Auxiliary calibration method for mounting position of AGV navigator and program product

Abstract

The invention provides an auxiliary calibration method for an installation position of an AGV navigator and a program product, and relates to the technical field of AGV navigation. The method comprises the steps of firstly controlling a target AGV trolley to run, determining a target point NavPos1, then marking a ground mark point PhyPos1, then controlling the target AGV trolley to run, determining a target point NavPos2, then determining whether calibration can be carried out according to the deviation condition of the NavPos1 and the NavPos2, then marking the ground mark point PhyPos2, and finally determining whether calibration can be carried out according to the deviation condition of the NavPos1 and the NavPos2. And finally, calculating an actual mounting point Nav of the target AGV navigator according to the deviation condition of the PhyPos1 and the PhyPos2, and determining whether to carry out updating iteration so as to ensure the calibration precision. The auxiliary calibration method provided by the invention does not need to depend on expensive external equipment or a complex reference system any more, the operation process is simplified, and the method is not limited by the working environment.

Description

Technical Field

[0001] The present invention relates to the field of AGV navigation technology, and more specifically to: 1. an auxiliary calibration method for the installation position of an AGV navigator; 2. a computer program product. Background Art

[0002] With the continuous development of automation technology, automatic guided vehicles (AGVs) are increasingly used in logistics, warehousing, manufacturing and other industries. AGVs are equipped with different types of navigation instruments (such as lidar, cameras, IMU, etc.) to achieve self-positioning, path planning and navigation control to complete transportation tasks. The navigation accuracy of AGVs is crucial to their positioning, driving efficiency and safety in complex environments.

[0003] The accuracy of the AGV navigation system is often limited by the installation position of the navigator (i.e. the specific installation position of the AGV navigator on the AGV body). Any slight installation deviation may lead to a large positioning error, thus affecting the overall navigation performance of the AGV.

[0004] See also Figure 1 There is a type of AGV car with a bilaterally symmetrical structure design (it can be driven by a single steering wheel or multiple steering wheels), and its structural symmetry line passes through the spin reference point (that is, the center point around which the AGV car spins). In order to improve the navigation accuracy of this type of AGV car, the traditional calibration method usually corrects these errors by manually adjusting the position of the navigator and performing multiple measurements and calibrations. This method has the following disadvantages:

[0005] 1. Reliance on high-precision equipment and external reference points: Traditional calibration methods require high-precision equipment or external reference systems (such as laser rangefinders, ground reference points, etc.) to implement. These equipment or systems are usually expensive and difficult to apply to various application scenarios;

[0006] 2. Manual operation is cumbersome and prone to errors: The traditional calibration method requires manual adjustment of the position of the navigator and related measurements. This not only increases the complexity of the operation, but may also cause errors due to human factors, thus affecting the calibration effect. Summary of the invention

[0007] Based on this, it is necessary to provide an auxiliary calibration method and device for the installation position of an AGV navigator to address the problems that the existing AGV navigator calibration process is complicated, relies on external equipment, and is difficult to adapt to environmental changes.

[0008] The present invention is implemented by the following technical solutions:

[0009] In a first aspect, the present invention discloses an auxiliary calibration method for an installation position of an AGV navigator, which is used to calibrate the position of a target AGV navigator installed on a target AGV vehicle.

[0010] The auxiliary calibration methods for the installation position of the AGV navigator include:

[0011] Step 1: First, control the target AGV to rotate 180 degrees around the spin reference point in one direction, then control the target AGV to complete one linear reciprocating motion, and then obtain the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos1;

[0012] Step 2: vertically project the marked position of one side of the target AGV vehicle onto the ground and mark the ground mark point PhyPos1;

[0013] Step 3: Control the target AGV to rotate 180 degrees in the opposite direction around the spin reference point;

[0014] Step 4: Control the target AGV to complete one linear reciprocating motion;

[0015] Get the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos2;

[0016] Step 5: If the X-axis coordinate deviation and Y-axis coordinate deviation of NavPos1 and NavPos2 do not exceed the preset positioning deviation threshold controlBias0, proceed to step 6; otherwise, repeat step 4;

[0017] If the number of repetitions of step 4 exceeds the preset number threshold T0, it means that the calibration fails; otherwise, repeat step 5;

