A 4×2 wheeled vehicle type AGV steering system and control method thereof

Abstract

The present invention discloses a 4×2 wheeled vehicle-type AGV steering system and a control method thereof, which are characterized in that they include a steering axle, an electric push rod, an all-in-one controller, a whole vehicle controller, an on-board automatic guided operation module, a 24V battery, a power battery, an angle sensor, a vehicle-mounted terminal of a remote control device, and a handheld terminal of a remote control device; the steering control function of the 4×2 wheeled vehicle-type AGV is realized, the system has good steering control effect and strong controllability, can automatically control the AGV to make large-angle turns and small-angle corrections for straight-line driving based on a preset material transfer route, and can manually control the steering of the AGV, realize the needs of AGV transfer and debugging, and meet the steering control requirements of the AGV.

Description

Technical field:

[0002] The present invention relates to the technical field of AGV steering systems, and in particular to a 4×2 wheeled vehicle type AGV steering system and a control method thereof. Background technology:

[0004] With the development of AGV technology, the use environment of AGV is developing from indoor to outdoor, and the driving mode has also developed from steering wheel, differential wheel, Mecanum wheel and other indoor driving modes to 4×2, 4×4 and other wheeled vehicle types suitable for outdoor use. Steering wheel, differential wheel, Mecanum wheel and other indoor AGV driving modes, when turning, all directly convert electrical energy into mechanical energy to change the direction of the vehicle; wheeled vehicle type AGV, with heavy load, mostly uses hydraulic steering; when turning, electrical energy is first converted into mechanical energy, mechanical energy is then converted into hydraulic energy, hydraulic energy is converted into mechanical energy and then drives the wheel to deflect, realizing the change of the vehicle's direction of travel. Due to the multiple conversions of electrical energy during turning, energy loss is increased, which affects the endurance of AGV. Summary of the invention:

[0006] The object of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a 4×2 wheeled vehicle type AGV steering system.

[0007] Another object of the present invention is to provide a control method for a 4×2 wheeled vehicle type AGV steering system.

[0008] The technical solution provided by the present invention is: a 4×2 wheeled vehicle type AGV steering system, which is special in that it is composed of a steering axle, an electric push rod, an all-in-one controller, a vehicle controller, an on-board automatic guided operation module, a 24V battery, a power battery, an angle sensor, a vehicle-mounted terminal of a remote control device, and a handheld terminal of a remote control device;

[0009] The steering axle, all-in-one controller, vehicle controller, vehicle-mounted automatic guided vehicle operation module, 24V battery, power battery, and vehicle-mounted end of the remote control device are respectively connected to the 4×2 wheeled vehicle AGV frame; the fixed end of the electric push rod is connected to the 4×2 wheeled vehicle AGV frame, and the telescopic end of the electric push rod is connected to the steering knuckle arm of the steering axle; the angle sensor consists of a media end and a detection end; the media end is fixedly connected to the kingpin of the steering axle, and the detection end is fixedly connected to the steering knuckle of the steering axle;

[0010] The electric push rod is electrically connected to the all-in-one controller via a high-voltage connection line, and the all-in-one controller is connected to the power battery via a high-voltage connection line;

[0011] The electric push rod, all-in-one controller, vehicle controller, vehicle-mounted automatic guidance operation module, power battery, angle sensor, and vehicle-mounted end of the remote control device are electrically connected to the 24V battery via a low-voltage power line; the electric push rod, all-in-one controller, vehicle-mounted automatic guidance operation module, power battery, angle sensor, and vehicle-mounted end of the remote control device are connected to the vehicle controller via a CAN line;

[0012] The handheld end of the remote control device is wirelessly connected to the vehicle-mounted end of the remote control device and is used for manual control of the AGV vehicle.

[0013] Furthermore, the all-in-one controller includes at least one power distribution module, one DC / AC module, and one DC / DC module.

