AGV steering wheel automatic calibration method, control system and storage medium

Abstract

The present invention discloses an automatic calibration method for an AGV steering wheel, a control system and a storage medium. The method comprises: controlling the steering wheel on one side of the AGV to swing according to the deviation angle of the body posture after the AGV travels straight for a first preset distance under map coordinates, until the steering wheel of the AGV is parallel; controlling the steering wheel of the AGV to swing simultaneously according to the deviation angle of the body position after the AGV travels straight for a second preset distance under map coordinates, until the steering wheel of the AGV is parallel to the body direction. By implementing the present invention, the AGV is controlled to move in a straight line under map coordinates, and the automatic calibration of the zero position of the AGV steering wheel is realized through the calibration of the body posture and the calibration of the body position. Therefore, the automatic calibration method for the AGV steering wheel provided in the embodiment of the present invention replaces human naked eye observation with 3D laser positioning data to improve the calibration accuracy; at the same time, the complexity of calibration is reduced, the labor cost is reduced, and the calibration efficiency is improved. It is conducive to the standardized output of the whole machine assembly line.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic guided vehicles, and in particular to an automatic calibration method for an AGV steering wheel, a control system and a storage medium. Background Art

[0002] AGV (Automated Guided Vehicles) is also known as unmanned transport vehicles, automatic navigation vehicles, and laser navigation vehicles. Its most notable feature is that it is unmanned. The AGV is equipped with an automatic guidance system, which can ensure that the system can automatically travel along the predetermined route without the need for manual navigation, and automatically transport goods or materials from the starting point to the destination. Another feature of AGV is its good flexibility, high degree of automation and high level of intelligence. The driving path of AGV can be flexibly changed according to changes in storage space requirements, production process flow, etc., and the cost of changing the running path is very low compared to traditional conveyor belts and rigid transmission lines.

[0003] At present, AGVs have been widely used in the field of automation, and AGVs need to correct relevant physical parameters before leaving the factory. Among them, the zero position calibration of the steering wheel is a more critical physical parameter correction. In traditional technology, the zero position calibration of the steering wheel is determined by visual observation and multiple trial parameter settings to finally determine a set of appropriate values ​​for the zero position of the steering wheel. On the one hand, this calibration method requires professional technicians to operate, which is inefficient and costly; on the other hand, the calibration deviation caused by visual calibration is also relatively large, affecting the calibration accuracy. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides an AGV steering wheel automatic calibration method, a control system and a storage medium to solve the technical problem of high cost of manual steering wheel zero position calibration in the prior art.

[0005] The technical solution proposed by the present invention is as follows:

[0006] A first aspect of an embodiment of the present invention provides an automatic calibration method for an AGV steering wheel, the method comprising: controlling the steering wheel on one side of the AGV to swing according to the body posture deviation angle after the AGV has traveled a first preset distance in map coordinates, until the steering wheel of the AGV is parallel; controlling the steering wheels of the AGV to swing simultaneously according to the body position deviation angle after the AGV has traveled a second preset distance in map coordinates, until the steering wheel of the AGV is parallel to the direction of the body.

[0007] Optionally, the steering wheel on one side of the AGV is controlled to swing according to the body posture deviation angle after the AGV travels a first preset distance in map coordinates until the steering wheel of the AGV is parallel, including: obtaining the initial body posture angle of the AGV and the first posture angle after the AGV travels a first preset distance in map coordinates; calculating the body posture deviation angle according to the initial body posture angle and the first posture angle; and controlling the steering wheel on one side of the AGV to swing according to the body posture deviation angle until the steering wheel of the AGV is parallel.

[0008] Optionally, the steering wheel on one side of the AGV is controlled to swing according to the vehicle body posture deviation angle until the steering wheel of the AGV is parallel, including: judging whether the vehicle body posture deviation angle is greater than a first preset value; when the vehicle body posture deviation angle is greater than the first preset value, determining the swing angle difference of the steering wheels on both sides of the AGV according to the vehicle body posture deviation angle and a first relationship; and controlling the steering wheel on one side of the AGV to swing according to the swing angle difference until the steering wheels of the AGV are parallel.