[0018] Step 6: Project the second mark position of the other side edge of the target AGV vehicle vertically onto the ground and mark the ground mark point PhyPos2;

[0019] Step 7, measure the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2, and calculate the coordinates of the actual installation point Nav of the target AGV navigator;

[0020] If the X-coordinate deviation and Y-coordinate deviation of PhyPos1 and PhyPos2 do not exceed the preset calibration deviation threshold phyBias0, the calibration is successful; otherwise, the calculated actual installation point Nav of the target AGV navigator is used as the installation point oldNav of the target AGV navigator before calibration, and return to step 1;

[0021] Among them, the coordinate calculation formula of Nav is:

[0022] NavX=oldNavX+(phyBiasX-controlBiasX) / 2;

[0023] NavY=oldNavY-(phyBiasY-controlBiasY) / 2;

[0024] Where NavX and NavY represent the X-axis coordinate and Y-axis coordinate of Nav respectively; oldNavX and oldNavY represent the X-axis coordinate and Y-axis coordinate of oldNav respectively; phyBiasX and phyBiasY represent the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2 respectively; controlBiasX and controlBiasY represent the X-axis coordinate deviation and Y-axis coordinate deviation of NavPos1 and NavPos2 respectively.

[0025] This auxiliary calibration method for the installation position of an AGV navigator implements the method or process according to an embodiment of the present disclosure.

[0026] In a second aspect, the present invention discloses a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in the first aspect are implemented.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. The auxiliary calibration method provided by the present invention no longer needs to rely on expensive external equipment or complex reference systems, which reduces the calibration cost, simplifies the operation process, and improves the calibration efficiency.

[0029] 2. The auxiliary calibration method provided by the present invention has strong adaptability and is not limited by the working environment. Even in complex or highly variable working scenes, the present invention can ensure the stability and high precision of the calibration process, greatly reducing the impact of environmental factors on the calibration results.

[0030] 3. The auxiliary calibration method provided by the present invention has a self-verification step and ensures the accuracy of calibration through multiple rounds of iterations. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0032] Figure 1A structural diagram of an AGV vehicle with a bilaterally symmetrical structural design in the background technology;

[0033] Figure 2 for Figure 1 Schematic diagram of the AGV car spinning;

[0034] Figure 3 A flowchart of the auxiliary calibration method for the installation position of the AGV navigator provided in Example 1 of the present invention;

[0035] Figure 4 for Figure 1 Schematic diagram of the AGV vehicle performing step two;

[0036] Figure 5 for Figure 1 Schematic diagram of the AGV vehicle performing step six;

[0037] Figure 6 for Figure 1 Schematic diagram of the AGV vehicle performing step seven. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component at the same time. When a component is considered to be "fixed to" another component, it may be directly fixed on the other component or there may be a central component at the same time.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more of the related listed items.

[0041] Example 1

[0042] This embodiment 1 provides an auxiliary calibration method for the installation position of an AGV navigator, which is used to calibrate the position of a target AGV navigator installed on a target AGV vehicle.

[0043] As mentioned in the background technology, the target AGV car meets the following characteristics:

[0044] 1. The target AGV is designed with a bilaterally symmetrical structure, which can be driven by a single steering wheel or multiple steering wheels.

[0045] See also Figure 1 , which shows a single-steering-wheel-driven AGV cart: it adopts a three-wheel design - a single steering wheel is set on the head of the AGV for driving, and a set of follower wheels are set on the two legs of the AGV.

[0046] 2. The structural symmetry line of the target AGV passes through its spin reference point; the reference line of the target AGV passes through the spin reference point and is perpendicular to the structural symmetry line.

[0047] The intersection position of the baseline of the target AGV trolley and the body edge of one side of the target AGV trolley is marked as position one; the intersection position of the baseline of the target AGV trolley and the body edge of the other side of the target AGV trolley is marked as position two.

[0048] by Figure 1 Take the AGV trolley as an example. The line connecting the centers of the two sets of follower wheels is the reference line. The intersection of the reference line and the outer edge of the outrigger on one side of the AGV trolley is the mark position 1, and the intersection of the reference line and the outer edge of the outrigger on the other side of the AGV trolley is the mark position 2. The spin reference point is the midpoint of the line connecting the two sets of follower wheels. Figure 2 When the AGV car spins, it makes a circumferential deflection around the spin reference point; the structural symmetry line passes through the spin reference point and is perpendicular to the reference line.