[0014] Furthermore, the power battery outputs high-voltage direct current to the all-in-one controller; the power distribution module in the all-in-one controller distributes the high-voltage direct current from the power battery to the DC / AC module and DC / DC module in the all-in-one controller; the DC / AC module outputs high-voltage alternating current to the electric push rod; and the DC / DC module outputs low-voltage direct current to the 24V battery.

[0015] Furthermore, the electric push rod is controlled by CAN communication; the vehicle controller controls the movement of the electric push rod through CAN communication.

[0016] Furthermore, the angle sensor uses a CAN data output single-turn absolute encoder to feedback the wheel deflection angle. After the zero position of the steering knuckle of the vehicle steering axle is calibrated, the wheel deflection angle is measured by detecting the steering knuckle rotation angle.

[0017] Furthermore, the vehicle-mounted automatic guidance operation module is composed of a host computer, a navigation sensor, a touch display screen, and a communication conversion module; the navigation sensor, the touch display screen, and the communication conversion module are connected to the host computer via a connecting line;

[0018] The host computer is used for AGV operation path information storage, automatic guidance operation control data fusion processing, precise control of AGV operation and communication of AGV operation related information;

[0019] The navigation sensor collects the position information and heading angle information of the AGV in real time and uploads it to the host computer. The host computer processes the position information and heading angle information data of the AGV collected by the navigation sensor to accurately control the operation of the AGV.

[0020] The touch screen is used to input control parameters, plan AGV operation paths, display AGV operation-related parameter information and fault information, which is convenient for human-computer interaction;

[0021] The communication conversion module is used for wired communication conversion between the host computer and the vehicle controller or wireless communication conversion between the host computer and the background system.

[0022] Furthermore, the navigation sensor is a visual navigation sensor, a laser navigation sensor, an inertial navigation sensor, a GNSS navigation sensor, or a combination of a laser navigation sensor, an inertial navigation sensor and a GNSS navigation sensor.

[0023] The control method of a 4×2 wheeled vehicle type AGV steering system of the present invention is special in that it includes the following steps:

[0024] a The vehicle starts, and the 24V battery provides 24V power to the electric push rod, all-in-one controller, vehicle controller, on-board automatic guidance operation module, power battery, angle sensor, and on-board end of the remote control device. The vehicle controller, on-board automatic guidance operation module, and BMS integrated in the power battery start and self-check. After the self-check passes, the vehicle controller issues a high-voltage command to the power battery through the CAN line. After receiving the high-voltage command, the power battery transmits high-voltage direct current to the all-in-one controller. The power distribution module in the all-in-one controller distributes the high-voltage direct current from the power battery to the DC / AC module and DC / DC module in the all-in-one controller. The DC / AC module transmits high-voltage power to the electric push rod to prepare for steering. At the same time, the DC / DC module works to charge the 24V battery.

[0025] b. Based on the material transfer requirements, the AGV operation path information is set and stored in the upper computer of the vehicle-mounted automatic guided operation module through the touch screen. The path information includes path points, vehicle speed, running direction, vehicle turning angle, and non-contact obstacle stopping distance;

[0026] c The host computer converts the AGV running path information into instructions and sends them to the vehicle controller through the CAN line. The vehicle controller receives the instructions from the host computer and controls the vehicle to move along the AGV running path;

[0027] d During the operation of the AGV, the vehicle controller receives the steering command from the host computer, communicates with the electric push rod through the CAN line, and then controls the movement of the electric push rod's telescopic end. The movement of the electric push rod's telescopic end drives the wheel deflection of the steering axle to achieve AGV steering or wheel return. The angle sensor monitors the steering axle wheel angle in real time and transmits the angle information to the vehicle controller through the CAN line;

