A method, apparatus, and storage medium for adjusting the AGV lifting platform to be parallel with the material.

Abstract

This invention discloses a method, device, and storage medium for adjusting the parallelism between an AGV lifting platform and materials. The method includes: acquiring the distances from both sides of the material storage platform to both sides of the AGV lifting platform using a distance measuring sensor as adjustment feedback; determining the parallelism based on the feedback; and determining an activation adjustment mode based on the parallelism. The movement states of the left and right lifting mechanisms are adjusted according to the activation mode and the real-time feedback to ensure that the parallelism meets the conditions, ultimately achieving parallelism between the material axis and the AGV lifting platform axis. This reduces slippage and impacts caused by left-right imbalance during docking and lifting.

Description

Technical Field

[0001] This invention relates to the field of electrical automation control technology, and in particular to a method, device, and storage medium for adjusting the AGV lifting platform to be parallel with the material. Background Technology

[0002] With the development of factory automation, AGVs are scheduled through control systems to achieve automated storage and retrieval and automated handling of materials. However, during the automated handling of materials by AGVs, there is a certain height involved in the loading, unloading and stacking of materials. Most AGVs find it difficult to stably fix the materials when loading and unloading them. During the movement of AGVs, phenomena such as slippage and collision caused by the left and right imbalance of materials can easily occur, leading to the materials falling and affecting handling efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a method, device, and storage medium for adjusting the AGV lifting platform to be parallel with the material, so as to solve one or more technical problems existing in the prior art, or at least provide a beneficial option or create conditions.

[0004] The solution to the technical problem of this invention is to provide a method, equipment, and storage medium for adjusting the AGV lifting platform to be parallel with the material.

[0005] According to a first aspect of the present invention, a method for adjusting an AGV lifting platform to be parallel with a material is provided, comprising the following steps:

[0006] The AGV lifting platform includes a left lifting mechanism, a right lifting mechanism, and a servo motor. The servo motor controls the horizontal movement of the left and right lifting mechanisms, and the adjustment method includes:

[0007] After the AGV runs to the standby point at the material base, the left lifting mechanism and the right lifting mechanism move horizontally towards the material base. The material base is equipped with reflectors corresponding to the left lifting mechanism and the right lifting mechanism, and both the left lifting mechanism and the right lifting mechanism are equipped with distance measuring modules.

[0008] The ranging module acquires the first distance from the left lifting mechanism to the reflector and the second distance from the right lifting mechanism to the reflector;

[0009] Based on the first distance and the second distance, determine the parallelism and determine whether the parallelism meets the parallelism condition;

[0010] If not, activate the adjustment mode;

[0011] Based on the first distance and the second distance, the offset level is determined, and based on the offset level, the movement states of the left lifting mechanism and the right lifting mechanism are adjusted until the parallelism meets the parallelism condition.

[0012] Furthermore, the process for determining whether the parallelism meets the parallelism condition specifically includes:

[0013] Calculate the absolute value of the deviation between the first distance and the second distance, and determine whether the absolute value of the deviation is greater than the set allowable deviation, wherein the absolute value of the deviation is the parallelism;

[0014] If not, then the parallelism is considered to meet the parallelism condition; if so, then the adjustment mode is activated.

[0015] Furthermore, the adjustment process for the movement states of the left lifting mechanism and the right lifting mechanism specifically includes:

[0016] Determine if the first distance is greater than the second distance. If so, calculate the first difference between the first distance and the second distance.

[0017] Determine whether the first difference is greater than the first-level deviation value;

[0018] If so, determine whether the first difference is greater than the second-level deviation value;

[0019] If not, then it is a first-level offset, with the left lifting mechanism moving forward at the first speed and the right lifting mechanism moving backward at the first speed, wherein the direction of the material base is the direction of forward movement.

[0020] Furthermore, determining whether the first difference is greater than the secondary deviation value also includes:

[0021] Determine whether the first difference is greater than the second-level deviation value;

[0022] If so, it is a level two offset, with the left lifting mechanism moving forward at a second speed and the right lifting mechanism moving backward at a second speed, wherein the second speed is greater than the first speed.

[0023] Furthermore, the adjustment process for the movement states of the left lifting mechanism and the right lifting mechanism specifically includes:

[0024] Determine if the first distance is greater than the second distance. If not, calculate the second difference between the second distance and the first distance.

[0025] Determine whether the second difference is greater than the first-level deviation value;

[0026] If so, determine whether the second difference is greater than the second-level deviation value;

[0027] If not, then it is a level one offset, with the left lifting mechanism reversing at the first speed and the right lifting mechanism advancing at the first speed.

