distance parameters; wherein, the optimized parking distance parameters are used to guide the AGV to correct its parking strategy in order to eliminate the parking position deviation.

[0026] In one possible design, after optimizing the preset parking distance parameters based on the parking position deviation to obtain the optimized parking distance parameters, the method further includes:

[0027] Obtain the ground friction coefficient of the AGV; wherein, the ground friction coefficient is the ratio of the frictional force between the AGV's steering wheel and the driving ground to the normal force, and the ground friction coefficient is used to represent the degree of influence of ground adhesion on the movement of the steering wheel;

[0028] The preset steering wheel speed coefficient is optimized based on the ground friction coefficient to obtain the optimized steering wheel speed coefficient; wherein, the optimized steering wheel speed coefficient is used to correct the preset output speed of the steering wheel to eliminate the deviation between the actual movement speed of the AGV and the preset travel speed caused by changes in ground friction conditions.

[0029] Secondly, embodiments of this application provide an AGV parameter calibration device, comprising:

[0030] The first acquisition module is used to acquire the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point;

[0031] The first optimization module is used to optimize a preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain an optimized steering wheel angle offset value. The optimized steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0032] The second acquisition module is used to acquire the deviation distance; wherein, the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path;

[0033] The second optimization module is used to optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction, and the optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed.

[0034] The configuration module is used to configure the parameters of the AGV according to the optimized steering wheel angle offset value and the optimized zero-position offset coefficient, so that the AGV can travel in a straight line in multiple preset driving modes.

[0035] In one possible design, the first optimization module includes:

[0036] The first determining unit is configured to determine the steering wheel angle offset value as the optimized steering wheel angle offset value in response to the difference being equal to a preset threshold.

[0037] A reduction unit is used to reduce the wheel angle offset value in response to the difference being greater than the threshold, so as to obtain a reduced steering wheel angle offset value;

[0038] The second determining unit is configured to determine the reduced steering wheel angle offset value as the optimized steering wheel angle offset value in response to the reduced steering wheel angle offset value being equal to the threshold value.

[0039] An amplification unit is configured to increase the steering wheel angle offset value in response to the difference being less than the threshold, thereby obtaining an amplified steering wheel angle offset value.

[0040] The third determining unit is used to determine the increased steering wheel angle offset value as the optimized steering wheel angle offset value in response to the increased steering wheel angle offset value being equal to the threshold.

[0041] In one possible design, the AGV parameter calibration device further includes:

[0042] The storage module is used to store the optimized steering wheel angle offset value to a preset power failure protection zone, so that the AGV can correct the steering wheel angle according to the optimized steering wheel angle offset value after power failure and restart.

[0043] In one possible design, the AGV parameter calibration device further includes:

[0044] The third acquisition module is used to acquire the mileage deviation of the AGV; wherein, the mileage deviation is the deviation between the first mileage and the second mileage, the first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter processing error, wear or ground slippage of the AGV.

[0045] The third optimization module is used to optimize the preset steering wheel mileage feedback coefficient according to the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient; wherein, the optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by the wheel diameter processing error, the wear, or the ground slippage.

[0046] In one possible design, the AGV parameter calibration device further includes:

[0047] The fourth acquisition module is used to acquire the parking position deviation of the AGV; wherein the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position;

[0048] The fourth optimization module is used to optimize the preset parking distance parameters based on the parking position deviation to obtain optimized parking distance parameters; wherein, the optimized parking distance parameters are used to guide the AGV to correct its parking strategy in order to eliminate the parking position deviation.

[0049] In one possible design, the AGV parameter calibration device further includes:

[0050] The fifth acquisition module is used to acquire the ground friction coefficient of the AGV; wherein, the ground friction coefficient is the ratio of the friction force between the AGV's steering wheel and the driving ground to the normal force, and the ground friction coefficient is used to represent the degree of influence of ground adhesion on the movement of the steering wheel;

[0051] The fifth optimization module is used to optimize the preset steering wheel speed coefficient based on the ground friction coefficient to obtain the optimized steering wheel speed coefficient; wherein, the optimized steering wheel speed coefficient is used to correct the preset output speed of the steering wheel to eliminate the deviation between the actual movement speed of the AGV and the preset travel speed caused by changes in ground friction conditions.

[0052] Thirdly, embodiments of this application provide an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0053] The memory stores computer-executed instructions;

[0054] When the processor executes the computer execution instructions stored in the memory, it is used to implement the AGV parameter calibration method as described in any of the first aspects.

[0055] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the AGV parameter calibration method as described in any of the first aspects.

[0056] Fifthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, is used to implement the AGV parameter calibration method as described in any of the first aspects.

[0057] This application provides an AGV parameter calibration method, apparatus, device, medium, and product. By automatically collecting the attitude angle difference between the AGV at a preset start and end point, as well as the deviation distance between the actual end point of the AGV and the preset straight path, it replaces the cumbersome process of manually collecting data and recording deviations using physical tools in the prior art. Based on the attitude angle difference, it automatically optimizes the steering wheel angle offset value and the zero-position offset coefficient based on the deviation distance. The algorithm-driven parameter optimization method replaces the manual parameter adjustment process that relies on empirical formulas or trial and error. It eliminates the need for repeated manual testing and adjustment, reduces human intervention in the calibration process, shortens the calibration cycle, and ensures that the parameter optimization process is precise and controllable, avoiding the uncertainty brought by human experience. It solves the problem of low efficiency in AGV parameter calibration in the prior art and achieves rapid and accurate calibration of AGV parameters. Attached Figure Description

[0058] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0059] Figure 1 This is a schematic diagram illustrating an application scenario of the AGV parameter calibration method provided in the embodiments of this application;

[0060] Figure 2 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 1 ;

[0061] Figure 3 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 2 ;

[0062] Figure 4 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 3 ;

[0063] Figure 5 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 4 ;

[0064] Figure 6 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 5 ;

[0065] Figure 7 This is a schematic diagram of the structure of the dual-steering wheel AGV provided in the embodiments of this application;

[0066] Figure 8 A flowchart of a laser-guided dual-steering wheel AGV calibration method provided in this application embodiment;

[0067] Figure 9 The path diagram planned by the AGV during calibration without inverted mapping, provided in the embodiments of this application;

[0068] Figure 10 This is a schematic diagram of the AGV parameter calibration device provided in the embodiments of this application;

[0069] Figure 11 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application.

[0070] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0071] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0072] In the embodiments of this application, the terms "first" and "second" are used to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply difference. It should be noted that in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner. In the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more.

[0073] It should be noted that the phrase "at...time" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation. The embodiments of this application do not specifically limit this. In addition, the AGV parameter calibration method, apparatus, device, medium, and product provided in the embodiments of this application are only examples. An AGV parameter calibration method, apparatus, device, medium, and product may also include more or fewer contents.

[0074] To facilitate a clear description of the technical solutions in the embodiments of this application, some terms and technologies involved in the embodiments of this application will be briefly introduced below:

[0075] Automated Guided Vehicles (AGVs) are unmanned mobile machines equipped with automatic navigation systems. They can autonomously perform tasks such as material handling, goods picking, and production line delivery in industrial environments such as manufacturing workshops, logistics warehouses, and ports. By integrating sensors, controllers, and actuators, they achieve path planning, obstacle avoidance, and precise positioning, thereby replacing manual labor in repetitive, heavy, or dangerous transportation operations. They are one of the core pieces of equipment in modern manufacturing systems and smart logistics systems.

[0076] Zero-position offset coefficient: This is a compensation parameter used to correct the deviation between the theoretical zero position and the actual physical zero position of a moving mechanism, such as a steering wheel or motor, in a control system. When the controller issues a "zero-position" command, the actual physical position of the actuator may not reach the ideal zero point state due to machining errors, assembly tolerances, or long-term wear. The zero-position offset coefficient adds a small offset to the control command in advance, so that the actual output can be precisely aligned with the target zero point, thereby ensuring the accuracy of the mechanism's movement and repeatability.

[0077] Steering wheel angle offset value: This is a control parameter used to calibrate the zero-position error of the steering mechanism. In vehicles or mobile robots, due to mechanical installation deviations, part wear, or assembly tolerances, when the control system issues a "go straight" command to the steering wheel, the actual physical direction of the steering wheel may not be perfectly straight, but rather there may be a slight fixed angular deviation. The role of the steering wheel angle offset value is to pre-include a compensation amount equal in magnitude and opposite in direction to the aforementioned deviation in the control command, so that when the steering wheel receives a zero-steering command, its actual direction can be precisely aligned with the theoretical straight-line direction.

[0078] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0079] The technical solution of the present invention will be described in detail below with reference to specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0080] To clearly understand the technical solution of this application, the solutions of the prior art will first be described in detail. During the operation of AGV, the initially set control parameters will gradually deviate from the optimal value due to the influence of various factors, resulting in a decline in its driving accuracy, positioning accuracy and other performance characteristics. AGV parameter calibration is crucial to ensuring its high-precision navigation, accurate docking and efficient operation.