[0028] e The navigation sensor in the vehicle-mounted automatic guided vehicle operation module collects the AGV position and heading angle information in real time and transmits it to the host computer in the vehicle-mounted automatic guided vehicle operation module. The host computer processes the information sent back by the navigation sensor and compares it with the stored AGV operation path, and judges whether the AGV needs to turn based on this; if turning is required, the host computer processes the vehicle position and heading angle information collected by the navigation sensor in real time to judge the difference between the vehicle deflection angle and the actual required turning angle, and communicates with the vehicle controller in real time through the CAN line to control the AGV to turn or the wheel to return to the center position;

[0029] f The navigation sensor in the vehicle-mounted automatic guided vehicle operation module collects the AGV position and heading angle information in real time and transmits it to the host computer in the vehicle-mounted automatic guided vehicle operation module. The host computer processes the information sent back by the navigation sensor and compares it with the stored AGV operation path to determine whether the AGV operation direction has a small angle deviation relative to the material transfer route. If there is a deviation, after determining the deviation angle, a small angle route correction instruction is sent to the vehicle controller through the CAN line. The vehicle controller controls the steering actuator and executes the corresponding action to realize the small angle correction of the AGV route, ensuring that the AGV runs safely according to the stored AGV operation path.

[0030] Beneficial effects of the present invention:

[0031] 1. Using the electric push rod as the steering power source and actuator simplifies the energy conversion process during steering, reduces energy loss, and is environmentally friendly and energy-saving;

[0032] 2. Using the electric push rod as the steering power source and actuator simplifies the energy conversion process during steering, shortens the steering response time, and improves steering stability;

[0033] 3. The components that make up the AGV steering system use common components for new energy vehicles, which are easy to obtain and implement;

[0034] 4. Based on the feedback from the angle sensor and combined with the automatic steering control process, ensure that the AGV turns accurately and runs according to the planned AGV operation path, making the AGV steering control process more adaptive and efficient. Description of the drawings:

[0036] Figure 1 is a system block diagram of the present invention;

[0037] Figure 2 It is a schematic diagram of installing the steering system of the present invention on a vehicle;

[0038] Figure 3 It is a schematic diagram of the connection between the electric push rod and the steering bridge of the present invention;

[0039] Figure 4 This is a schematic diagram of the installation position of the angle sensor of the present invention.

[0040] In the figure: 1 steering axle, 2 electric push rod, 3 all-in-one controller, 31 power distribution module, 32 DC / AC module, 33 DC / DC module, 4 vehicle controller, 5 vehicle-mounted automatic guided operation module, 51 host computer, 52 navigation sensor, 53 touch display screen, 54 communication conversion module, 6 24V battery, 7 power battery, 8 angle sensor, 81 media terminal, 82 detection terminal, 9 remote control device vehicle-mounted terminal, 10 remote control device handheld terminal. Specific implementation method:

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0043] like Figure 1 , 2 As shown in , 3 and 4, a 4×2 wheeled vehicle type AGV steering system is composed of a steering bridge 1, an electric push rod 2, an all-in-one controller 3, a vehicle controller 4, an on-board automatic guided operation module 5, a 24V battery 6, a power battery 7, an angle sensor 8, a vehicle-mounted terminal of a remote control device 9, and a handheld terminal of a remote control device 10;

[0044] The all-in-one controller 3 includes at least one power distribution module 31, one DC / AC module 32, and one DC / DC module 33;

[0045] The power battery 7 outputs high-voltage direct current to the all-in-one controller 3; the power distribution module 31 in the all-in-one controller 3 distributes the high-voltage direct current from the power battery 7 to the DC / AC module 32 and the DC / DC module 33 in the all-in-one controller 3; the DC / AC module 32 outputs high-voltage alternating current to the electric push rod 2; the DC / DC module 33 outputs low-voltage direct current to the 24V battery 6;

[0046] The electric push rod 2 is controlled by CAN communication, and the vehicle controller 4 controls the action of the electric push rod through CAN communication;