[0009] Optionally, the steering wheel on one side of the AGV is controlled to swing according to the swing angle difference until the steering wheel of the AGV is parallel, including: controlling the steering wheel on one side of the AGV to swing the swing angle difference; controlling the AGV to go straight again for a first preset distance under the map coordinates, and calculating the body posture deviation angle; judging whether the calculated body posture deviation angle is greater than a first preset value; when the body posture deviation angle is greater than the first preset value, calculating the swing angle difference and controlling the steering wheel on one side of the AGV to swing the swing angle difference; repeating the AGV straightening and swinging process until the calculated body posture deviation angle is less than or equal to the first preset value.

[0010] Optionally, the first relationship is determined according to the following steps: obtaining the body posture deviation angle and the swing angle difference of the steering wheels on both sides of the AGV after the AGV goes straight for a third preset distance in the map coordinates; determining the conversion coefficient between the body posture deviation angle and the swing angle difference according to the body posture deviation angle and the swing angle difference after going straight; and determining the first relationship according to the conversion coefficient.

[0011] Optionally, the steering wheels of the AGV are controlled to swing simultaneously according to the body position deviation angle after the AGV goes straight for a second preset distance in the map coordinates, until the steering wheel of the AGV is parallel to the direction of the body, including: obtaining the initial posture information of the body, the initial X-axis position information of the body, the initial Y-axis position information of the body, and the first X-axis position information and the second X-axis position information of the AGV after the AGV goes straight for the second preset distance in the map coordinates; calculating the X-axis position deviation and the Y-axis position deviation according to the initial X-axis position information of the body, the initial Y-axis position information of the body, the first X-axis position information, and the second X-axis position information; calculating the body position deviation angle according to the X-axis position deviation, the Y-axis position deviation and the initial posture information of the body; and controlling the steering wheels of the AGV to swing simultaneously according to the body position deviation angle until the steering wheel of the AGV is parallel to the direction of the body.

[0012] Optionally, the steering wheels of the AGV are controlled to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel to the direction of the body, including: judging whether the body position deviation angle is greater than a second preset value; when the body position deviation angle is greater than the second preset value, controlling the steering wheels of the AGV to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel.

[0013] Optionally, the steering wheels of the AGV are controlled to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel, including: controlling the steering wheels of the AGV to swing simultaneously the body position deviation angle; controlling the AGV to go straight again for a second preset distance under the map coordinates, and calculating the body position deviation angle; judging whether the calculated body position deviation angle is greater than a second preset value; when the calculated body position deviation angle is greater than the first preset value, controlling the steering wheels of the AGV to swing simultaneously the calculated body position deviation angle; repeating the AGV straight-moving and swinging process until the body position deviation angle is less than or equal to the second preset value.

[0014] A second aspect of an embodiment of the present invention provides an AGV control system, which includes: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the AGV steering wheel automatic calibration method as described in the first aspect of the embodiment of the present invention and any one of the first aspects by executing the computer instructions.

[0015] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the AGV steering wheel automatic calibration method as described in the first aspect of the embodiment of the present invention and any one of the first aspects.

[0016] The technical solution provided by the present invention has the following effects:

[0017] The AGV steering wheel automatic calibration method, control system and storage medium provided in the embodiment of the present invention can drive the AGV to the corresponding scene of a known map during calibration, and control the AGV to move in a straight line under the map coordinates. The automatic calibration of the AGV steering wheel zero position is achieved through the calibration of the body posture and the calibration of the body position. Therefore, the AGV steering wheel automatic calibration method provided in the embodiment of the present invention replaces human visual observation with 3D laser positioning data to improve the calibration accuracy; at the same time, it reduces the complexity of calibration, reduces labor costs, and improves the calibration efficiency. It is conducive to the standardized output of the whole machine assembly line. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 is a flow chart of an automatic calibration method for an AGV steering wheel according to an embodiment of the present invention;

[0020] Figure 2 is a flow chart of an AGV steering wheel automatic calibration method according to another embodiment of the present invention;