[0081] In existing technologies, operators use physical tools to conduct multiple fixed-point movement tests on AGVs within a specific area. The actual movement trajectory and the deviation between the AGV's stopping position and the theoretical value are manually recorded. Then, based on empirical formulas or trial-and-error methods, key parameters in the controller, such as the steering wheel zero position and the odometer coefficient, are gradually adjusted manually until the AGV's performance on the test path reaches an acceptable accuracy range. The entire calibration process relies on manual operation. From collecting data using physical tools and recording deviations to manually adjusting controller parameters, manual intervention is required throughout, making the calibration process cumbersome and time-consuming. The repeated trial-and-error process of multiple fixed-point tests, deviation recording, and parameter adjustments further lengthens the calibration cycle. Furthermore, the effectiveness of parameter adjustments depends on the operator's experience, making it difficult to complete the calibration work quickly and accurately. Therefore, existing technologies suffer from low efficiency in AGV parameter calibration.

[0082] Therefore, addressing the low efficiency of AGV parameter calibration in existing technologies, this research found that to solve this problem, automated data acquisition can replace manual physical tool measurement and recording, combined with algorithm-driven parameter optimization to replace experience-based manual adjustments, thereby reducing human intervention and improving the accuracy and efficiency of parameter calibration: ① Automated detection equipment can be installed on the site to replace manual measurement using tools such as measuring tapes and angle gauges. These systems can automatically collect key data such as the AGV's actual position, attitude angle, and trajectory deviation during test movements, and automatically upload them to the processing terminal via communication links, avoiding the inefficiency and potential errors of manual recording, and providing a stable and reliable high-quality data source for subsequent accurate analysis. ② After obtaining the automatically collected accurate data, data-driven optimization algorithms can be introduced to automatically analyze the collected deviation data, calculate the optimal adjustment value of the controller parameters, and directly send them to the AGV controller for updates, replacing manual estimation and repeated debugging relying on the operator's personal experience. ③ The calibration test path and target can be preset first, the system guides the AGV to execute automatically, and the entire process is monitored in real time through automated equipment. The collected data is immediately fed into the optimization algorithm model for analysis. The parameter correction values ​​generated by the algorithm are automatically applied and drive the AGV to conduct the next round of testing and verification. The entire execution-measurement-optimization-verification cycle is carried out automatically until the preset accuracy requirements are met, realizing full-chain automation from data collection and analysis to decision-making and execution.

[0083] Specifically, the AGV's onboard sensors and environmental perception devices can work together to replace manual physical tools for measurement, enabling automatic acquisition and precise preprocessing of core data such as position and attitude during the calibration process. A parameter optimization framework can be built based on the AGV's kinematic model, and data-driven algorithms can replace empirical manual adjustments to complete the automatic optimization and correction of calibration parameters.

[0084] This application discloses an AGV parameter calibration method, apparatus, device, medium, and product. By automatically collecting the attitude angle difference between the AGV at a preset start and end point, as well as the deviation distance between the actual end point of the AGV and the preset straight path, it replaces the cumbersome process of manually collecting data and recording deviations using physical tools in the prior art. Based on the attitude angle difference, it automatically optimizes the steering wheel angle offset value and the zero-position offset coefficient based on the deviation distance. The algorithm-driven parameter optimization method replaces the manual parameter adjustment process that relies on empirical formulas or trial and error. It eliminates the need for repeated manual testing and adjustment, reduces human intervention in the calibration process, shortens the calibration cycle, and ensures that the parameter optimization process is precise and controllable, avoiding the uncertainty brought by human experience. It solves the problem of low efficiency in AGV parameter calibration in the prior art and achieves rapid and accurate calibration of AGV parameters.

[0085] Based on the above-mentioned inventive discovery, the technical solution of this application is proposed.

[0086] The following describes the application scenarios of the AGV parameter calibration method provided in the embodiments of the present invention. Figure 1 This is a schematic diagram illustrating an application scenario of the AGV parameter calibration method provided in this application embodiment. For example... Figure 1 As shown, this application scenario includes a mobile terminal 101 and a navigation controller 102. The mobile terminal 101 collects the initial attitude angle and the final attitude angle, and sends the initial attitude angle and the final attitude angle to the navigation controller 102. The navigation controller 102 obtains the initial attitude angle and the final attitude angle, and optimizes the preset steering wheel angle offset value according to the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The navigation controller 102 obtains the deviation distance, and optimizes the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient.

[0087] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0088] Figure 2 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 1 .like Figure 2 As shown, in this embodiment, the execution subject of this invention is a navigation controller. The AGV parameter calibration method provided in this embodiment includes the following steps:

[0089] S201. Obtain the initial attitude angle and the final attitude angle; where the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point.

[0090] Specifically, the initial attitude angle of the AGV when it is at a preset first starting point and the final attitude angle when it reaches a preset first ending point can be collected in real time using attitude detection sensors such as inertial measurement units and gyroscopes, or positioning devices such as laser positioning systems and visual positioning modules. During the data collection process, the relative position of the detection equipment and the AGV remains fixed to ensure that the acquired initial and final attitude angles accurately reflect the AGV's attitude at the corresponding points. This step provides accurate basic data for subsequent optimization of the steering wheel angle offset value based on the difference between the initial and final attitude angles.

[0091] S202. Optimize the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0092] Specifically, the difference between the initial attitude angle and the final attitude angle can be calculated first to obtain the actual attitude deviation of the AGV during its journey from the first starting point to the first ending point. This attitude deviation is then substituted into a preset angle offset optimization algorithm, combined with a preset initial steering wheel angle offset value, for calculation. Through multiple iterations and adjustments, the calculated attitude deviation is gradually converged to a preset threshold range. The corresponding steering wheel angle offset value at this point is the optimized steering wheel angle offset value. Alternatively, the preset steering wheel angle offset value can be directly compensated and corrected based on the absolute value and direction of the attitude deviation. Through single or multiple compensation adjustments, an optimized steering wheel angle offset value matching the attitude deviation can be obtained. This step provides the AGV with accurate steering wheel angle correction parameters, offsetting the fixed zero-position deviation of the steering wheel caused by machining and assembly, ensuring that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0093] S203. Obtain the deviation distance; where the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path.

[0094] Specifically, the actual position coordinates of the AGV when it reaches the preset second endpoint can be collected in real time using laser positioning sensors, visual positioning modules, or differential GPS positioning devices mounted on the AGV. Combined with a preset straight path, the vertical distance between the actual position coordinates and the preset straight path is calculated using geometric methods to obtain the deviation distance. Alternatively, distance detection sensors can be installed on both sides of the preset straight path. When the AGV reaches the second endpoint, the vertical distance between the AGV body and the preset straight path is directly measured by the sensors, and this is used as the deviation distance. This step provides accurate quantitative data for subsequent optimization of the zero-position offset coefficient based on the deviation distance, providing a reliable basis for the optimization calculation of the zero-position offset coefficient and supporting the subsequent precise adjustment of the zero-position offset coefficient based on the deviation distance.

[0095] Among them, the first starting point, the first ending point, and the second ending point are all specific positions on the calibration path preset during AGV parameter calibration. The first starting point is the starting position used to collect the initial attitude angle of the AGV. The first ending point is the ending position set corresponding to the first starting point and used to collect the end attitude angle of the AGV. The second ending point is a separately set ending position used to collect its perpendicular distance from the preset straight path. All three can be determined by pre-planning the calibration path and marking it in the field. The AGV can complete the relevant data collection by autonomously moving to the corresponding position according to the planned path. The role of the first ending point is to cooperate with the first starting point to obtain the attitude angle difference value, providing data support for optimizing the steering wheel angle offset value. The role of the second ending point is to obtain the deviation distance, providing data support for optimizing the zero position offset coefficient.

[0096] The straight path is a reference baseline set during AGV parameter calibration to collect deviation distances, corresponding to the theoretical trajectory of the AGV traveling from a preset second starting point to a second ending point. This can be determined by establishing two fixed reference points in a flat calibration site, corresponding to the theoretical positions of the second starting point and the second ending point respectively, and connecting these two points with a line. Alternatively, it can be recorded using physical markers or electronic coordinate input to ensure the AGV can recognize the straight line for calculating the perpendicular distance between the second ending point and the reference line.

[0097] The second starting point is used in conjunction with the second endpoint during AGV parameter calibration to set the starting position of a preset straight path. This corresponds to the theoretical starting point from which the AGV travels to the second endpoint to collect the deviation distance. By pre-planning the calibration path, a fixed point that is linearly distributed with the second endpoint can be determined as the second starting point in a flat calibration site, based on the preset theoretical position of the second endpoint.

[0098] S204. Optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction. The optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed so that the AGV can drive in a straight line in multiple preset driving modes.