[0047] The angle sensor 8 is composed of a media end 81 and a detection end 82; the angle sensor 8 uses a CAN data output single-turn absolute encoder to feedback the wheel deflection angle. After the zero position of the steering knuckle of the vehicle steering axle is calibrated, the wheel deflection angle is measured by detecting the steering knuckle rotation angle;

[0048] The vehicle-mounted automatic guidance operation module 5 is composed of a host computer 51, a navigation sensor 52, a touch screen 53, and a communication conversion module 54. The navigation sensor 52, the touch screen 53, and the communication conversion module 54 are connected to the host computer via a dedicated connection line; the host computer 51 is used for AGV operation path information storage, automatic guidance operation control data fusion processing, precise control of AGV operation, and intercommunication of AGV operation related information; the navigation sensor 52 is a visual navigation sensor or a laser navigation sensor or an inertial navigation sensor or a GNSS navigation sensor or a laser navigation sensor, an inertial navigation sensor and A combination of GNSS navigation sensors; the navigation sensor 52 collects the position information and heading angle information of the AGV in real time and uploads it to the host computer 51, which processes the position information and heading angle information data of the AGV collected by the navigation sensor 52 to accurately control the operation of the AGV; the touch screen 53 is used for inputting control parameters, planning the AGV operation path, displaying AGV operation-related parameter information, and fault information, so as to facilitate human-computer interaction; the communication conversion module 54 is used for wired communication conversion between the host computer 51 and the vehicle controller 4 or wireless communication conversion between the host computer 51 and the background system;

[0049] The handheld terminal 10 of the remote control device is wirelessly connected to the vehicle-mounted terminal 9 of the remote control device for manual control of the AGV vehicle;

[0050] Connect the steering axle 1, the all-in-one controller 3, the vehicle controller 4, the vehicle-mounted automatic guided operation module 5, the 24V battery 6, the power battery 7, and the vehicle-mounted terminal 9 of the remote control device to the 4×2 wheeled vehicle AGV frame respectively; connect the fixed end of the electric push rod 2 to the 4×2 wheeled vehicle AGV frame, and connect the telescopic end of the electric push rod 2 to the steering knuckle arm of the steering axle 1;

[0051] The media end 81 of the angle sensor 8 is fixedly connected to the kingpin of the steering axle 1, and the detection end 82 is fixedly connected to the steering knuckle of the steering axle 1;

[0052] The electric push rod 2 is electrically connected to the all-in-one controller 3 via a high-voltage connection line, and the all-in-one controller 3 is connected to the power battery 7 via a high-voltage connection line;

[0053] The electric push rod 2, the all-in-one controller 3, the whole vehicle controller 4, the vehicle-mounted automatic guided operation module 5, the power battery 7, the angle sensor 8, and the vehicle-mounted end 9 of the remote control device are electrically connected to the 24V battery 6 via a low-voltage power line; then the electric push rod 2, the all-in-one controller 3, the whole vehicle controller 4, the vehicle-mounted automatic guided operation module 5, the power battery 7, the angle sensor 8, and the vehicle-mounted end 9 of the remote control device are connected to the CAN line of the whole vehicle via a CAN line.

[0054] The present invention provides a 4×2 wheeled vehicle type AGV steering system, in which the telescopic end movement of the electric push rod 2 drives the wheel deflection of the steering bridge 1; the all-in-one controller 3 provides high-voltage AC power to the electric push rod 2 and low-voltage DC power to the 24V battery 6; the whole vehicle controller 4 receives instructions from the on-board automatic guidance operation module 5 to control the movement of the electric push rod 2 and thus control the steering of the vehicle; the on-board automatic guidance operation module 5 issues a large-angle steering instruction or a small-angle correction instruction to the whole vehicle controller 4 based on the set path; the 24V battery 6 provides a low-voltage power supply to the steering system electrical appliances; the power battery 7 provides a high-voltage power supply to the all-in-one controller 3; the angle sensor 8 detects the wheel angle of the steering bridge 1 and transmits the angle information to the whole vehicle controller 4; the remote control device handheld terminal 10 is wirelessly connected to the remote control device on-board terminal 9 for manual control of the AGV vehicle.