[0021] Figure 3 is a flow chart of an AGV steering wheel automatic calibration method according to another embodiment of the present invention;

[0022] Figure 4 is a flow chart of an AGV steering wheel automatic calibration method according to another embodiment of the present invention;

[0023] Figure 5 is a flow chart of an AGV steering wheel automatic calibration method according to another embodiment of the present invention;

[0024] Figure 6 is a schematic diagram of the structure of a computer-readable storage medium provided according to an embodiment of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of an AGV control system provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] As mentioned in the background technology, the existing AGV steering wheel zero position is mostly calibrated manually with the naked eye, which requires professional technicians to operate and is costly. To solve this problem, given that the current AGV carts are equipped with laser radars, the 3D laser positioning data can be used as a reference value. The AGV can perform forward and backward linear motion, combined with mathematical algorithms, to deduce the steering wheel zero position and perform calibration tests. This allows the AGV to be accurately positioned on the map through the 3D laser radar, and provide accurate relevant information in the map coordinate system to complete the automatic calibration of the AGV steering wheel zero position.

[0028] Example 1

[0029] Based on this, an embodiment of the present invention provides an AGV steering wheel automatic calibration method, such as Figure 1 As shown, the method comprises the following steps:

[0030] Step S101: According to the deviation angle of the posture of the vehicle body after the AGV goes straight for the first preset distance under the map coordinates, the steering wheel on one side of the AGV is controlled to swing until the steering wheel of the AGV is parallel; specifically, when calibrating the steering wheel, the posture of the vehicle body can be calibrated first, so that the posture of the vehicle body will not deflect when the AGV walks. If the posture of the vehicle body deflects, when the AGV walks forward, the trajectory of the AGV is a curve. Therefore, the calibration of the posture of the vehicle body is to allow the AGV to walk straight. Taking the dual steering wheels as an example, the left and right steering wheels need to be calibrated to be parallel. In one embodiment, the steering wheel of the AGV can be controlled to swing according to the posture deviation angle of the vehicle body before and after the AGV goes straight for the first preset distance under the map coordinates, so that the steering wheels of the AGV are parallel. For example, when the AGV has dual steering wheels, one steering wheel can be swung to make the other steering wheel parallel. Among them, the longer the length of the first preset distance, the higher the calibration accuracy, but the efficiency of the calibration will be reduced. In a specific embodiment, the first preset distance can be set to 3-5 meters.

[0031] Step S102: According to the deviation angle of the body position after the AGV goes straight for the second preset distance under the map coordinates, the steering wheels of the AGV are controlled to swing simultaneously until the steering wheels of the AGV are parallel to the direction of the body. Specifically, on the premise that the body posture is calibrated, that is, the AGV can go straight, it is also necessary to calibrate the body position of the AGV so that the AGV can go straight, that is, on the premise that the steering wheels of the AGV are parallel, adjust the angles of all the steering wheels of the AGV at the same time so that the direction of the steering wheels is along the direction of the body. In one embodiment, after the AGV goes straight for the second preset distance under the map coordinates, the steering wheels of the AGV can be controlled to swing according to the position deviation angle of the body before and after the straight travel, so that the steering wheels of the AGV are parallel to the direction of the body. Among them, the longer the length of the second preset distance, the higher the calibration accuracy, but the efficiency of the calibration will be reduced. In a specific embodiment, the second preset distance can be set to 3-5 meters.

[0032] The automatic calibration method for the AGV steering wheel provided in the embodiment of the present invention can drive the AGV to the corresponding scene of the known map during calibration, and control the AGV to move in a straight line under the map coordinates. The automatic calibration of the AGV steering wheel zero position is achieved through the calibration of the body posture and the calibration of the body position. Therefore, the automatic calibration method for the AGV steering wheel provided in the embodiment of the present invention replaces human visual observation with 3D laser positioning data to improve the calibration accuracy; at the same time, it reduces the complexity of calibration, reduces labor costs, and improves the calibration efficiency. It is conducive to the standardized output of the whole machine assembly line.