[0099] Specifically, the acquired deviation distance can be first substituted into a preset zero-offset optimization model. Combined with real-time operating data such as the AGV's travel speed and steering wheel rotation speed, an algorithm calculates the adjustment amount for the zero-offset coefficient. This adjustment amount is then used to correct the preset zero-offset coefficient. The AGV is then controlled to travel to the second endpoint again according to the corrected zero-offset coefficient. The deviation distance is collected again, and the above correction process is repeated until the deviation distance is reduced to a preset allowable range. The corresponding zero-offset coefficient at this point is the optimized zero-offset coefficient. Alternatively, the preset zero-offset coefficient can be directly proportionally compensated based on the absolute value and direction of the deviation distance. Through single or multiple compensation adjustments, an optimized zero-offset coefficient matching the deviation distance can be obtained. This step provides the AGV with precise steering wheel travel speed correction parameters, guiding the AGV to correct its steering wheel travel speed and enabling the AGV to travel in a straight line in multiple preset travel modes.

[0100] The zero-offset optimization model is a mathematical model used to establish a quantitative relationship between the deviation distance and the zero-offset coefficient adjustment. It includes the mapping relationship between input parameters such as deviation distance, AGV travel speed, and steering wheel speed and the zero-offset coefficient adjustment. This model can be obtained in the following way: First, under different travel speeds and steering wheel speeds, collect multiple sets of deviation distance and corresponding optimal zero-offset coefficient data of the AGV on a preset straight path. Then, use data fitting algorithms such as least squares method and gradient descent method to analyze and process the collected data, calibrate the coefficient parameters in the model, and combine the motion differences of the AGV's forward, backward, and lateral movement preset travel modes to supplement the calibration data under the corresponding working conditions to optimize the model's adaptability, forming a zero-offset optimization model that can accurately output the zero-offset coefficient adjustment.

[0101] The optimized steering wheel angle offset value can be directly loaded into the steering wheel angle control program of the AGV controller. When the AGV executes steering or straight-line commands, the controller will call this parameter to correct the preset theoretical command angle in real time, ensuring that the actual steering wheel deflection angle matches the theoretical command angle precisely. It can be adapted to AGV equipment that requires high-precision steering control in scenarios such as manufacturing workshops, logistics warehouses, and port terminals. It is especially suitable for operations that require accurate steering wheel control, such as material handling, production line distribution, and cargo transfer. The application of this parameter solves the problem that the actual deflection angle is inconsistent with the theoretical command angle and the driving trajectory deviates from the preset route due to fixed zero position deviation of the steering wheel caused by machining and assembly. It ensures that the AGV always maintains accurate steering control performance in various operating scenarios.

[0102] The optimized zero-position offset coefficient can be integrated into the AGV's speed control module. When the AGV switches between forward, backward, and lateral movement modes, the controller will dynamically adjust the steering wheel's speed distribution based on this coefficient to correct the deflection error in the driving direction. It can be adapted to AGV equipment in manufacturing workshops, logistics warehouses, ports, and other places that require stable operation in multiple driving modes. It is especially suitable for batch material transfer and inter-production line goods delivery operations that require straight-line driving. The application of this coefficient solves the problem that AGVs cannot maintain stable straight-line driving due to directional deflection errors in different driving modes, avoids deviation and skew during driving, and improves the smoothness and overall efficiency of AGV operation processes.

[0103] S205. Configure the AGV parameters according to the optimized steering wheel angle offset value and the optimized zero position offset coefficient so that the AGV can travel in a straight line in multiple preset driving modes.

[0104] Specifically, the optimized steering wheel angle offset value can be loaded into the AGV's steering wheel angle control module to correct the deviation between the actual steering wheel deflection angle and the theoretical command angle in real time. At the same time, the optimized zero-position offset coefficient is integrated into the speed control module to dynamically adjust the steering wheel speed distribution in different driving modes. Through the coordinated configuration of the two, the AGV can form a dual correction mechanism of angle and speed in preset driving modes such as forward, backward, and lateral movement. This step is used to integrate core calibration parameters to achieve synchronous calibration of steering wheel angle and driving speed, ensuring that the AGV always maintains a straight driving state in various driving scenarios and improving the accuracy of motion control.

[0105] This embodiment provides an AGV parameter calibration method that automatically collects the attitude angle difference between the AGV at a preset start and end point, as well as the deviation distance between the actual end point of the AGV and the preset straight path. This replaces the cumbersome process of manually collecting data and recording deviations using physical tools in the prior art. Based on the attitude angle difference, the method automatically optimizes the steering wheel angle offset value and the zero-position offset coefficient based on the deviation distance. The algorithm-driven parameter optimization method replaces the manual parameter adjustment process that relies on empirical formulas or trial and error. It eliminates the need for repeated manual testing and adjustment, reduces human intervention in the calibration process, shortens the calibration cycle, and ensures that the parameter optimization process is precise and controllable, avoiding the uncertainty brought by human experience. This solves the problem of low efficiency in AGV parameter calibration in the prior art and achieves fast and accurate calibration of AGV parameters.

[0106] In one possible design, S202, the preset steering wheel angle offset value is optimized based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value, including:

[0107] S2021. In response to the difference being equal to a preset threshold, the steering wheel angle offset value is determined as the optimized steering wheel angle offset value.

[0108] Specifically, the AGV's controller can calculate the difference between the initial and final attitude angles in real time. This calculated difference is compared to a preset threshold stored in the controller's memory module. When the controller detects a perfect match, it directly calls the currently used steering wheel angle offset value, writes this value to the controller's parameter configuration file, marks it as the optimized steering wheel angle offset value, and generates a parameter confirmation command to terminate the steering wheel angle offset adjustment process. This step confirms that the current steering wheel angle offset value meets the accuracy requirements of AGV attitude control, eliminating the need for additional parameter adjustments and directly locking in the required parameter value. This ensures that the steering wheel angle offset optimization process terminates promptly upon reaching the preset standard, guaranteeing the accuracy of parameter calibration and the efficiency of the process.

[0109] S2022. In response to the difference being greater than the threshold, the wheel angle offset value is reduced to obtain the reduced steering wheel angle offset value.

[0110] Specifically, the AGV's controller can compare the difference between the initial and final attitude angles with a preset threshold in real time. When the controller detects that the difference exceeds the threshold, it calls the pre-stored angle offset adjustment step size parameter. Following a fixed step size or an adjustment amount proportional to the difference, it performs a numerical decrement operation on the current steering wheel angle offset value. The calculated new value is temporarily stored in the controller's parameter cache, marked as the reduced steering wheel angle offset value. Simultaneously, a parameter adjustment record is generated and updated to the AGV's operation log, providing data support for subsequent attitude angle difference re-detection and parameter optimization. This step addresses situations where attitude angle deviations exceed limits by actively reducing the steering wheel angle offset value to adjust the actual deflection angle of the steering wheel, gradually narrowing the difference between the initial and final attitude angles, bringing the difference closer to the preset threshold. This provides adjustment direction for subsequent optimization of the steering wheel angle offset value to meet accuracy requirements.

[0111] S2023. In response to the reduced steering wheel angle offset value being equal to the threshold, the reduced steering wheel angle offset value is determined as the optimized steering wheel angle offset value.

[0112] Specifically, the AGV's controller can read the reduced steering wheel angle offset value from the parameter buffer in real time. This value is then precisely compared with a pre-stored preset threshold. When the controller detects that the two values ​​are completely consistent, it writes the reduced steering wheel angle offset value from the buffer into the controller's formal parameter configuration module, overwriting the original parameter and marking it as the optimized steering wheel angle offset value. Simultaneously, a parameter lock command is generated to stop subsequent steering wheel angle offset value adjustments, and the information indicating that parameter optimization is complete is recorded in the AGV's operating status log. This step confirms that the adjusted steering wheel angle offset value has reached the preset accuracy standard, directly locks the required parameter value, terminates unnecessary parameter adjustment processes, and ensures that the optimization result of the steering wheel angle offset value is accurate and effective, providing the AGV with a precise basis for steering wheel angle correction.

[0113] S2024. In response to the difference being less than the threshold, the steering wheel angle offset value is increased to obtain the increased steering wheel angle offset value.

[0114] Specifically, the AGV's controller can calculate the difference between the initial and final attitude angles in real time. This difference is then compared in real-time with a preset threshold stored in the controller's memory module. When the controller detects that the difference is less than the threshold, it calls the pre-stored angle offset adjustment step size parameter and increments the current steering wheel angle offset value by a fixed step size or an adjustment amount proportional to the difference. The calculated new value is temporarily stored in the controller's parameter cache, marked as the increased steering wheel angle offset value. Simultaneously, a parameter adjustment record is generated and updated to the AGV's operation log, providing data support for subsequent attitude angle difference re-detection and parameter optimization. This step is used when the attitude angle difference does not meet the preset standard. By actively increasing the steering wheel angle offset value, the actual deflection angle of the steering wheel is adjusted, gradually widening the difference between the initial and final attitude angles, bringing the difference closer to the preset threshold. This provides adjustment direction for subsequent optimization of the steering wheel angle offset value to meet accuracy requirements.

[0115] S2025. In response to the increased steering wheel angle offset value being equal to the threshold, the increased steering wheel angle offset value is determined as the optimized steering wheel angle offset value.