[0055] A control method for a 4×2 wheeled vehicle type AGV steering system of the present invention specifically comprises the following steps:

[0056] a The vehicle starts, and the 24V battery 6 provides 24V power to the electric push rod 2, the all-in-one controller 3, the vehicle controller 4, the on-board automatic guidance operation module 5, the 24V battery 6, the power battery 7, the angle sensor 8, and the on-board terminal 9 of the remote control device. The vehicle controller 4, the on-board automatic guidance operation module 5, and the BMS integrated in the power battery 7 start and self-check; after the self-check passes, the vehicle controller 4 issues a high-voltage command to the power battery 7 through the CAN line. After receiving the high-voltage command, the power battery 7 transmits the high-voltage direct current to the all-in-one controller 3. The power distribution module 31 in the all-in-one controller 3 distributes the high-voltage direct current from the power battery 7 to the DC / AC module 32 and the DC / DC module 33 in the all-in-one controller 3. The DC / AC module 32 transmits the high-voltage power to the electric push rod 2 to prepare for steering. At the same time, the DC / DC module 33 works to charge the 24V battery 6;

[0057] b. Based on the material transfer requirements, the AGV operation path information is set and stored in the upper computer 51 of the vehicle-mounted automatic guided operation module 5 through the touch display screen 53. The path information includes path points, vehicle speed, running direction, vehicle turning angle, and non-contact obstacle stopping distance;

[0058] c The host computer 51 converts the AGV running path information into instructions and sends them to the vehicle controller 4 via the CAN line. The vehicle controller 4 receives the instructions from the host computer 51 and controls the vehicle to move along the AGV running path;

[0059] d During the operation of the AGV, the vehicle controller 4 receives a steering command from the host computer 51, communicates with the electric push rod 2 through the CAN line, and then controls the telescopic end of the electric push rod 2. The telescopic end of the electric push rod 2 drives the wheel deflection of the steering bridge 1 to achieve AGV steering or wheel return. The angle sensor 8 monitors the wheel angle of the steering bridge 1 in real time and transmits the angle information to the vehicle controller 4 through the CAN line;

[0060] e The navigation sensor 52 in the vehicle-mounted automatic guided vehicle operation module 5 collects the AGV position and heading angle information in real time and transmits it to the host computer 51 in the vehicle-mounted automatic guided vehicle operation module 5. The host computer 51 processes the information sent back by the navigation sensor 52 and compares it with the stored AGV operation path, and judges whether the AGV needs to turn based on this; if turning is required, the host computer 51 processes the vehicle position and heading angle information collected by the navigation sensor 52 in real time to judge the difference between the vehicle deflection angle and the actual required turning angle, and communicates with the vehicle controller 4 in real time through the CAN line to control the AGV to turn or the wheel to return to the center position;

[0061] f The navigation sensor 52 in the vehicle-mounted automatic guided operation module 5 collects the AGV position and heading angle information in real time and transmits it to the host computer 51 in the vehicle-mounted automatic guided operation module 5. The host computer 51 processes the information sent back by the navigation sensor 52 and compares it with the stored AGV operation path to determine whether the AGV operation direction has a small angle deviation relative to the material transfer route. If there is a deviation, after determining the deviation angle, a small angle route correction instruction is sent to the vehicle controller 4 through the CAN line. The vehicle controller 4 controls the steering actuator and executes corresponding actions to realize a small angle correction of the AGV route to ensure that the AGV runs safely according to the stored AGV operation path.