[0028] Furthermore, determining whether the second difference is greater than the secondary deviation value also includes:

[0029] Determine whether the second difference is greater than the second-order deviation value;

[0030] If so, it is a level two offset, with the left lifting mechanism reversing at a second speed and the right lifting mechanism advancing at a second speed, wherein the second speed is greater than the first speed.

[0031] Furthermore, determining whether the parallelism satisfies the parallelism condition also includes:

[0032] When the parallelism meets the parallelism condition, the left lifting mechanism and the right lifting mechanism perform lifting operations on the material.

[0033] Furthermore, the first-level deviation value is greater than the set allowable deviation.

[0034] According to a second aspect of the present invention, an electronic device is provided, comprising:

[0035] A memory for storing a program; a processor for executing the program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to perform a method for adjusting the AGV lifting platform to be parallel with the material as described in any one of the first aspects.

[0036] According to a third aspect of the present invention, a storage medium is provided, comprising: storing computer-executable instructions for performing a method for adjusting an AGV lifting platform to be parallel with materials as described in any one of the first aspects.

[0037] The beneficial effects of this invention are as follows: The distances from both sides of the material storage platform to both sides of the AGV lifting platform are obtained using a distance measuring sensor as adjustment feedback. Based on the feedback, the parallelism is determined, and the activation adjustment mode is determined based on the parallelism. The movement states of the left and right lifting mechanisms are adjusted according to the activation mode and the real-time feedback to ensure that the parallelism meets the parallelism condition, ultimately achieving parallelism between the material axis and the AGV lifting platform axis. This ensures that slippage and impacts caused by left-right imbalance of the material are reduced during docking and lifting. Attached Figure Description

[0038] Figure 1 This is a schematic flowchart of a method for adjusting the AGV lifting platform to be parallel with the material provided by the present invention;

[0039] Figure 2 This is a schematic diagram of the AGV lifting platform structure, which is a method for adjusting the AGV lifting platform to be parallel with the material provided by the present invention.

[0040] Figure 3 This is a top view schematic diagram of the material docking method for adjusting the AGV lifting platform to be parallel with the material provided by the present invention.

[0041] Reference numerals: 100, left lifting mechanism; 200, right lifting mechanism; 300, distance sensor; 400, material base; 410, reflector; 500, material; 600, servo motor. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and should not be construed as limiting the scope of the invention.

[0043] It should be noted that although functional modules are divided in the system diagram, in some cases, the steps shown or described may be executed in a different order than the module division or flowchart shown in the system. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0045] According to an embodiment of the first aspect of the present invention, referring to Figure 2 and Figure 3 The AGV lifting platform includes a servo motor 600, a left lifting mechanism 100, and a right lifting mechanism 200. The servo motor 600 is electrically connected to the left lifting mechanism 100, controlling its horizontal movement. Distance measuring modules 300 are installed on both sides of the left lifting mechanism 100. The servo motor 600 is also electrically connected to the right lifting mechanism 200, controlling its horizontal movement. Distance measuring modules 300 are installed on both sides of the right lifting mechanism 200.

[0046] The material base 400 is used to store the material 500. A standby point is provided at the material base 400. Reflectors 410 are installed at corresponding positions on the left and right sides of the material base 400. The position of the reflectors 410 corresponds to the position of the left lifting mechanism 100 on the AGV. The ranging module 300 of the left lifting mechanism 100 can detect the first distance from the left lifting mechanism 100 to the reflector 410.

[0047] The position of the reflector 410 also corresponds to the position of the right lifting mechanism 200 on the AGV. The ranging module 300 of the right lifting mechanism 200 can detect the second distance from the right lifting mechanism 200 to the reflector 410.

[0048] According to an embodiment of the first aspect of the present invention, referring to Figures 1 to 3 In some embodiments of the present invention, a method for adjusting the AGV lifting platform to be parallel with the material includes the following steps:

[0049] S100, after the AGV runs to the standby point at the material base, the left lifting mechanism and the right lifting mechanism move horizontally towards the material base. The material base is equipped with reflectors corresponding to the left lifting mechanism and the right lifting mechanism, and both the left lifting mechanism and the right lifting mechanism are equipped with distance measuring modules.

[0050] In this embodiment, a standby point is provided at the material base 400. When the AGV runs to the standby point, the servo motor 600 controls the horizontal movement of the left and right lifting mechanisms so that the left and right lifting mechanisms can reach below the material 500, which facilitates the lifting of the material base 400.