[0116] Specifically, the AGV's controller can retrieve the increased steering wheel angle offset value from the parameter buffer in real time. This value is then precisely compared with a preset threshold stored in the controller's storage module. When the controller detects a perfect match, it writes the increased steering wheel angle offset value from the buffer to the controller's formal parameter configuration unit, overwriting the original parameter and marking it as the optimized steering wheel angle offset value. Simultaneously, a parameter lock command is generated to stop subsequent steering wheel angle offset value adjustments. The status information of the optimized parameter is also recorded in the AGV's operating status log for easy tracking of the parameter calibration process. This step confirms that the adjusted steering wheel angle offset value meets the preset accuracy standard, directly locks the compliant parameter value, terminates unnecessary parameter adjustment processes, and ensures that the optimized steering wheel angle offset value is accurate and effective, providing the AGV with reliable steering wheel angle correction parameters.

[0117] The technical effect of this solution in this embodiment is that by introducing closed-loop judgment and iterative correction logic based on a preset threshold, the optimization process of the steering wheel angle offset value is standardized into a standardized process that can be executed automatically. This not only realizes the quantitative control of calibration accuracy, but also ensures the clarity of the correction direction and the determinism of the convergence process. Thus, without the need for manual intervention, the steering wheel angle parameters can stably and reliably approach the optimal value, improving the accuracy and repeatability of the calibration results.

[0118] Figure 3 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 2In this embodiment, in Figure 2 Based on the provided embodiments, the AGV parameter calibration method is further explained. The AGV parameter calibration method includes:

[0119] S301. Obtain the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point.

[0120] S302. Optimize the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0121] S301-S302 are similar to S201-S202, and will not be described again in this embodiment.

[0122] S303. Store the optimized steering wheel angle offset value to the preset power failure protection zone so that the AGV can correct the steering wheel angle according to the optimized steering wheel angle offset value after power failure and restart.

[0123] Specifically, the AGV controller can trigger a parameter storage command to read the optimized steering wheel angle offset value from the controller's temporary parameter buffer and write it to a preset power-off protection zone. This power-off protection zone can use non-volatile storage modules such as EEPROM or flash memory, or a storage unit equipped with a backup power supply. During the writing process, a data verification mechanism is activated to confirm the integrity and accuracy of the stored parameters through cyclic redundancy check or data redundancy comparison. After storage is complete, a successful storage feedback signal is generated, and information such as storage time and parameter values ​​are recorded in the AGV's system log. When the AGV restarts after a power outage, the controller automatically reads the optimized steering wheel angle offset value from the power-off protection zone and loads it into the steering wheel angle correction control program, directly guiding the real-time correction of the steering wheel angle. This step is used to persistently store the optimized steering wheel angle offset value, preventing parameter loss after a power outage. This ensures that the AGV does not need to re-optimize and calibrate the steering wheel angle offset value after a power outage and can directly use the verified accurate parameters for steering wheel angle correction, guaranteeing the continuity and stability of AGV attitude control and reducing repetitive calibration operations.

[0124] S304. Obtain the deviation distance; where the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path.

[0125] S305. Optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the correction coefficient of the deflection angle of the AGV in the preset driving direction. The optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed so that the AGV can drive in a straight line in multiple preset driving modes.

[0126] S306. Configure the AGV parameters according to the optimized steering wheel angle offset value and the optimized zero position offset coefficient so that the AGV can travel in a straight line in multiple preset driving modes.

[0127] S304-S306 are similar to S203-S205, and will not be described again in this embodiment.

[0128] The technical advantage of this solution in this embodiment is that by storing the optimized steering wheel angle offset value in the power outage protection zone, the calibration results are non-volatilely saved and permanently reused. This allows the AGV to directly call the calibrated parameters without re-executing the calibration process after each restart, ensuring the long-term consistency of navigation accuracy throughout the equipment's lifecycle and enhancing the system's reliability under actual working conditions such as frequent start-stops or unexpected power outages.

[0129] Figure 4 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 3 In this embodiment, in Figure 2 Based on the provided embodiments, the AGV parameter calibration method is further explained. The AGV parameter calibration method includes:

[0130] S401. Obtain the initial attitude angle and the final attitude angle; where the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point.

[0131] S402. Optimize the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0132] S403. Obtain the deviation distance; where the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path.

[0133] S404. Optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction. The optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed so that the AGV can drive in a straight line in multiple preset driving modes.

[0134] S401-S404 are similar to S201-S204, and will not be described again in this embodiment.

[0135] S405. Obtain the mileage deviation of the AGV; where the mileage deviation is the deviation between the first mileage and the second mileage. The first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter machining errors, wear, or ground slippage.

[0136] Specifically, the actual position coordinates of the AGV from its starting point to its destination can be collected in real time using a laser positioning system, visual positioning module, or differential GPS positioning device mounted on the AGV. The actual mileage traveled by the AGV, i.e., the first mileage, is calculated by the coordinate difference. Simultaneously, the number of rotations collected by the encoder on the AGV's steering wheel is read, and combined with the preset steering wheel diameter parameters, the steering wheel mileage, i.e., the second mileage, is calculated using a formula. The first mileage and the second mileage are compared numerically, and the absolute or relative difference between the two is calculated to obtain the mileage deviation, which represents the degree of mileage measurement deviation. During the calculation process, a data verification mechanism can be activated to ensure that the collected position coordinates and encoder data are accurate and valid. The calculated mileage deviation is simultaneously recorded to the AGV's operating data storage module. This step provides accurate quantitative data for subsequent optimization of the steering wheel mileage feedback coefficient based on the mileage deviation. It directly reflects the degree of mileage measurement deviation caused by wheel diameter processing errors, wear, or ground slippage, providing a reliable basis for the optimization calculation of the steering wheel mileage feedback coefficient.

[0137] S406. Optimize the preset steering wheel mileage feedback coefficient according to the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient; wherein, the optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by wheel diameter machining error, wear or ground slippage.

[0138] Specifically, the AGV controller retrieves the mileage deviation recorded in the storage module. This deviation is then substituted into a preset steering wheel mileage feedback coefficient optimization model. Combined with operational data such as the AGV's travel speed, steering wheel speed, and real-time rotation count collected by the encoder, an algorithm calculates the adjustment amount for the steering wheel mileage feedback coefficient. This adjustment amount is used to correct the preset steering wheel mileage feedback coefficient, resulting in a pre-adjusted coefficient. The AGV is then controlled to travel again according to this pre-adjusted coefficient, and the new mileage deviation is collected and calculated again. If the new mileage deviation does not reach the preset accuracy range, the above adjustment process is repeated until the mileage deviation is reduced to an acceptable range. The corresponding steering wheel mileage feedback coefficient at this point is the optimized steering wheel mileage feedback coefficient. After optimization, this coefficient is written to the controller's parameter configuration module and simultaneously recorded in the AGV's operation log. This step provides the AGV with accurate mileage correction parameters, correcting the steering wheel distance calculated based on the encoder's rotation count, eliminating mileage measurement deviations caused by wheel diameter machining errors, wear, or ground slippage, and ensuring the accuracy of AGV mileage measurement.

[0139] The steering wheel mileage feedback coefficient optimization model is used to establish a quantitative mapping relationship between input parameters such as mileage deviation, driving speed, steering wheel speed, and encoder rotation number and the adjustment amount of the steering wheel mileage feedback coefficient. This model can be obtained in the following way: First, under different wheel diameter wear levels, ground adhesion conditions, and driving speed conditions, collect multiple sets of actual driving mileage data of AGVs, encoder-calculated steering wheel mileage, and corresponding optimal steering wheel mileage feedback coefficient data. Then, use algorithms such as least squares method, linear regression, or gradient descent to fit and analyze the collected data, calibrate the coefficient parameters in the model, and supplement targeted calibration data by combining wheel diameter processing errors, ground slippage, and other error sources to optimize the model's adaptability to different error scenarios, forming a preset optimization model that can accurately output the adjustment amount of the steering wheel mileage feedback coefficient.

[0140] S407. Configure the AGV parameters according to the optimized steering wheel angle offset value and the optimized zero position offset coefficient so that the AGV can travel in a straight line in multiple preset driving modes.

[0141] S407 is similar to S205, and will not be described again in this embodiment.

[0142] The technical effect of this solution in this embodiment is that by introducing mileage deviation detection and steering wheel mileage feedback coefficient optimization, closed-loop compensation for systematic mileage measurement deviations caused by AGV wheel diameter error, wear and ground slippage is achieved. This not only extends the calibration from the motion geometry level to the motion scale level, but also ensures the accuracy of trajectory estimation data by automatically calibrating the internal mileage benchmark, providing a reliable low-level data source for high-precision positioning and navigation algorithms.

[0143] Figure 5 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 4 In this embodiment, in Figure 4 Based on the provided embodiments, the AGV parameter calibration method is further explained. The AGV parameter calibration method includes:

[0144] S501. Obtain the mileage deviation of the AGV; where the mileage deviation is the deviation between the first mileage and the second mileage. The first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter machining errors, wear, or ground slippage.