Claims

1. A 4×2 wheeled vehicle type AGV steering system, characterized in that: It is composed of a steering axle (1), an electric push rod (2), an all-in-one controller (3), a vehicle controller (4), an on-board automatic guidance operation module (5), a 24V storage battery (6), a power battery (7), an angle sensor (8), a vehicle-mounted terminal of a remote control device (9), and a handheld terminal of a remote control device (10); The steering axle (1), the all-in-one controller (3), the vehicle controller (4), the vehicle-mounted automatic guided vehicle operation module (5), the 24V storage battery (6), the power battery (7), and the vehicle-mounted end (9) of the remote control device are respectively connected to the 4×2 wheeled vehicle type AGV frame; the fixed end of the electric push rod (2) is connected to the 4×2 wheeled vehicle type AGV frame, and the telescopic end of the electric push rod (2) is connected to the steering knuckle arm of the steering axle (1); the angle sensor (8) is composed of a media end (81) and a detection end (82); the media end (81) is fixedly connected to the kingpin of the steering axle (1), and the detection end (82) is fixedly connected to the steering knuckle of the steering axle (1); The electric push rod (2) is electrically connected to the all-in-one controller (3) via a high-voltage connection line, and the all-in-one controller (3) is connected to the power battery (7) via a high-voltage connection line; The electric push rod (2), the all-in-one controller (3), the vehicle controller (4), the vehicle-mounted automatic guidance operation module (5), the power battery (7), the angle sensor (8), and the vehicle-mounted end of the remote control device (9) are electrically connected to the 24V storage battery (6) via a low-voltage power line; the electric push rod (2), the all-in-one controller (3), the vehicle-mounted automatic guidance operation module (5), the power battery (7), the angle sensor (8), and the vehicle-mounted end of the remote control device (9) are connected to the vehicle controller (4) via a CAN line; The handheld terminal (10) of the remote control device is wirelessly connected to the vehicle-mounted terminal (9) of the remote control device for manual control of the AGV vehicle; The power battery (7) outputs high-voltage direct current to the all-in-one controller (3); the power distribution module (31) in the all-in-one controller (3) distributes the high-voltage direct current from the power battery (7) to the DC / AC module (32) and the DC / DC module (33) in the all-in-one controller (3); the DC / AC module (32) outputs high-voltage alternating current to the electric push rod (2); and the DC / DC module (33) outputs low-voltage direct current to the 24V storage battery (6); The vehicle-mounted automatic guidance operation module (5) is composed of a host computer (51), a navigation sensor (52), a touch screen (53), and a communication conversion module (54); the navigation sensor (52), the touch screen (53), and the communication conversion module (54) are connected to the host computer (51) via a connecting line; The host computer (51) is used for storing AGV operation path information, fusion processing of automatic guidance operation control data, precise control of AGV operation and communication of AGV operation related information; The navigation sensor (52) collects the position information and heading angle information of the AGV in real time and uploads the information to the host computer (51); the host computer (51) processes the position information and heading angle information data of the AGV collected by the navigation sensor (52) to accurately control the operation of the AGV; The touch display screen (53) is used for inputting control parameters, planning the AGV operation path, displaying AGV operation-related parameter information, and fault information, so as to facilitate human-computer interaction; The communication conversion module (54) is used for wired communication conversion between the host computer (51) and the vehicle controller (4) or wireless communication conversion between the host computer (51) and the background system.

2. A 4×2 wheeled vehicle type AGV steering system according to claim 1, characterized in that: The all-in-one controller (3) comprises at least one power distribution module (31), one DC / AC module (32), and one DC / DC module (33).

3. A 4×2 wheeled vehicle type AGV steering system according to claim 1, characterized in that: The electric push rod (2) is controlled by CAN communication; the vehicle controller (4) controls the movement of the electric push rod (2) through CAN communication.

4. A 4×2 wheeled vehicle type AGV steering system according to claim 1, characterized in that: The angle sensor (8) uses a CAN data output single-turn absolute value encoder to provide feedback on the wheel deflection angle. After the zero position of the steering knuckle of the vehicle steering axle (1) is calibrated, the wheel deflection angle is measured by detecting the steering knuckle rotation angle.