[0051] The material base 400 is used to store material 500. A reflector 410 is installed on the material base 400. The position of the reflector 410 corresponds to the position of the left lifting mechanism 100 and the right lifting mechanism 200 on the AGV. Distance measuring modules 300 are installed on both sides of the left lifting mechanism 100 and the right lifting mechanism 200.

[0052] S200, the ranging module obtains the first distance from the left lifting mechanism to the reflector and the second distance from the right lifting mechanism to the reflector.

[0053] In this embodiment, during the horizontal movement of the left lifting mechanism 100 controlled by the servo motor 600, the ranging module 300 detects the distance from the left lifting mechanism 100 to the reflector 410 to obtain a first distance. Similarly, during the horizontal movement of the right lifting mechanism 200 controlled by the servo motor 600, the ranging module 300 detects the distance from the right lifting mechanism 200 to the reflector 410 to obtain a second distance.

[0054] S300: Based on the first and second distances obtained from S200, determine the parallelism and judge whether the parallelism meets the parallelism condition.

[0055] In this embodiment, the parallelism between the AGV lifting platform axis and the material axis is determined based on the first and second distances obtained by the ranging modules 300 in the two lifting mechanisms in S200. It is then determined whether the obtained parallelism meets the parallelism condition.

[0056] S400, if not, activate adjustment mode.

[0057] S410, based on the first distance and the second distance, determine the offset level, and adjust the movement state of the left lifting mechanism and the right lifting mechanism according to the offset level until the parallelism meets the parallelism condition.

[0058] In this embodiment, if the parallelism obtained by S300 does not meet the parallelism condition, it is considered that the axis of the AGV lifting platform is not parallel to the axis of the material, and thus the adjustment mode is activated.

[0059] The adjustment mode is as follows: based on the first and second distances obtained from S200, the offset level of the AGV lifting platform axis is determined.

[0060] The movement state of the left lifting mechanism 100 and the movement state of the right lifting mechanism 200 are adjusted according to the offset level.

[0061] After adjustment, return to S200 and obtain the first and second distances again to determine parallelism. Loop from S200 to S410 until the parallelism meets the conditions, achieving the effect of the material axis being parallel to the AGV lifting platform axis, then end the loop.

[0062] The distances from both sides of the material base 400 (used to store material 500) to both sides of the AGV lifting platform are obtained by the ranging module 300 as adjustment feedback. Based on the feedback, the parallelism is determined, and the activation adjustment mode is determined accordingly. The movement states of the left lifting mechanism 100 and the right lifting mechanism 200 are adjusted according to the activation mode and the real-time feedback to ensure that the parallelism meets the conditions, ultimately achieving parallelism between the material axis and the AGV lifting platform axis. This minimizes slippage and impacts caused by imbalances in the material 500 during docking and lifting.

[0063] Reference Figure 2 and Figure 3 In some embodiments of the present invention, in S300, the process of determining whether the parallelism meets the parallelism condition specifically includes the following steps:

[0064] S310, calculate the deviation between the first distance and the second distance, and take the absolute value of the deviation to obtain the absolute value of the deviation. Confirm whether the absolute value of the deviation is greater than the set allowable deviation. The parallelism is the absolute value of the deviation.

[0065] S320, if yes, then the parallelism is considered not to meet the parallelism condition and the adjustment mode needs to be activated; if no, then the parallelism is considered to meet the parallelism condition.

[0066] In this embodiment, the distance measurement deviation of the left and right lifting mechanisms is calculated, and its absolute value is obtained. The absolute value of the deviation is compared with the set allowable deviation to confirm whether the absolute value of the deviation is greater than the set allowable deviation, thereby confirming whether the material axis is parallel to the AGV lifting platform axis.

[0067] When the absolute value of the deviation is greater than the set allowable deviation, it is considered that the parallelism does not meet the parallelism condition, the material axis is not parallel to the AGV lifting platform axis, and the adjustment mode needs to be activated.

[0068] When the absolute value of the deviation is less than or equal to the set allowable deviation, the parallelism is considered to meet the parallelism condition, and the material axis is parallel to the AGV lifting platform axis. The set allowable deviation is the adjustment dead zone value; values ​​less than this value are considered to indicate that parallelism has been achieved and adjustment is complete.

[0069] It should be noted that when the parallelism meets the parallelism condition, the left lifting mechanism 100 and the right lifting mechanism 200 lift the material 500.