[0145] S502. Optimize the preset steering wheel mileage feedback coefficient according to the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient; wherein, the optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by wheel diameter machining error, wear or ground slippage.

[0146] S501-S502 are similar to S405-S406, and will not be described again in this embodiment.

[0147] S503. Obtain the parking position deviation of the AGV; wherein, the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position.

[0148] Specifically, after the AGV completes its parking maneuver, the system utilizes laser positioning sensors, visual positioning modules, differential GPS positioning devices, or Radio Frequency Identification (RFID) tag readers to collect the actual parking position coordinates of a preset reference point on the AGV body in real time. Simultaneously, it retrieves the target parking position coordinates pre-stored in the controller's storage module. Using geometric calculation methods, it calculates the coordinate difference between the actual and target parking position coordinates along the X and Y axes, or directly calculates the straight-line distance between the two points. This yields the parking position deviation, representing the degree of positional error, and the calculation results are simultaneously recorded in the AGV's operational data storage unit. This step provides accurate quantitative data for subsequent optimization of parking distance parameters based on the parking position deviation. It directly reflects the degree of deviation between the AGV's actual parking position and the preset parking position, providing a reliable basis for optimizing parking distance parameters and supporting subsequent precise adjustments based on the parking position deviation.

[0149] S504. Optimize the preset parking distance parameters based on the parking position deviation to obtain optimized parking distance parameters; wherein, the optimized parking distance parameters are used to guide the AGV to correct the parking strategy in order to eliminate the parking position deviation.

[0150] Specifically, the AGV's controller can retrieve the parking position deviation recorded in the storage module. This deviation is then substituted into a preset parking distance parameter optimization model. Combined with real-time operating data such as the AGV's travel speed, braking response time, and steering wheel speed, an algorithm calculates the adjustment amount for the parking distance parameters. The preset parking distance parameters are then corrected according to this adjustment, resulting in initially adjusted parameters. The AGV is then controlled to perform parking operations according to these initially adjusted parameters. The new parking position deviation is then collected and calculated again. If the new deviation does not reach the preset accuracy range, the above adjustment process is repeated until the parking position deviation is reduced to an acceptable range. The corresponding parking distance parameters at this point are the optimized parking distance parameters. This step provides the AGV with accurate parking distance parameters, guiding the AGV to correct its parking strategy, eliminating the deviation between the actual parking position and the preset parking position, ensuring the accuracy of the AGV's parking position, and improving the control precision of the AGV in fixed-point parking scenarios.

[0151] The parking distance parameter optimization model is used to establish a quantitative mapping relationship between input parameters such as parking position deviation, driving speed, braking response time, and steering wheel speed and the adjustment amount of parking distance parameters. This model can be obtained by collecting multiple sets of actual parking position deviation and corresponding optimal parking distance parameter data of AGV under different driving speeds, load states, and ground friction conditions. Then, algorithms such as least squares method, gradient descent method, or linear regression are used to fit and analyze the collected data, calibrate the coefficient parameters in the model, and supplement targeted calibration data by combining actual control characteristics such as braking response delay and steering wheel speed decay to optimize the adaptability of the model to different parking scenarios, forming a parking distance parameter optimization model that can output the adjustment amount of parking distance parameters.

[0152] The technical effect of this solution in this embodiment is that by calibrating and optimizing the parking distance parameters, closed-loop calibration of the AGV's deceleration and braking characteristics is achieved. This method extends the calibration process to the end of dynamic control, automatically compensating for parking position deviations caused by load changes, ground friction, or controller response delays, thereby ensuring that the AGV can achieve accurate and stable final positioning under different working conditions, improving its docking accuracy in practical applications.

[0153] Figure 6 A flowchart illustrating the AGV parameter calibration method provided in this application embodiment. Figure 5 In this embodiment, in Figure 5Based on the provided embodiments, the AGV parameter calibration method is further explained. The AGV parameter calibration method includes:

[0154] S601. Obtain the parking position deviation of the AGV; wherein, the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position.

[0155] S602. Optimize the preset parking distance parameters based on the parking position deviation to obtain optimized parking distance parameters; wherein, the optimized parking distance parameters are used to guide the AGV to correct the parking strategy in order to eliminate the parking position deviation.

[0156] S601-S602 are similar to S504-S505, and will not be described again in this embodiment.

[0157] S603. Obtain the ground friction coefficient of the AGV; wherein, the ground friction coefficient is the ratio of the frictional force between the AGV's steering wheel and the driving ground to the normal force, and the ground friction coefficient is used to represent the degree of influence of ground adhesion on the movement of the steering wheel.

[0158] Specifically, the driving torque of the steering wheel under constant speed can be collected in real time by the torque sensor on the AGV. Combined with the AGV's own weight and load weight, the normal force between the steering wheel and the ground can be calculated. Using the formula for the ratio of friction force to normal force, the driving torque is converted into friction force, and the ground friction coefficient is calculated. Alternatively, a pressure sensor and friction detection module can be installed on the bottom of the AGV to directly measure the friction force and normal force between the steering wheel and the ground, and the ground friction coefficient can be calculated by the ratio of the two. This step provides accurate quantitative data for subsequent optimization of the steering wheel speed coefficient based on the ground friction coefficient. It directly reflects the influence of the adhesion between the steering wheel and the driving surface on the steering wheel's movement, providing a reliable basis for the optimization calculation of the steering wheel speed coefficient. This supports the subsequent precise adjustment of the steering wheel speed coefficient based on the ground friction coefficient, correcting the preset output speed of the steering wheel.

[0159] S604. Optimize the preset steering wheel speed coefficient based on the ground friction coefficient to obtain the optimized steering wheel speed coefficient; wherein, the optimized steering wheel speed coefficient is used to correct the preset output speed of the steering wheel to eliminate the deviation between the actual movement speed of the AGV and the preset travel speed caused by changes in ground friction conditions.

[0160] Specifically, the AGV's controller retrieves the ground friction coefficient recorded in the storage module. This coefficient is then substituted into a preset steering wheel speed coefficient optimization model. Combined with real-time AGV speed, steering wheel drive torque, vehicle weight, and load data, a dynamic algorithm calculates the adjustment amount for the steering wheel speed coefficient. This adjustment amount is then used to proportionally or non-linearly correct the preset steering wheel speed coefficient, resulting in a pre-adjusted coefficient. The AGV is controlled to travel according to this pre-adjusted coefficient. The difference between the AGV's actual speed and the preset speed is collected. If the difference does not reach a preset accuracy range, the adjustment process is repeated until the deviation is reduced to within acceptable limits. The resulting steering wheel speed coefficient is the optimized one. This step provides the AGV with precise steering wheel speed correction parameters, dynamically correcting the preset output speed of the steering wheel. This eliminates deviations between the AGV's actual speed and the preset speed caused by changes in ground friction conditions, ensuring the stability and accuracy of the AGV's speed under different ground conditions.

[0161] The steering wheel speed coefficient optimization model is used to establish a quantitative mapping relationship between input parameters such as ground friction coefficient, real-time driving speed, steering wheel drive torque, vehicle weight, and load data, and the steering wheel speed coefficient adjustment amount. This model can be obtained in the following way: First, under different ground friction conditions, load states, and driving speed conditions, multiple sets of AGV actual movement speed, preset driving speed, and corresponding optimal steering wheel speed coefficient data are collected. Then, algorithms such as least squares method, gradient descent method, or nonlinear regression are used to fit and analyze the collected data, calibrate the coefficient parameters in the model, and supplement targeted calibration data by combining the speed deviation characteristics caused by changes in ground friction, thereby optimizing the model's adaptability to different friction scenarios and forming a steering wheel speed coefficient optimization model that can accurately output the steering wheel speed coefficient adjustment amount.

[0162] The technical effect of this solution in this embodiment is that by introducing the sensing of the ground friction coefficient and the adaptive optimization of the steering wheel speed coefficient, the AGV possesses the ability to dynamically adapt to different ground adhesion conditions. This method, through feedforward compensation of the output speed, suppresses drive wheel slippage or overload caused by differences in ground friction, ensuring the consistency of the AGV's movement speed and the stability of its control response in diverse ground environments, and improving its movement accuracy under different working conditions.

[0163] Figure 7 This is a schematic diagram of the structure of the dual-steering wheel AGV provided in the embodiments of this application, as shown below. Figure 7As shown, the parameter calibration method for a dual-steering wheel AGV is applied to the navigation controller 1 of the AGV. The AGV also includes a front steering wheel 2, a rear steering wheel 3, and a laser navigation radar 4. The navigation controller 1 is located at the center of the AGV body, the front steering wheel 2 is located at the front right corner of the body center, the rear steering wheel 3 is located at the rear left corner of the body center, and the laser navigation radar 4 is located at the rear center of the body.