[0033] In one embodiment, if Figure 2 As shown, according to the body posture deviation angle of the AGV after the AGV travels straight for a first preset distance under the map coordinates, controlling the steering wheel on one side of the AGV to swing until the steering wheels of the AGV are parallel, includes the following steps:

[0034] Step S201: Obtain the initial posture angle of the AGV and the first posture angle after the AGV goes straight for the first preset distance in the map coordinates; in one embodiment, the initial posture angle and the first posture angle of the vehicle body can be determined based on the coordinate axis of the map coordinates where the AGV is located. In a specific implementation, in order to facilitate calculation, the initial posture angle of the vehicle body can be made 0 degrees, that is, the two adjacent sides of the vehicle body are parallel to the X axis and the Y axis of the map coordinates respectively. The first posture angle is the current posture angle of the AGV after it goes straight for the first preset distance.

[0035] Step S202: Calculate the body posture deviation angle according to the body initial posture angle and the first posture angle; in one implementation, the body posture deviation angle = the first posture angle - the body initial posture angle, when the body initial posture angle is 0 degrees, the body posture deviation angle is the first posture angle.

[0036] Step S203: Control the steering wheel on one side of the AGV to swing according to the body posture deviation angle until the steering wheel of the AGV is parallel. In one embodiment, before controlling the steering wheel on one side of the AGV to swing according to the body posture deviation angle, first determine whether the body posture deviation angle is greater than a first preset value; if the body posture deviation angle is less than or equal to the first preset value, then the body posture can be determined as not deflected at this time, and there is no need to swing the steering wheel, that is, the AGV can be made to go straight at this steering wheel angle. Among them, the first preset value can be set according to the actual accuracy requirements. For example, if the accuracy is high, the first preset value can be set to be smaller; if the accuracy is low, the first preset value can be set to be larger.

[0037] In one embodiment, when the body posture deviation angle is greater than the first preset value, the swing angle difference of the steering wheels on both sides of the AGV is first determined according to the body posture deviation angle and the first relationship; then the steering wheel on one side of the AGV is controlled to swing according to the swing angle difference until the steering wheels of the AGV are parallel. In a specific implementation, after controlling the swing angle difference of the steering wheel on one side of the AGV; the AGV is controlled to go straight again for the first preset distance under the map coordinates, and then the body posture deviation angle is calculated according to the body posture angle before and after the straight-line travel, and it is determined whether the recalculated body posture deviation angle is greater than the first preset value; if the body posture deviation angle at this time is less than or equal to the first preset value, it means that the adjusted steering wheel can make the AGV go straight, that is, the calibration of the body posture is completed; if the body posture deviation angle at this time is greater than the first preset value, the swing angle difference is calculated again according to the body posture deviation angle at this time and the steering wheel on one side of the AGV is controlled to swing the swing angle difference; then the above-mentioned AGV straight-line and swinging process is repeated until the calculated body posture deviation angle is less than or equal to the first preset value.

[0038] Specifically, the swing angle difference indicates the difference between the swing angles of the steering wheel on one side and the steering wheel on the other side. For example, when the AGV has two steering wheels, the swing angle difference = the swing angle of steering wheel No. 2 - the swing angle of steering wheel No. 1. When controlling the swing angle difference of the steering wheel on one side of the AGV, the calculated swing angle difference can be sent to the driving module of the AGV, and the driving module controls steering wheel No. 1 or No. 2 to swing the swing angle difference.

[0039] In one embodiment, since there is a linear relationship between the swing angle difference of the steering wheels on both sides of the AGV and the body posture deviation angle, if Figure 3 As shown, the first relationship between the swing angle difference and the body posture deviation angle can be determined by the following steps:

[0040] Step S301: Obtain the body posture deviation angle and the swing angle difference of the steering wheels on both sides of the AGV after the AGV goes straight for the third preset distance in the map coordinates; specifically, the AGV can be controlled to move forward for the third preset distance, and the body posture deviation angle and the swing angle difference of the steering wheels on both sides of the AGV are calculated at this time.