[0070] The absolute value of the deviation between the left and right distances is used to determine whether the material axis is parallel to the AGV lifting platform axis, thereby determining whether to activate the adjustment mode. This ensures that when the AGV uses the lifting platform for docking and lifting, it reduces the sliding and impact phenomena caused by the imbalance of the material by about 500.

[0071] Reference Figure 2 and Figure 3 In some embodiments of the present invention, in S410, the adjustment mode specifically includes the following steps:

[0072] S411, confirm whether the first distance is greater than the second distance. If so, subtract the second distance from the first distance to obtain the first difference.

[0073] In this embodiment, the relative positional relationship between the right lifting mechanism 200 and the left lifting mechanism 100 is determined by comparing a first distance and a second distance. When the first distance is greater than the second distance, the right lifting mechanism 200 is located in front of the left lifting mechanism 100, and the distance difference between the two is calculated, i.e., the first difference value is obtained.

[0074] S412, confirm whether the first difference is greater than the first-level deviation value;

[0075] S413, if so, then confirm whether the first difference is greater than the second deviation value;

[0076] S414, if not, then it is confirmed as a first-level offset, the servo motor controls the left lifting mechanism to move forward at the first speed, and the right lifting mechanism to move backward.

[0077] In this embodiment, based on the first difference, it is determined whether the difference belongs to the first-level offset. When the first difference is greater than the first-level deviation value and less than the second-level deviation value, it is considered that the first difference belongs to the first-level offset, and there is a certain offset between the material axis and the AGV lifting platform axis.

[0078] Once the offset is determined to be level one, the servo motor 600 controls the left lifting mechanism 100 to move forward at the first speed, adjusting the moving direction and speed of the left lifting mechanism 100; and controls the right lifting mechanism 200 to move backward at the first speed, adjusting the moving direction and speed of the right lifting mechanism 200.

[0079] It should be noted that when the direction of the material base 400 is set as the forward direction, the secondary deviation value is greater than the primary deviation value, and the primary deviation value is greater than the set allowable deviation.

[0080] Specifically, the servo motor 600 is set to adjust at the first speed, which is within the low-speed adjustment range. This allows the servo motor 600 to precisely adjust the movement of the left and right lifting mechanisms, ensuring that the axis of the AGV lifting platform is parallel to the axis of the material.

[0081] By using steps S412 to S414, the distance difference between the left and right lifting mechanisms is used for dual judgment to determine their relative positions and the offset level at this point, thus confirming that there is a certain degree of offset between the material axis and the AGV lifting platform axis. Based on the determined offset level, the moving direction and speed of the left and right lifting mechanisms are adjusted, with the first speed adjustment achieving precise adjustment.

[0082] Reference Figure 2 and Figure 3 In some embodiments of the present invention, in S413, determining whether the first difference is greater than the second-level deviation value further includes the following steps:

[0083] S415, when the first difference is greater than the second deviation value, it is a second-level offset. The servo motor controls the left lifting mechanism to move forward and the right lifting mechanism to move backward at the second speed.

[0084] In this embodiment, if the first difference is greater than the first-level deviation value and greater than the second-level deviation value, then the first difference is considered to be a second-level offset, indicating that there is a certain offset between the material axis and the AGV lifting platform axis, and the degree of offset is relatively large. The degree of second-level offset is greater than that of first-level offset.

[0085] After determining the offset to be level two, the servo motor 600 controls the left lifting mechanism 100 to move forward at the second speed, adjusting the moving direction and speed of the left lifting mechanism 100; and controls the right lifting mechanism 200 to move backward at the second speed, adjusting the moving direction and speed of the right lifting mechanism 200.

[0086] Wherein, if the second speed is greater than the first speed, setting the servo motor 600 to adjust at the second speed is a fixed speed adjustment; setting the servo motor 600 to adjust at the first speed is an adjustment within the low speed adjustment range.

[0087] The initial difference is used to determine the offset level, confirming a significant deviation between the material axis and the AGV lifting platform axis. Based on this offset level, the movement direction and speed of the left and right lifting mechanisms are adjusted. A second speed adjustment of the left and right lifting mechanisms enables rapid adjustment, reducing the degree of offset.

[0088] Reference Figure 2 and Figure 3 In some embodiments of the present invention, in S410, the adjustment mode specifically includes the following steps:

[0089] S416, confirm whether the first distance is greater than the second distance. If not, subtract the first distance from the second distance to obtain the second difference.