[0164] Figure 8 A flowchart of the laser-guided dual-steering wheel AGV calibration method provided in the embodiments of this application is shown below. Figure 8 As shown, the parameter calibration method for a laser-guided dual-steering wheel AGV includes the following steps:

[0165] S1: Front and Rear Steering Wheel Consistency Calibration. Front and rear steering wheel consistency calibration includes steering wheel angle consistency calibration and steering wheel speed consistency calibration to ensure the synchronization and coordination of the front and rear steering wheels during movement, thereby improving the AGV's motion accuracy. The specific steps are as follows:

[0166] Step 1: Measure a straight line segment on a flat surface and mark the start and end points as the calibration baseline.

[0167] Step 2: Move the dual-steering wheel AGV to the starting position. The navigation controller 1 obtains the initial attitude angle of the AGV based on its integrated gyroscope, which is denoted as A1.

[0168] Step 3: Control the position of the AGV's forward endpoint. The navigation controller 1 automatically acquires and records the vehicle's attitude angle at the endpoint, denoted as A2.

[0169] Step 4: Navigation controller 1 automatically calculates the values ​​of A2-A1 and the set threshold. A comparison is made; if the two are equal, the front and rear steering wheel angles are considered to have completed the consistency calibration; if the value of A2-A1 is greater than... Then reduce the angle offset value of the front steering wheel 2, and repeat steps 2 and 3 until the two values ​​are equal. If the value of A2-A1 is less than... If the angle offset value of the front steering wheel 2 is increased, repeat steps 2 and 3 until the two values ​​are equal.

[0170] Step 5: After completing the consistency calibration of the front and rear steering wheel angles, switch the AGV to the lateral movement mode and move the AGV to the marked starting point in lateral movement mode. The navigation controller 1 automatically obtains and records the vehicle attitude angle of the starting point, which is denoted as B1.

[0171] Step 6: Control the AGV to move to the destination position by lateral movement. The navigation controller 1 automatically obtains and records the vehicle attitude angle at the destination, which is denoted as B2.

[0172] Step 7: Navigation controller 1 automatically calculates the value of B2-B1 and compares it with the set threshold. A comparison is made; if the two are equal, the front and rear steering wheel angles are considered to have completed the consistency calibration; if the value of B2-B1 is greater than... Then reduce the angle offset value of the front steering wheel 2, and repeat steps 5 and 6 until the two values ​​are equal. If the value of B2-B1 is less than... If the angle offset value of the front steering wheel 2 is increased, repeat steps 5 and 6 until the two values ​​are equal.

[0173] S2: Straightness Calibration. Straightness calibration includes: zero-offset calibration of the dual steering wheels in the forward direction, zero-offset calibration of the dual steering wheels in the reverse direction, zero-offset calibration of the dual steering wheels in the left lateral movement direction, and zero-offset calibration of the dual steering wheels in the right lateral movement direction. The calibration results are all compensated using the corresponding zero-offset coefficients. The specific steps are as follows:

[0174] Step 1: Place the vehicle body parallel to the calibration baseline.

[0175] Step 2: Record the initial deviation distance values ​​A1 and B1 between the front and rear feature positions of the vehicle body and the calibration baseline.

[0176] Step 3: Control the AGV to move forward. After moving a certain distance, record the corresponding positions C1 and D1 of the destination.

[0177] Step 4: Navigation controller 1 automatically calculates the difference between A1 and C1 and the difference between B1 and D1, and determines whether both are less than the set threshold. If all values ​​are less than the set threshold... Then the zero-offset calibration of the forward direction of the dual steering wheels is completed. If C1 and D1 are both to the left of A1 and B1, then decrease the zero-offset coefficient of the forward direction of the dual steering wheels and repeat steps 2 and 3. If C1 and D1 are both to the right of A1 and B1, then increase the zero-offset coefficient of the forward direction of the dual steering wheels and repeat steps 2 and 3.

[0178] Step 5: After completing the zero-position offset calibration of the forward direction of the dual steering wheels, place the vehicle body parallel to the calibration baseline.

[0179] Step 6: Record the front and rear feature positions of the vehicle body and the initial deviation distance values ​​A2 and B2 of the straight segment.

[0180] Step 7: Control the AGV to move backward. After moving backward a certain distance, record the corresponding positions C2 and D2 of the destination.

[0181] Step 8: Navigation controller 1 automatically calculates the difference between A2 and C2 and the difference between B2 and D2, and determines whether both are less than the set threshold. If all values ​​are less than the set threshold... Then the zero-offset calibration of the dual steering wheels in the backward direction is completed. If C2 and D2 are both to the left of A2 and B2, then decrease the zero-offset coefficient of the dual steering wheels in the backward direction and repeat steps 6 and 7. If C2 and D2 are both to the right of A2 and B2, then increase the zero-offset coefficient of the dual steering wheels in the backward direction and repeat steps 6 and 7.

[0182] Step 9: After completing the zero-offset calibration of the dual steering wheel reverse direction, place the vehicle body parallel to the calibration baseline.

[0183] Step 10: Record the front and rear feature positions of the vehicle body and the initial deviation distance values ​​A3 and B3 of the straight segment.

[0184] Step 11: Control the AGV to move left laterally. After moving left laterally a certain distance, record the corresponding positions C3 and D3 of the endpoint.

[0185] Step 12: Navigation controller 1 automatically calculates the difference between A3 and C3 and the difference between B3 and D3, and determines whether both are less than the set threshold. If all values ​​are less than the set threshold... Then the zero-offset calibration of the dual steering wheels in the left lateral movement direction is completed. If C3 and D3 are both to the left of A3 and B3, then decrease the zero-offset coefficient of the dual steering wheels in the left lateral movement direction and repeat steps 9 and 10. If C3 and D3 are both to the right of A3 and B3, then increase the zero-offset coefficient of the dual steering wheels in the left lateral movement direction and repeat steps 10 and 11.

[0186] Step 13: After completing the zero-position offset calibration of the left lateral movement direction of the dual steering wheels, place the vehicle body parallel to the calibration baseline.

[0187] Step 14: Record the front and rear feature positions of the vehicle body and the initial deviation distance values ​​A4 and B4 of the straight segment.

[0188] Step 15: Control the AGV to move to the right. After moving to the right a certain distance, record the corresponding positions C4 and D4 of the endpoint.

[0189] Step 16: Navigation controller 1 automatically calculates the difference between A4 and C4 and the difference between B4 and D4, and determines whether both are less than the set threshold. If all values ​​are less than the set threshold... Then the zero-offset calibration of the dual steering wheels in the right lateral direction is completed. If C4 and D4 are both to the left of A4 and B4, then decrease the zero-offset coefficient of the dual steering wheels in the right lateral direction and repeat steps 14 and 15. If C4 and D4 are both to the right of A4 and B4, then increase the zero-offset coefficient of the dual steering wheels in the right lateral direction and repeat steps 14 and 15.

[0190] S3: Speed ​​and mileage coefficient calibration. Speed ​​and mileage coefficient calibration uses calibration correction factors to compensate for errors caused by AGV wheel diameter machining and wear. The specific operating steps are as follows:

[0191] Step 1: Give the AGV an initial speed V0, and the AGV will move at a constant speed according to the given speed V0.

[0192] Step 2: The AGV navigation controller 1 acquires the speed feedback value Vi of the dual steering wheel servo drive in real time, calculates the difference between it and the given speed V0, and obtains the absolute value of the difference. .

[0193] Step 3: Navigation controller 1 calculates the absolute value of the obtained difference. With the set threshold Compare, if Less than or equal to Then the calibration of the dual steering wheel speed coefficient is completed. Greater than If Vi is less than V0, then increase the speed coefficient values ​​of the front rudder wheel 2 and the rear rudder wheel 3, and repeat steps 1 and 2. Greater than If Vi is greater than V0, then reduce the speed coefficient values ​​of the front rudder wheel 2 and the rear rudder wheel 3, and repeat steps 1 and 2.

[0194] Step 3: After completing the calibration of the steering wheel speed coefficient, the navigation controller 1 collects and records the initial mileage FM1 and BM1 of the front and rear steering wheels.

[0195] Step 4: After the AGV moves a certain distance L, the navigation controller 1 collects and records the end mileage FM2 and BM2 of the front and rear steering wheels.

[0196] Step 5: Navigation controller 1 calculates the difference between FM2 and FM1 and the difference between BM2 and BM1 respectively, and compares the difference with the set threshold. If the difference is less than or equal to the set threshold Once the steering wheel odometer coefficient is calibrated, the error will be resolved if the difference exceeds the set threshold. Then, the steering wheel odometer feedback coefficient is modified for compensation and correction. The new value of the front steering wheel 2 odometer feedback coefficient equals the original value. (L (FM2-FM1)), Rear steering wheel 3 mileage feedback coefficient new value = original value (L (BM2-BM1)).

[0197] S4: Speed ​​Dead Zone Calibration. The minimum speed at which the AGV can move is obtained through speed dead zone calibration. The specific operation is as follows:

[0198] Step 1: Give the AGV an initial linear velocity v0 and control the AGV to move forward. If the vehicle does not move, continue to increase the chassis linear velocity v0 until the vehicle moves normally. If the vehicle moves, continue to decrease the chassis linear velocity v0 until the vehicle stops moving.