[0041] Step S302: Determine the conversion coefficient between the body posture deviation angle and the swing angle difference according to the body posture deviation angle and the swing angle difference after straight travel; for example, the body posture deviation angle after straight travel is 5 degrees, and the swing angle difference of the steering wheels on both sides is 3 degrees, then the conversion coefficient between the swing angle difference and the body posture deviation angle is 0.6. In one embodiment, after the conversion coefficient is calculated, a secondary experiment can be performed to verify the conversion coefficient. Specifically, the AGV can be controlled to move forward a third preset distance again, and the body posture deviation angle and the swing angle difference of the steering wheels on both sides of the AGV can be calculated again. For example, the body posture deviation angle calculated at this time is 10 degrees, and the swing angle difference of the steering wheels on both sides is 6 degrees, that is, the conversion coefficient calculated using the body posture deviation angle and the swing angle difference is also 0.6. This shows that the conversion coefficient calculated for the first time is more accurate.

[0042] Step S303: Determine the first relationship according to the conversion coefficient. In one embodiment, after the conversion coefficient is determined, the first relationship can be determined according to the conversion coefficient, that is, the first relationship can be expressed as θ 1 =0.6*θ 2 , where θ 1 represents the swing angle difference, θ 2 Indicates the body posture deflection angle.

[0043] In one embodiment, if Figure 4 As shown, according to the body position deviation angle of the AGV after the AGV travels straight for a second preset distance under the map coordinates, the steering wheels of the AGV are controlled to swing simultaneously until the steering wheels of the AGV are parallel to the body direction, including the following steps:

[0044] Step S401: Obtain the initial posture information of the AGV's vehicle body in the map coordinates, the initial X-axis position information of the vehicle body, the initial Y-axis position information of the vehicle body, and the first X-axis position information and the first Y-axis position information of the AGV after the AGV goes straight for the second preset distance in the map coordinates; in one embodiment, the initial posture information and the vehicle body position information can be determined based on the coordinate axis of the map coordinates where the AGV is located. In a specific implementation, in order to facilitate calculation, the initial posture information of the vehicle body, that is, the initial posture angle of the vehicle body, can be made 0 degrees, that is, the two adjacent sides of the vehicle body are parallel to the X-axis and Y-axis of the map coordinates respectively. At the same time, the initial position information of the vehicle body is recorded. For example, the coordinates of the vehicle body in the map coordinate system output by the laser radar positioning before the vehicle body moves can be used as the initial X-axis position information of the vehicle body and the initial Y-axis position information of the vehicle body. After the AGV goes straight for the second preset distance, the coordinates of the vehicle body in the map coordinate system output by the laser radar positioning can be used as the first X-axis position information and the first Y-axis position information.

[0045] Step S402: Calculate the X-axis position deviation and the Y-axis position deviation according to the initial X-axis position information of the vehicle body, the initial Y-axis position information of the vehicle body, the first X-axis position information, and the first Y-axis position information; in a specific implementation, the X-axis position deviation = the first X-axis position information - the initial X-axis position information, and the Y-axis position deviation = the first Y-axis position information - the initial Y-axis position information.

[0046] Step S403: Calculate the body position deviation angle according to the X-axis position deviation, the Y-axis position deviation and the body initial posture information; in a specific implementation, the body position deviation angle can be calculated by the following formula: body position deviation angle = arctan (Y-axis position deviation / X-axis position deviation) - body initial posture.

[0047] Step S404: Control the steering wheel of the AGV to swing simultaneously according to the body position deviation angle until the steering wheel of the AGV is parallel to the body direction. In one embodiment, before controlling the steering wheel of the AGV to swing simultaneously according to the body position deviation angle, first determine whether the body position deviation angle is greater than the second preset value; if the body position deviation angle is less than or equal to the second preset value, then the body position can be determined as not deflected at this time, and there is no need to swing the steering wheel, that is, the AGV can be straightened at this steering wheel angle. Among them, the second preset value can be set according to the actual accuracy requirements. For example, if high accuracy is required, the second preset value can be set to be smaller; if low accuracy is required, the second preset value can be set to be larger.