[0049] It should be noted that the target AGV car will come with an AGV navigator installation point information when it leaves the factory, which can be used as the installation point oldNav of the target AGV navigator before calibration.

[0050] After the target AGV navigator is installed on the target AGV, its positioning data actually represents the coordinate data of the spin reference point. Therefore, in theory, marking the spin reference point is the most direct way to calibrate. However, in actual situations, it is not convenient to mark the spin reference point (it may be blocked by the carried objects), so the method of the present invention uses mark position one and mark position two for indirect calibration.

[0051] In general, the auxiliary calibration method for the installation position of the AGV navigator provided in this embodiment 1 can be summarized as follows: first control the operation of the target AGV car and determine the target point NavPos1, then mark the ground marking point PhyPos1, then control the operation of the target AGV car and determine the target point NavPos2, and then determine whether calibration can be performed based on the deviation between NavPos1 and NavPos2, then mark the ground marking point PhyPos2, and finally calculate the actual installation point Nav of the target AGV navigator based on the deviation between PhyPos1 and PhyPos2, and determine whether to update and iterate to ensure the calibration accuracy.

[0052] For details, see Figure 3 The auxiliary calibration method for the installation position of the AGV navigator provided in this embodiment 1 includes the following steps:

[0053] Step 1: First, control the target AGV to rotate 180 degrees in one direction around the spin reference point;

[0054] Then control the target AGV to complete one linear reciprocating motion;

[0055] Next, the positioning data of the target AGV navigator is obtained and used as the coordinates of the target point NavPos1.

[0056] It should be noted that before step 1, the target AGV is facing direction 1, so step 1 corresponds to:

[0057] 101. After the target AGV rotates 180 degrees around the spin reference point (it can be clockwise or counterclockwise), it faces direction 2; direction 1 and direction 2 are actually collinear, with an angle difference of 180 degrees.

[0058] However, spin has centimeter-level spin deviations and can also lead to inaccurate positioning, so subsequent steps are needed to eliminate spin physical deviations and positioning deviations.

[0059] 102. The target AGV car completes one linear reciprocating motion, aiming to eliminate the spin physical deviation and positioning deviation.

[0060] The linear reciprocating motion may be: first moving forward M meters and then moving backward M meters along the direction of the structural symmetry line, or may be: first moving backward M meters and then moving forward M meters along the direction of the structural symmetry line.

[0061] Considering that the present invention needs to adapt to different scenarios and ensure the effect of eliminating deviation, the value of M is set to [2,5], and generally 3 is sufficient.

[0062] 103. Obtain the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos1.

[0063] Among them, the positioning data of the target AGV navigator can be obtained based on the built-in positioning function of the target AGV navigator (such as 2D SLAM positioning, 3D positioning, etc.).

[0064] In addition, in order to avoid positioning jumps, when obtaining the positioning data of the target AGV navigator, it is recommended to obtain multiple times and calculate the average value - that is, periodically obtain N positioning data of the target AGV navigator; calculate the average value of N positioning data and use it as the coordinate of NavPos1. Among them, the period T can be set to once every 50 milliseconds, and N can be 100 times. Of course, T and N can also be adjusted according to actual conditions.

[0065] It should be noted that the target AGV is always in the world coordinate system, so the positioning data of the target AGV navigator is also in the world coordinate system.

[0066] Step 2: Project the marked position of one side of the target AGV vehicle's body edge vertically onto the ground and mark the ground mark point PhyPos1.

[0067] As mentioned above, it is inconvenient to mark the ground based on the spin reference point, such as Figure 4 As shown, the present invention selects to mark PhyPos1 according to the marking position 1 in this step.

[0068] It should be noted that, considering the needs of subsequent calculations, step 2 can also be performed: PhyPos1 is used as the origin to construct a local two-dimensional coordinate system.

[0069] Among them, the X-axis of the local two-dimensional coordinate system is parallel to the structural symmetry line, and the Y-axis is parallel to the reference line.