[0090] In this embodiment, the relative positional relationship between the right lifting mechanism 200 and the left lifting mechanism 100 is determined by comparing a first distance and a second distance. When the first distance is less than the second distance, the left lifting mechanism 100 is located in front of the right lifting mechanism 200, and the distance difference between the two is calculated, i.e., the second difference value is obtained.

[0091] S417, confirm whether the second difference is greater than the first deviation value;

[0092] S418, if so, then confirm whether the second difference is greater than the second-level deviation value;

[0093] S419, if not, then it is confirmed as a first-level offset, the servo motor controls the left lifting mechanism to move backward and the right lifting mechanism to move forward at the first speed.

[0094] In this embodiment, based on the second difference, it is determined whether the difference belongs to the first-level offset. When the second difference is greater than the first-level deviation value and less than the second-level deviation value, it is considered that the second difference belongs to the first-level offset, and there is a certain offset between the material axis and the AGV lifting platform axis.

[0095] Once the offset is determined to be level one, the servo motor 600 controls the left lifting mechanism 100 to move backward at the first speed, adjusting the moving direction and moving speed of the left lifting mechanism 100; and controls the right lifting mechanism 200 to move forward at the first speed, adjusting the moving direction and moving speed of the right lifting mechanism 200.

[0096] It should be noted that when the direction of the material base 400 is set as the forward direction, the secondary deviation value is greater than the primary deviation value, and the primary deviation value is greater than the set allowable deviation.

[0097] Specifically, the servo motor 600 is set to adjust at the first speed, which is within the low-speed adjustment range. This allows the servo motor 600 to precisely adjust the movement of the left and right lifting mechanisms, ensuring that the axis of the AGV lifting platform is parallel to the axis of the material.

[0098] By using steps S416 to S419, the distance difference between the left and right lifting mechanisms is used for dual judgment to determine their relative positions and the level of offset. This confirms that there is a certain degree of offset between the material axis and the AGV lifting platform axis. Based on the determined offset level, the moving direction and speed of the left and right lifting mechanisms are adjusted, with the first speed setting achieving precise adjustment.

[0099] Reference Figure 2 and Figure 3 In some embodiments of the present invention, in S418, determining whether the second difference is greater than the secondary deviation value further includes the following steps:

[0100] S420, when the second difference is greater than the second deviation value, it is a second-level offset. The servo motor controls the right lifting mechanism to move forward and the left lifting mechanism to move backward at the second speed.

[0101] In this embodiment, if the second difference is greater than the first-level deviation value and greater than the second-level deviation value, then the second difference is considered to be a second-level offset, indicating that there is a certain offset between the material axis and the AGV lifting platform axis, and the degree of offset is relatively large. The degree of second-level offset is greater than that of first-level offset.

[0102] After determining the offset to be level two, the servo motor 600 controls the left lifting mechanism 100 to move backward at the second speed, adjusting the moving direction and moving speed of the left lifting mechanism 100; and controls the right lifting mechanism 200 to move forward at the second speed, adjusting the moving direction and moving speed of the right lifting mechanism 200.

[0103] Wherein, if the second speed is greater than the first speed, setting the servo motor 600 to adjust at the second speed is a fixed speed adjustment; setting the servo motor 600 to adjust at the first speed is an adjustment within the low speed adjustment range.

[0104] The second difference is used to determine the offset level at this point, confirming that the material axis is significantly offset from the AGV lifting platform axis. Based on the determined offset level, the moving direction and speed of the left and right lifting mechanisms are adjusted. By adjusting the left and right lifting mechanisms with the second speed, rapid adjustment is achieved, reducing the degree of offset.

[0105] According to an embodiment of a second aspect of the present invention, an electronic device includes:

[0106] A memory for storing a program; a processor for executing the program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to perform a method for adjusting the AGV lifting platform to be parallel with the material, as described in any of the first aspects.

[0107] The processor and memory can be connected via a bus or other means.

[0108] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs, such as the method for adjusting the parallelism between an AGV lifting platform and materials described in the embodiments of the present invention. The processor implements the method for adjusting the parallelism between an AGV lifting platform and materials according to the first aspect of the present invention by running the non-transitory software program and instructions stored in the memory.

[0109] The memory may include a program storage area and a parameter storage area. The program storage area may store the operating system and an application program required for at least one function. The parameter storage area may store a method for adjusting the AGV lifting platform to be parallel with the material, as described above. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, which can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0110] According to an embodiment of a third aspect of the present invention, an electronic device includes:

[0111] A storage medium, characterized in that it comprises: storing computer-executable instructions for performing a method, as described in the first aspect of the present invention, for adjusting an AGV lifting platform to be parallel with materials.