[0199] Step 2: Navigation controller 1 automatically records the speed of the AGV when it just starts moving and saves it to the power-off storage area.

[0200] S5: Parking Distance Calibration. Parking distance calibration determines the stopping accuracy after the AGV navigation reaches its destination. The specific operation steps are as follows:

[0201] Step 1: Figure 9 This application provides an embodiment of an AGV that, during calibration, creates a path map planned without inverted mapping. The planned path without inverted mapping is as follows: Figure 9 As shown, all path points have the same y-coordinate and an angle of 0 degrees. Path points 1, 2, and 3 are distributed at equal intervals. 1->2 moves forward, 2->1 moves backward, 2->3 moves forward, and 3->2 moves backward.

[0202] Step 2: The AGV automatically navigates to point 1 and point 2 in sequence. When it reaches point 2, it records the current position A of the robot on the ground.

[0203] Step 3: The AGV automatically navigates to point 3, and then automatically navigates from point 3 to point 2. When navigating to point 2, the current position B of the robot is recorded on the ground, and the deviation in the X direction between the two positions is measured.

[0204] Step 4: If the AGV travels from point 1 to point 2 (denoted as A), then moves to point 3, and then travels from point 3 back to point 2 (denoted as B), then on the X-axis, A > B. The AGV stopping distance = original value + (XA - XB). 2. If A < B on the X-axis, the AGV stopping distance = original value - (XB - XA) 2. Repeat steps 1, 2, and 3 until XA-XB approaches 0, and save the final AGV parking distance value.

[0205] S6: LiDAR Installation Position Calibration. The purpose of LiDAR installation position calibration is to obtain the X and Y coordinates of LiDAR 4 in the AGV trolley coordinate system. The specific operation steps are as follows:

[0206] Step 1: Path planning without reverse mapping, as shown below Figure 9 As shown, all path points have the same y-coordinate value and an angle value of 0 degrees. Point 2 is allowed to rotate. Path points 1, 2, and 3 are distributed at equal intervals. 1->2 moves forward, 2->1 moves forward, 2->3 moves forward, and 3->2 moves forward.

[0207] Step 2: The AGV automatically navigates to point 1 and point 2 in sequence. When it reaches point 2, it records the current position A of the robot on the ground.

[0208] Step 3: The AGV automatically navigates to point 3, and then automatically navigates from point 3 to point 2. When navigating to point 2, the current position B of the robot is recorded on the ground, and the deviation in the X direction between the two positions is measured.

[0209] Step 4: If the AGV travels from point 1 to point 2 (denoted as A), then to point 3, and then from point 3 back to point 2 (denoted as B), then on the X-axis, A > B. The X-value of the navigation LiDAR in the AGV coordinate system = original value - (XA - XB). 2. If A < B on the X-axis, the X value of the navigation lidar in the AGV coordinate system = original value + (XB - XA). 2. Repeat steps 1, 2, and 3 until XA-XB approaches 0, and calculate the X value of the navigation lidar in the AGV coordinate system.

[0210] Step 5: After determining the X-value of the navigation LiDAR in the AGV coordinate system, plan the path without reverse mapping as follows: Figure 3 As shown, all path points have the same y-coordinate value and an angle value of 0 degrees. Point 2 is allowed to rotate. Path points 1, 2, and 3 are distributed at equal intervals. 1->2 moves forward, 2->1 moves forward, 2->3 moves forward, and 3->2 moves forward.

[0211] Step 6: The AGV automatically navigates to point 1 and point 2 in sequence. When it reaches point 2, it records the current position A of the robot on the ground.

[0212] Step 7: The AGV automatically navigates to point 3, and then automatically navigates from point 3 to point 2. When navigating to point 2, the current position B of the robot is recorded on the ground, and the deviation in the Y direction between the two positions is measured.

[0213] Step 8: If the AGV travels from point 1 to point 2 (denoted as A), then to point 3, and then from point 3 back to point 2 (denoted as B), on the Y-axis, A > B. The Y-value of the navigation LiDAR in the AGV coordinate system = original value - (YA - YB). 2. If A < B on the Y-axis, the Y-value of the navigation lidar in the AGV coordinate system = original value + (YB - YA). 2. Repeat steps 1, 2, and 3 until YA-YB approaches 0, which is the Y value of the navigation lidar in the AGV coordinate system.

[0214] S7: LiDAR Installation Angle Calibration. LiDAR installation angle calibration mainly determines the orientation angle of the LiDAR relative to the AGV to improve the AGV's laser navigation accuracy. The specific operating steps are as follows:

[0215] Step 1: Path planning without reverse mapping, as shown below Figure 3 As shown, all path points have the same y-coordinate and an angle of 0 degrees. Path points 1, 2, and 3 are distributed at equal intervals. 1->2 moves forward, 2->1 moves backward, 2->3 moves forward, and 3->2 moves backward.

[0216] Step 2: The AGV automatically navigates to point 1 and point 2 in sequence. When it reaches point 2, it records the current position A of the robot on the ground.

[0217] Step 3: The AGV automatically navigates to point 3, and then automatically navigates from point 3 to point 2. When navigating to point 2, the current position B of the robot is recorded on the ground, and the deviation in the Y direction between the two positions is measured.

[0218] Step 4: If the AGV travels from point 1 to point 2 (denoted as A), then to point 3, and then from point 3 back to point 2 (denoted as B), on the Y-axis, A > B. The angle value of the navigation laser radar in the AGV coordinate system is the original value - m, where m is the minimum step value. If A < B on the Y-axis, the angle value of the navigation laser radar in the AGV coordinate system is the original value - m, where m is the minimum step value. Repeat steps 1, 2, and 3 until XA - XB approaches 0. Save the final AGV parking distance value.

[0219] The above operation procedure is based on the parameter calibration method of laser-guided dual-steering wheel AGV. Through the calibration of the entire process, the accuracy and efficiency of the calibration process are improved, ensuring the accuracy and operational stability of AGV automatic navigation.

[0220] By precisely coordinating the laser navigation radar and navigation controller, comprehensive calibration of steering wheel angle consistency, speed consistency, straight-line travel, speed and mileage coefficients, speed dead zone, stopping distance, and laser radar installation position and angle is achieved. The calibration parameters are comprehensive, improving calibration accuracy and AGV navigation accuracy. The automated calibration process shortens calibration time, reducing labor and time costs. Compared to existing technologies that only calibrate single parameters such as steering wheel zero position or dual steering wheel consistency, this application achieves comprehensive calibration of all key parameters in AGV operation, including steering wheel synchronization, straight-line travel, speed accuracy, and stopping accuracy, ensuring the stability and reliability of the AGV in actual operation. Automated calibration reduces the involvement of professional personnel, lowering labor costs; simultaneously, accurate calibration results reduce AGV failure rates and maintenance costs, lowering overall operating costs. Precise calibration of the laser radar installation position and angle ensures the accuracy of navigation data, improving AGV navigation performance in complex environments, and enhancing operational efficiency and safety. By calibrating speed and mileage coefficients as well as speed dead zone, the stability of AGVs in low-speed and high-speed operation is ensured, avoiding motion jitter and stagnation, and improving operational stability.

[0221] Figure 10 This is a schematic diagram of the AGV parameter calibration device provided in an embodiment of this application. Figure 10 As shown, the AGV parameter calibration device includes:

[0222] The first acquisition module 1001 is used to acquire the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point.

[0223] The first optimization module 1002 is used to optimize the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle.

[0224] The second acquisition module 1003 is used to acquire the deviation distance; wherein, the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path.

[0225] The second optimization module 1004 is used to optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient. The zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction. The optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel speed so that the AGV can drive in a straight line in multiple preset driving modes.

[0226] The configuration module 1005 is used to configure the parameters of the AGV according to the optimized steering wheel angle offset value and the optimized zero position offset coefficient, so that the AGV can travel in a straight line in multiple preset driving modes.

[0227] In one possible design, the first optimization module 1002 includes:

[0228] The first determining unit is used to determine the steering wheel angle offset value as the optimized steering wheel angle offset value in response to the difference being equal to a preset threshold.

[0229] The reduction unit is used to reduce the wheel angle offset value in response to the difference being greater than a threshold, so as to obtain the reduced steering wheel angle offset value.

[0230] The second determining unit is used to determine the reduced steering wheel angle offset value as the optimized steering wheel angle offset value in response to the reduced steering wheel angle offset value being equal to the threshold.

[0231] An amplification unit is used to increase the steering wheel angle offset value in response to the difference being less than a threshold, thereby obtaining the amplified steering wheel angle offset value.

[0232] The third determining unit is used to determine the increased steering wheel angle offset value as the optimized steering wheel angle offset value in response to the increased steering wheel angle offset value being equal to the threshold.

[0233] In one possible design, the AGV parameter calibration device also includes:

[0234] The storage module is used to store the optimized steering wheel angle offset value to a preset power failure protection zone, so that the AGV can correct the steering wheel angle according to the optimized steering wheel angle offset value after power failure and restart.