[0070] Step 3: Control the target AGV to rotate 180 degrees in the opposite direction around the spin reference point.

[0071] Theoretically, after the target AGV rotates 180 degrees in the opposite direction around the spin reference point (it can be clockwise or counterclockwise), it will face direction 1 again, so that the AGV returns to NavPos1 in step 1 from the opposite direction. However, due to the spin again, spin physical deviation and positioning deviation are generated again, so subsequent steps are required to make the AGV return to NavPos1 as much as possible.

[0072] Step 4: Control the target AGV to complete one linear reciprocating motion;

[0073] Get the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos2.

[0074] Similar to step one, in step four, there are:

[0075] 401. The target AGV completes one linear reciprocating motion to correct the deviation and eliminate the spin physical deviation and positioning deviation.

[0076] The linear reciprocating motion may be: first moving forward M meters and then moving backward M meters along the direction of the structural symmetry line, or may be: first moving backward M meters and then moving forward M meters along the direction of the structural symmetry line.

[0077] 402. Obtain the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos1.

[0078] Among them, the positioning data of the target AGV navigator can be obtained based on the built-in positioning function of the target AGV navigator.

[0079] In addition, in order to avoid positioning jumps, when obtaining the positioning data of the target AGV navigator, it is recommended to obtain it multiple times and calculate the average value - that is: periodically obtain N positioning data of the target AGV navigator; calculate the average value of the N positioning data and use it as the coordinate of NavPos2.

[0080] Step 5: If the X-axis coordinate deviation and Y-axis coordinate deviation of NavPos1 and NavPos2 do not exceed the preset positioning deviation threshold controlBias0, proceed to step 6; otherwise, repeat step 4;

[0081] If the number of repetitions of step 4 exceeds the preset number threshold T0, it means that the calibration has failed; otherwise, repeat step 5.

[0082] Since the coordinates of NavPos1 and NavPos2 are both in the world coordinate system, the X-axis coordinate deviation controlBiasX and the Y-axis coordinate deviation controlBiasY of NavPos1 and NavPos2 are calculated in the world coordinate system.

[0083] Among them, the calculation formulas of controlBiasX and controlBiasY are:

[0084] controlBiasX=NavPos1X-NavPos2X;

[0085] controlBiasY=NavPos1Y-NavPos2Y;

[0086] Wherein, NavPos1X and NavPos1Y represent the X-axis coordinate and Y-axis coordinate of NavPos1 respectively;

[0087] NavPos2X and NavPos2Y represent the X-axis coordinate and Y-axis coordinate of NavPos2 respectively.

[0088] Based on controlBiasX and controlBiasY, determine whether there is a large deviation between NavPos1 and NavPos2. If controlBiasX or controlBiasY exceeds controlBias0, it means that the target AGV car has not returned to NavPos1 from the opposite direction, so step 4 must be repeated; if controlBiasX and controlBiasY do not exceed controlBias0, the target AGV car has returned to NavPos1 from the opposite direction, so the subsequent steps can be performed.

[0089] The value of controlBias0 is selected according to the accuracy requirement, and the value range is set to: 3mm≤controlBias0≤8mm. The smaller the value of controlBias0, the higher the calibration accuracy.

[0090] Considering the influence of factors such as checking ground positioning or navigation instrument deflection and steering wheel deflection, it may happen that step 4 is repeated many times but still cannot achieve effective correction. Therefore, T0 is set to stop the useless repetition of step 4 in time. Generally, the value of T0 is selected according to the actual situation, and the value range is set to: 3≤T0≤10.

[0091] Step 6: Project the marked position 2 of the other side edge of the target AGV vehicle vertically onto the ground and mark the ground mark point PhyPos2.

[0092] Similar to step 2, it is inconvenient to mark the ground based on the spin reference point, such as Figure 5 As shown, the present invention selects to mark PhyPos2 according to the marking position 2 in this step.

[0093] Step 7, measure the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2, and calculate the coordinates of the actual installation point Nav of the target AGV navigator;

[0094] If the X-coordinate deviation and Y-coordinate deviation of PhyPos1 and PhyPos2 do not exceed the preset calibration deviation threshold phyBias0, the calibration is successful; otherwise, the calculated actual installation point Nav of the target AGV navigator is used as the installation point oldNav of the target AGV navigator before calibration, and return to step 1.