[0112] The non-transient software program and instructions required to implement the above-described terminal selection method are stored in memory. When executed by one or more processors, they perform a method for adjusting the AGV lifting platform to be parallel with the material according to the first aspect of the present invention.

[0113] It will be understood by those skilled in the art that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, parameter structures, program modules, or other parameters). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically include computer-readable instructions, parameter structures, program modules, or other parameters in modulation parameter signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0114] The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A method for adjusting the AGV lifting platform to be parallel with the material, characterized in that, The AGV lifting platform includes a left lifting mechanism, a right lifting mechanism, and a servo motor. The servo motor controls the horizontal movement of the left and right lifting mechanisms, and the adjustment method includes: After the AGV runs to the standby point at the material base, the left lifting mechanism and the right lifting mechanism move horizontally towards the material base. The material base is equipped with reflectors corresponding to the left lifting mechanism and the right lifting mechanism, and both the left lifting mechanism and the right lifting mechanism are equipped with distance measuring modules. The ranging module acquires the first distance from the left lifting mechanism to the reflector and the second distance from the right lifting mechanism to the reflector; Based on the first distance and the second distance, determine the parallelism and determine whether the parallelism meets the parallelism condition; If not, activate the adjustment mode; Based on the first distance and the second distance, the offset level is determined. Based on the offset level, the movement states of the left lifting mechanism and the right lifting mechanism are adjusted. The first distance and the second distance are then retrieved again. The parallelism judgment and adjustment are performed repeatedly until the parallelism meets the parallelism condition. When the parallelism meets the parallelism condition, the left lifting mechanism and the right lifting mechanism lift the material. Wherein, the parallelism is the absolute value of the deviation between the first distance and the second distance, and the parallelism condition is that the absolute value of the deviation is less than or equal to the set allowable deviation; the offset level includes first-level offset and second-level offset, the first-level offset corresponds to a first-level deviation value that is greater than the set allowable deviation, and the second-level offset corresponds to a second-level deviation value that is greater than the first-level deviation value.

2. The method for adjusting the AGV lifting platform to be parallel with the material according to claim 1, characterized in that, The step of determining the offset level based on the first distance and the second distance, and adjusting the movement states of the left lifting mechanism and the right lifting mechanism based on the offset level, specifically includes: Determine if the first distance is greater than the second distance. If so, calculate the first difference between the first distance and the second distance. Determine whether the first difference is greater than the first-level deviation value; If so, determine whether the first difference is greater than the second-level deviation value; If not, then it is a first-level offset, with the left lifting mechanism moving forward at the first speed and the right lifting mechanism moving backward at the first speed, wherein the direction of the material base is the direction of forward movement.

3. The method for adjusting the AGV lifting platform to be parallel with the material according to claim 2, characterized in that, The step of determining whether the first difference is greater than the secondary deviation value also includes: Determine whether the first difference is greater than the second-level deviation value; If so, it is a level two offset, with the left lifting mechanism moving forward at a second speed and the right lifting mechanism moving backward at a second speed, wherein the second speed is greater than the first speed.

4. The method for adjusting the AGV lifting platform to be parallel with the material according to claim 2, characterized in that, The step of determining the offset level based on the first distance and the second distance, and adjusting the movement states of the left lifting mechanism and the right lifting mechanism based on the offset level, further includes: Determine if the first distance is greater than the second distance. If not, calculate the second difference between the second distance and the first distance. Determine whether the second difference is greater than the first-level deviation value; If so, determine whether the second difference is greater than the second-level deviation value; If not, then it is a level one offset, with the left lifting mechanism reversing at the first speed and the right lifting mechanism advancing at the first speed.

5. A method for adjusting the AGV lifting platform to be parallel with the material according to claim 4, characterized in that, The step of determining whether the second difference is greater than the secondary deviation value also includes: Determine whether the second difference is greater than the second-order deviation value; If so, it is a level two offset, with the left lifting mechanism reversing at a second speed and the right lifting mechanism advancing at a second speed, wherein the second speed is greater than the first speed.

6. An electronic device, characterized in that, include: Memory, used to store programs; A processor for executing a program stored in the memory, wherein when the processor executes the program stored in the memory, the processor is configured to perform a method for adjusting an AGV lifting platform to be parallel with materials as described in any one of claims 1 to 5.

7. A storage medium, characterized in that, include: The device stores computer-executable instructions for performing a method for adjusting an AGV lifting platform to be parallel with materials as described in any one of claims 1 to 5.

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