[0235] In one possible design, the AGV parameter calibration device also includes:

[0236] The third acquisition module is used to acquire the mileage deviation of the AGV. The mileage deviation is the deviation between the first mileage and the second mileage. The first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter processing errors, wear, or ground slippage.

[0237] The third optimization module is used to optimize the preset steering wheel mileage feedback coefficient based on the mileage deviation, so as to obtain the optimized steering wheel mileage feedback coefficient. The optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by wheel diameter machining error, wear or ground slippage.

[0238] In one possible design, the AGV parameter calibration device also includes:

[0239] The fourth acquisition module is used to acquire the parking position deviation of the AGV; wherein, the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position.

[0240] The fourth optimization module is used to optimize the preset parking distance parameters based on the parking position deviation to obtain the optimized parking distance parameters. The optimized parking distance parameters are used to guide the AGV to correct its parking strategy in order to eliminate the parking position deviation.

[0241] In one possible design, the AGV parameter calibration device also includes:

[0242] The fifth acquisition module is used to acquire the ground friction coefficient of the AGV; the ground friction coefficient is the ratio of the friction force between the AGV's steering wheel and the ground to the normal force, and the ground friction coefficient is used to represent the degree of influence of ground adhesion on the movement of the steering wheel.

[0243] The fifth optimization module is used to optimize the preset steering wheel speed coefficient based on the ground friction coefficient to obtain the optimized steering wheel speed coefficient. The optimized steering wheel speed coefficient is used to correct the preset output speed of the steering wheel to eliminate the deviation between the actual movement speed of the AGV and the preset travel speed caused by changes in ground friction conditions.

[0244] The AGV parameter calibration device provided in this embodiment can perform... Figures 2 to 6 The technical solution of the AGV parameter calibration method embodiment shown herein, its implementation principle and technical effect are similar to Figures 2 to 6 The embodiment of the AGV parameter calibration method shown is similar and will not be described in detail here.

[0245] Figure 11 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application. Figure 11 As shown, the electronic device 110 includes at least one processor 1101 and a memory 1102. The electronic device 110 also includes a communication component 1103. The processor 1101, the memory 1102, and the communication component 1103 are connected via a bus 1104.

[0246] In the specific implementation process, at least one processor 1101 executes computer execution instructions stored in memory 1102, so that at least one processor 1101 is used to implement an AGV parameter calibration method of the above embodiment.

[0247] The specific implementation process of processor 1101 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0248] In the above embodiments, it should be understood that the processor 1101 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0249] The memory 1102 may include high-speed RAM memory, and may also include non-volatile memory NVM, such as at least one disk storage.

[0250] Bus 1104 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Bus 1104 can be divided into address bus, data bus, control bus, etc. For ease of illustration, bus 1104 in the accompanying drawings of this application is not limited to only one bus or one type of bus.

[0251] The above description of the functions implemented by electronic devices and main control devices has introduced the solutions provided by the embodiments of the present invention. It is understood that, in order to implement the above functions, the electronic device or main control device includes hardware structures and / or software modules corresponding to the execution of each function. By combining the units and algorithm steps of the various examples described in the embodiments of the present invention, the embodiments of the present invention can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present invention.

[0252] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, these instructions are used to implement an AGV parameter calibration method as described in the above embodiments. In the specific implementation of the aforementioned AGV parameter calibration method, each module can be implemented as a processor.

[0253] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0254] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and the readable storage medium can exist as discrete components in an electronic device or a host device.

[0255] This application also provides a computer program product, including a computer program, which, when executed by a processor, is used to implement an AGV parameter calibration method according to the above embodiments.

[0256] The computer program is stored in a readable storage medium, and at least one processor can read the computer program from the readable storage medium and execute the computer program to perform the scheme provided in any of the above embodiments.

[0257] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0258] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. The above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for calibrating AGV parameters, characterized in that, include: Obtain the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point; The preset steering wheel angle offset value is optimized based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value. The optimized steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle. Obtain the deviation distance; wherein, the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path; The preset zero-position offset coefficient is optimized based on the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction, and the optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed. The AGV is configured with parameters based on the optimized steering wheel angle offset value and the optimized zero-position offset coefficient so that the AGV can travel in a straight line in multiple preset driving modes.

2. The AGV parameter calibration method according to claim 1, characterized in that, The step of optimizing the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value includes: In response to the difference being equal to a preset threshold, the steering wheel angle offset value is determined as the optimized steering wheel angle offset value; In response to the difference being greater than the threshold, the wheel angle offset value is reduced to obtain a reduced steering wheel angle offset value; In response to the reduced steering wheel angle offset value being equal to the threshold, the reduced steering wheel angle offset value is determined as the optimized steering wheel angle offset value; In response to the difference being less than the threshold, the steering wheel angle offset value is increased to obtain an increased steering wheel angle offset value; In response to the increased steering wheel angle offset value being equal to the threshold, the increased steering wheel angle offset value is determined as the optimized steering wheel angle offset value.

3. The AGV parameter calibration method according to claim 1, characterized in that, After optimizing the preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain the optimized steering wheel angle offset value, the process further includes: The optimized steering wheel angle offset value is stored in a preset power failure protection zone so that the AGV can correct the steering wheel angle according to the optimized steering wheel angle offset value after power failure and restart.

4. The AGV parameter calibration method according to claim 1, characterized in that, After optimizing the preset zero-position offset coefficient based on the deviation distance to obtain the optimized zero-position offset coefficient, the method further includes: The mileage deviation of the AGV is obtained; wherein, the mileage deviation is the deviation between the first mileage and the second mileage, the first mileage refers to the actual mileage traveled by the AGV, and the second mileage refers to the steering wheel mileage calculated by the AGV based on the number of rotations collected by the preset encoder. The mileage deviation is used to indicate the degree of mileage measurement deviation caused by wheel diameter processing error, wear or ground slippage of the AGV. The preset steering wheel mileage feedback coefficient is optimized based on the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient. The optimized steering wheel mileage feedback coefficient is used to correct the steering wheel distance calculated by the AGV based on the number of rotations collected by the encoder, so as to eliminate the mileage measurement deviation caused by the wheel diameter machining error, the wear, or the ground slippage.

5. The AGV parameter calibration method according to claim 4, characterized in that, After optimizing the preset steering wheel mileage feedback coefficient based on the mileage deviation to obtain the optimized steering wheel mileage feedback coefficient, the process further includes: Obtain the parking position deviation of the AGV; wherein, the parking position deviation is used to represent the deviation between the actual parking position of the AGV and the preset parking position; The preset parking distance parameters are optimized based on the parking position deviation to obtain optimized parking distance parameters; wherein, the optimized parking distance parameters are used to guide the AGV to correct its parking strategy in order to eliminate the parking position deviation.

6. The AGV parameter calibration method according to claim 5, characterized in that, After optimizing the preset parking distance parameters based on the parking position deviation to obtain the optimized parking distance parameters, the process further includes: Obtain the ground friction coefficient of the AGV; wherein, the ground friction coefficient is the ratio of the frictional force between the AGV's steering wheel and the driving ground to the normal force, and the ground friction coefficient is used to represent the degree of influence of ground adhesion on the movement of the steering wheel; The preset steering wheel speed coefficient is optimized based on the ground friction coefficient to obtain the optimized steering wheel speed coefficient; wherein, the optimized steering wheel speed coefficient is used to correct the preset output speed of the steering wheel to eliminate the deviation between the actual movement speed of the AGV and the preset travel speed caused by changes in ground friction conditions.

7. An AGV parameter calibration device, characterized in that, include: The first acquisition module is used to acquire the initial attitude angle and the final attitude angle; wherein, the initial attitude angle refers to the attitude angle of the AGV at the preset first starting point, and the final attitude angle refers to the attitude angle of the AGV at the preset first ending point; The first optimization module is used to optimize a preset steering wheel angle offset value based on the difference between the initial attitude angle and the final attitude angle to obtain an optimized steering wheel angle offset value. The optimized steering wheel angle offset value is used to offset the fixed zero position deviation of the steering wheel caused by machining and assembly. The optimized steering wheel angle offset value is used to guide the AGV to correct the steering wheel angle so as to ensure that the actual deflection angle of the AGV's steering wheel is consistent with the preset theoretical command angle. The second acquisition module is used to acquire the deviation distance; wherein, the deviation distance refers to the vertical distance between the second endpoint of the AGV and the preset straight path; The second optimization module is used to optimize the preset zero-position offset coefficient according to the deviation distance to obtain the optimized zero-position offset coefficient; wherein, the zero-position offset coefficient refers to the deflection angle correction coefficient of the AGV in the preset driving direction, and the optimized zero-position offset coefficient is used to guide the AGV to correct the steering wheel driving speed. The configuration module is used to configure the parameters of the AGV according to the optimized steering wheel angle offset value and the optimized zero-position offset coefficient, so that the AGV can travel in a straight line in multiple preset driving modes.

8. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; When the processor executes the computer execution instructions stored in the memory, it is used to implement the AGV parameter calibration method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the AGV parameter calibration method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, is used to implement the AGV parameter calibration method as described in any one of claims 1 to 6.

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