[0095] It should be noted that, see Figure 6 , PhyPos1 and PhyPos2 both fall in the local two-dimensional coordinate system, then according to the position of PhyPos2 in the local two-dimensional coordinate system, measure the X-axis coordinate deviation phyBiasX and Y-axis coordinate deviation phyBiasY of PhyPos1 and PhyPos2.

[0096] After steps 1 to 6, controlBiasX and controlBiasY do not exceed controlBias0. If the target AGV navigator is installed in the correct position, then theoretically phyBiasX and phyBiasY should not exceed controlBias0; but considering the processing error and manual marking error, phyBias0 is introduced as the preset calibration deviation threshold. Among them, the value of phyBias0 is selected according to the accuracy requirements, and the value range is set to: 5nm≤phyBias0≤10nm, and controlBias0<phyBias0 is satisfied. Then, if phyBiasX or phyBiasY exceeds phyBias0, it means that the target AGV navigator is installed in an incorrect position.

[0097] It should be emphasized that regardless of whether phyBiasX or phyBiasY exceeds phyBias0, the coordinates of Nav need to be calculated.

[0098] Among them, the coordinate calculation formula of Nav is:

[0099] NavX=oldNavX+(phyBiasX-controlBiasX) / 2;

[0100] NavY=oldNavY-(phyBiasY-controlBiasY) / 2;

[0101] Wherein, NavX and NavY represent the X-axis coordinate and Y-axis coordinate of Nav respectively; oldNavX and oldNavY represent the X-axis coordinate and Y-axis coordinate of oldNav respectively.

[0102] In addition, step 7 not only provides the coordinate calculation formula of Nav, but also performs self-verification - whether to update and iterate again is determined based on whether phyBiasX and phyBiasY do not exceed phyBias0:

[0103] 1. If phyBiasX and phyBiasY do not exceed phyBias0, the calibration is successful and no further update iteration is required; the coordinates of Nav calculated this time are used as the final calibration results;

[0104] 2. If phyBiasX or phyBiasY exceeds phyBias0, it means that the calibration result has not reached the set accuracy. Update the coordinates of oldNav with the coordinates of the Nav calculated this time, and restart steps 1 to 7 to iterate again until the calibration result reaches the set accuracy.

[0105] In summary, the auxiliary calibration method for the installation position of the AGV navigator provided in this embodiment 1 reduces the calibration cost, simplifies the operation process, and improves the calibration efficiency.

[0106] It should be noted that the operations of "measuring the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2" in step 2, step 6, and step 7 can be completed manually, while the other operations in step 1, step 3, step 4, step 5, and step 7 can be completed automatically by controlling the target AGV trolley and the target AGV navigator. Although the present invention still requires a small amount of manual intervention, the overall degree of automation has been greatly improved, and the manual intervention part has also reduced the complexity of the operation, which meets the actual needs of the existing AGV navigator calibration.

[0107] Example 2

[0108] This embodiment 2 discloses a computer device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in embodiment 1 are implemented.

[0109] This embodiment 2 also discloses a readable storage medium, in which computer program instructions are stored. When the computer program instructions are read and executed by a processor, the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in embodiment 1 are executed.

[0110] This embodiment 2 also discloses a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in embodiment 1 are implemented.