[0048] In one embodiment, when the body position deviation angle is greater than the second preset value, the steering wheel of the AGV is controlled to swing simultaneously according to the body position deviation angle until the steering wheel of the AGV is parallel. In a specific implementation, after controlling the steering wheel of the AGV to swing the body position deviation angle simultaneously; the AGV is controlled to go straight again for the second preset distance under the map coordinates, and then the body position deviation angle is calculated again according to the body position information and posture information before and after the straight-line movement, and it is determined whether the recalculated body position deviation angle is greater than the second preset value; if the body position deviation angle at this time is less than or equal to the second preset value, it means that the adjusted steering wheel can make the AGV go straight, that is, the calibration of the body position is completed; if the body position deviation angle at this time is greater than the second preset value, the steering wheel of the AGV is controlled to swing simultaneously according to the body position deviation angle at this time; and then the above-mentioned AGV straight-line and swinging process is repeated until the calculated body position deviation angle is less than or equal to the second preset value.

[0049] Example 2

[0050] The embodiment of the present invention also provides an AGV steering wheel automatic calibration method, such as Figure 5As shown, the method takes the AGV with dual steering wheels as an example. First, the initial posture angle of the vehicle body is collected, the AGV is controlled to go straight for the first preset distance, the posture angle of the vehicle body is collected again, and the swing angle of steering wheel No. 1 is adjusted according to the deviation of the two collected posture angles of the vehicle body, so that the two steering wheels are in the same direction; then the position information of the vehicle body at this time is recorded, the AGV is controlled to go straight for the second preset distance, the position information of the vehicle body is recorded again, and the two steering wheels are adjusted at the same time according to the position deviation angles obtained from the two position information, so that the swing angles of the two steering wheels are parallel to the direction of the vehicle body, and the calibration of the steering wheel zero position is completed.

[0051] Example 3

[0052] The embodiment of the present invention also provides a storage medium, such as Figure 6 As shown, a computer program 601 is stored thereon, and when the instruction is executed by the processor, the steps of the AGV steering wheel automatic calibration method in the above embodiment are implemented. The storage medium also stores audio and video stream data, feature frame data, interaction request signaling, encrypted data, and preset data size, etc. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviated: HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0053] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0054] Example 4

[0055] The embodiment of the present invention also provides an AGV control system, such as Figure 7 As shown, the AGV control system may include a processor 51 and a memory 52, wherein the processor 51 and the memory 52 may be connected via a bus or other means. Figure 7The example of connecting through bus is taken in the following.

[0056] The processor 51 may be a central processing unit (CPU). The processor 51 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0057] The memory 52 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the corresponding program instructions / modules in the embodiment of the present invention. The processor 51 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 52, that is, the AGV steering wheel automatic calibration method in the above method embodiment is implemented.

[0058] The memory 52 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created by the processor 51, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 52 may optionally include a memory remotely arranged relative to the processor 51, and these remote memories may be connected to the processor 51 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0059] The one or more modules are stored in the memory 52 and when executed by the processor 51, perform the following steps: Figure 1 -5 shows the AGV steering wheel automatic calibration method in the embodiment.

[0060] For details of the above electronic equipment, please refer to Figures 1 to 5 The corresponding related descriptions and effects in the illustrated embodiments can be understood and will not be repeated here.