5. A 4×2 wheeled vehicle type AGV steering system according to claim 1, characterized in that: The navigation sensor (52) is a visual navigation sensor, a laser navigation sensor, an inertial navigation sensor, a GNSS navigation sensor, or a combination of a laser navigation sensor, an inertial navigation sensor and a GNSS navigation sensor.

6. The control method of any one of the above 4×2 wheeled vehicle type AGV steering system of claims 1-5, characterized in that: The following steps are involved: a The vehicle is started, and the 24V storage battery (6) provides 24V power to the electric push rod (2), the all-in-one controller (3), the whole vehicle controller (4), the vehicle-mounted automatic guidance operation module (5), the power battery (7), the angle sensor (8), and the vehicle-mounted terminal (9) of the remote control device. The whole vehicle controller (4), the vehicle-mounted automatic guidance operation module (5), and the BMS integrated in the power battery (7) are started and self-checked. After the self-check is passed, the whole vehicle controller (4) issues a high-voltage command to the power battery (7) through the CAN line. After receiving the high-voltage command, the power battery (7) transmits high-voltage direct current to the all-in-one controller (3). The power distribution module (31) in the all-in-one controller (3) distributes the high-voltage direct current from the power battery (7) to the DC / AC module (32) and the DC / DC module (33) in the all-in-one controller (3). The DC / AC module (32) transmits the high-voltage power to the electric push rod (2) to prepare for steering. At the same time, the DC / DC module (33) works to charge the 24V storage battery (6). b. Setting and storing AGV operation path information in the upper computer (51) of the vehicle-mounted automatic guided vehicle operation module (5) through the touch display screen (53) based on the material transfer requirements, the path information including path points, vehicle speed, operation direction, vehicle turning angle, and non-contact obstacle stopping distance; c The host computer (51) converts the AGV running path information into instructions and sends them to the vehicle controller (4) via the CAN line. The vehicle controller (4) receives the instructions from the host computer (51) and controls the vehicle to move along the AGV running path; d During the operation of the AGV, the vehicle controller (4) receives a steering command from the host computer (51), communicates with the electric push rod (2) via the CAN line, and then controls the movement of the telescopic end of the electric push rod (2). The movement of the telescopic end of the electric push rod (2) drives the wheel deflection of the steering bridge (1), thereby realizing the steering of the AGV or the wheel return. The angle sensor (8) monitors the wheel angle of the steering bridge (1) in real time and transmits the angle information to the vehicle controller (4) via the CAN line; e. The navigation sensor (52) in the vehicle-mounted automatic guided vehicle operation module (5) collects the AGV position and heading angle information in real time and transmits it to the host computer (51) in the vehicle-mounted automatic guided vehicle operation module (5). The host computer (51) processes the information sent back by the navigation sensor (52) and compares it with the stored AGV operation path, and determines whether the AGV needs to turn based on the information; If steering is required, the host computer (51) processes the vehicle position and heading angle information collected by the navigation sensor (52) in real time to determine the difference between the vehicle deflection angle and the actual required steering angle, and controls the AGV steering or wheel return through real-time communication with the vehicle controller (4) via the CAN line; f The navigation sensor (52) in the vehicle-mounted automatic guided vehicle operation module (5) collects the AGV position and heading angle information in real time and transmits it to the upper computer (51) in the vehicle-mounted automatic guided vehicle operation module (5). The upper computer (51) processes the information sent back by the navigation sensor (52) and compares it with the stored AGV operation path to determine whether the AGV operation direction has a small angle deviation relative to the material transfer path. If there is a deviation, after determining the deviation angle, a small angle route correction instruction is sent to the vehicle controller (4) through the CAN line. The vehicle controller (4) controls the steering actuator to execute corresponding actions to realize the small angle correction of the AGV travel route, thereby ensuring that the AGV runs safely according to the stored AGV operation path.

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