[0111] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An auxiliary calibration method for the installation position of an AGV navigator, characterized in that: It is used to calibrate the position of the target AGV navigator installed on the target AGV vehicle; It includes: Step 1: First, control the target AGV to rotate 180 degrees around the spin reference point in one direction, then control the target AGV to complete one linear reciprocating motion, and then obtain the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos1; Step 2: vertically project the marked position of one side edge of the target AGV vehicle onto the ground and mark the ground mark point PhyPos1; Step 3: Control the target AGV to rotate 180 degrees in the opposite direction around the spin reference point; Step 4: Control the target AGV to complete one linear reciprocating motion; Get the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos2; Step 5: If the X-axis coordinate deviation and Y-axis coordinate deviation of NavPos1 and NavPos2 do not exceed the preset positioning deviation threshold controlBias0, proceed to step 6; otherwise, repeat step 4; If the number of repetitions of step 4 does not exceed the preset number threshold T0, proceed to step 5; otherwise, it indicates that the calibration has failed; Step 6: Project the mark position 2 of the other side of the target AGV vehicle vertically onto the ground and mark the ground mark point PhyPos2; Step 7, measure the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2, and calculate the coordinates of the actual installation point Nav of the target AGV navigator; If the X-coordinate deviation and Y-coordinate deviation of PhyPos1 and PhyPos2 do not exceed the preset calibration deviation threshold phyBias0, the calibration is successful; otherwise, the calculated actual installation point Nav of the target AGV navigator is used as the installation point oldNav of the target AGV navigator before calibration, and return to step 1; Among them, the coordinate calculation formula of Nav is: NavX=oldNavX+(phyBiasX-controlBiasX) / 2; NavY=oldNavY-(phyBiasY-controlBiasY) / 2; Where NavX and NavY represent the X-axis coordinate and Y-axis coordinate of Nav respectively; oldNavX and oldNavY represent the X-axis coordinate and Y-axis coordinate of oldNav respectively; phyBiasX and phyBiasY represent the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2 respectively; controlBiasX and controlBiasY represent the X-axis coordinate deviation and Y-axis coordinate deviation of NavPos1 and NavPos2 respectively.

2. The auxiliary calibration method for the installation position of the AGV navigator according to claim 1, characterized in that: The target AGV trolley is designed with a left-right symmetrical structure; the structural symmetry line of the target AGV trolley passes through its spin reference point; the baseline of the target AGV trolley passes through the spin reference point and is perpendicular to the structural symmetry line; the intersection position of the baseline of the target AGV trolley and the edge of the body on one side of the target AGV trolley is marked position one; the intersection position of the baseline of the target AGV trolley and the edge of the body on the other side of the target AGV trolley is marked position two.

3. The auxiliary calibration method for the installation position of the AGV navigator according to claim 1, characterized in that: In step 1 and step 4, the linear reciprocating motion of the target AGV is: forward M meters and then backward M meters along the direction of the structural symmetry line; Or, the linear reciprocating motion of the target AGV is: first retreat M meters along the direction of the structural symmetry line, and then advance M meters; Among them, 5≥M≥2.

4. The auxiliary calibration method for the installation position of the AGV navigator according to claim 1, characterized in that: In step 1, the calculation method of NavPos1 coordinates includes: Periodically obtain N positioning data of the target AGV navigator; Calculate the average value of N positioning data and use it as the coordinate of NavPos1.

5. The auxiliary calibration method for the installation position of the AGV navigator according to claim 2 or 4, characterized in that: In step 1, the method for obtaining the positioning data of the target AGV navigator is: The positioning data of the target AGV navigator is obtained by using 2D SLAM positioning or 3D positioning.

6. The auxiliary calibration method for the installation position of the AGV navigator according to claim 2, characterized in that: In step 2, PhyPos1 is also used as the origin to construct a local two-dimensional coordinate system; Among them, the X-axis of the local two-dimensional coordinate system is parallel to the structural symmetry line, and the Y-axis is parallel to the reference line.

7. The auxiliary calibration method for the installation position of the AGV navigator according to claim 1, characterized in that: In step 4, the calculation method of NavPos2 coordinates includes: Periodically obtain N positioning data of the target AGV navigator; Calculate the average value of N positioning data and use it as the coordinate of NavPos2.

8. The auxiliary calibration method for the installation position of the AGV navigator according to claim 6, characterized in that: In step 7, based on the position of PhyPos2 in the local two-dimensional coordinate system, the X-axis coordinate deviation and Y-axis coordinate deviation of PhyPos1 and PhyPos2 are measured.

9. The auxiliary calibration method for the installation position of the AGV navigator according to claim 1, characterized in that: 3mm≤controlBias0≤8mm; 5nm≤phyBias0≤10nm; controlBias0<phyBias0; Or / and, 3≤T0≤10.

10. A computer program product, characterized in that It includes a computer program; when the computer program is executed by a processor, it implements the steps of the auxiliary calibration method for the installation position of an AGV navigator as described in any one of claims 1 to 9.

Images