[0061] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. An automatic calibration method for an AGV steering wheel, characterized in that: include: According to the body posture deviation angle of the AGV after the AGV travels straight for a first preset distance under the map coordinates, the steering wheel on one side of the AGV is controlled to swing until the steering wheel of the AGV is parallel; According to the body position deviation angle of the AGV after the AGV travels straight for a second preset distance under the map coordinates, the steering wheels of the AGV are controlled to swing simultaneously until the steering wheels of the AGV are parallel to the body direction; According to the body posture deviation angle of the AGV after the AGV travels straight for a first preset distance under the map coordinates, the steering wheel on one side of the AGV is controlled to swing until the steering wheels of the AGV are parallel, including: Obtaining the initial posture angle of the AGV and the first posture angle of the AGV after it travels a first preset distance in a straight line under the map coordinates; Calculating a body posture deviation angle according to the body initial posture angle and the first posture angle; Controlling the steering wheel on one side of the AGV to swing according to the body posture deviation angle until the steering wheel of the AGV is parallel; Controlling the steering wheel on one side of the AGV to swing according to the body posture deviation angle until the steering wheel of the AGV is parallel, including: Determining whether the vehicle body posture deviation angle is greater than a first preset value; When the body posture deviation angle is greater than a first preset value, determining the swing angle difference of the steering wheels on both sides of the AGV according to the body posture deviation angle and the first relationship; Controlling the steering wheel on one side of the AGV to swing according to the swing angle difference until the steering wheel of the AGV is parallel; The first relationship is determined according to the following steps: Obtain the body posture deviation angle and the swing angle difference of the steering wheels on both sides of the AGV after the AGV travels straight for a third preset distance in the map coordinates; Determine a conversion coefficient between the body posture deviation angle and the swing angle difference according to the body posture deviation angle and the swing angle difference after straight driving; determining the first relationship according to the conversion coefficient; According to the body position deviation angle of the AGV after the AGV travels straight for the second preset distance under the map coordinates, the steering wheels of the AGV are controlled to swing simultaneously until the steering wheels of the AGV are parallel to the body direction, including: Obtaining the initial posture information of the AGV, the initial X-axis position information of the AGV, the initial Y-axis position information of the AGV in the map coordinates, and the first X-axis position information and the second X-axis position information of the AGV after the AGV travels straight for a second preset distance in the map coordinates; Calculate the X-axis position deviation and the Y-axis position deviation according to the initial X-axis position information of the vehicle body, the initial Y-axis position information of the vehicle body, the first X-axis position information, and the second X-axis position information; The body position deviation angle is calculated according to the X-axis position deviation, the Y-axis position deviation and the initial posture information of the body, where the body position deviation angle=arctan(Y-axis position deviation / X-axis position deviation)-initial posture of the body; According to the body position deviation angle, the steering wheels of the AGV are controlled to swing simultaneously until the steering wheels of the AGV are parallel to the directions of the body.

2. The AGV steering wheel automatic calibration method according to claim 1, characterized in that: Controlling the swing of one side steering wheel of the AGV according to the swing angle difference until the steering wheels of the AGV are parallel, including: Controlling the steering wheel on one side of the AGV to swing the swing angle difference; After the AGV is controlled to travel straight again for the first preset distance under the map coordinates, the body posture deviation angle is calculated; Determining whether the calculated vehicle body posture deviation angle is greater than a first preset value; When the body posture deviation angle is greater than a first preset value, a swing angle difference is calculated and a steering wheel on one side of the AGV is controlled to swing the swing angle difference; The AGV straight-moving and swinging processes are repeated until the calculated body posture deviation angle is less than or equal to the first preset value.

3. The AGV steering wheel automatic calibration method according to claim 1, characterized in that: Controlling the steering wheels of the AGV to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel to the body direction, including: Determining whether the vehicle body position deviation angle is greater than a second preset value; When the body position deviation angle is greater than a second preset value, the steering wheels of the AGV are controlled to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel.

4. The AGV steering wheel automatic calibration method according to claim 3, characterized in that: Controlling the steering wheels of the AGV to swing simultaneously according to the body position deviation angle until the steering wheels of the AGV are parallel, including: Controlling the steering wheel of the AGV to swing the body position deviation angle simultaneously; After the AGV is controlled to travel straight again for a second preset distance under the map coordinates, the body position deviation angle is calculated; Determining whether the calculated vehicle body position deviation angle is greater than a second preset value; When the calculated body position deviation angle is greater than a first preset value, controlling the steering wheel of the AGV to simultaneously swing the calculated body position deviation angle; The AGV straight-moving and swinging processes are repeated until the body position deviation angle is less than or equal to a second preset value.

5. An AGV control system, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the AGV steering wheel automatic calibration method as described in any one of claims 1 to 4 by executing the computer instructions.

6. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the AGV steering wheel automatic calibration method as described in any one of claims 1 to 4.

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