Auxiliary calibration method for agv navigator installation position and program product
By rotating and moving linearly around a spin reference point on the AGV, and combining this with ground markers to calculate the navigator's installation position, the problem of relying on high-precision equipment and complex operations in existing technologies has been solved, achieving efficient and accurate navigator calibration.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEFEI GEN SONG AUTOMATION TECH
- Filing Date
- 2025-02-19
- Publication Date
- 2026-05-29
AI Technical Summary
Existing AGV navigation calibration methods rely on high-precision equipment, are complex to operate and prone to errors, are difficult to adapt to complex environments, and affect navigation accuracy.
By controlling the AGV to rotate around a spin reference point and move in a straight line, the positioning data of the navigator is obtained. Combined with ground marker points, the actual installation position of the navigator is calculated. A self-verification and iterative calibration method is adopted to reduce dependence on external equipment.
It simplifies the calibration process, reduces costs, improves calibration efficiency and accuracy, and enhances adaptability and stability in complex environments.
Smart Images
Figure CN119984338B_ABST
Abstract
Description
Technical Field
[0001] This 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 Technology
[0002] With the continuous development of automation technology, Automated Guided Vehicles (AGVs) are being used more and more widely in logistics, warehousing, manufacturing and other industries. AGVs achieve self-positioning, path planning and navigation control by being equipped with different types of navigation instruments (such as LiDAR, cameras, IMU, etc.), thereby completing transportation tasks. The navigation accuracy of AGVs is crucial to their positioning, driving efficiency and safety in complex environments.
[0003] The accuracy of AGV navigation systems is often limited by the installation location of the navigator (i.e., the specific installation position of the AGV navigator on the AGV vehicle). Any slight installation deviation can lead to a large positioning error, thus affecting the overall navigation performance of the AGV.
[0004] See Figure 1 There is a type of AGV (Automated Guided Vehicle) with a symmetrical design (either single-wheel drive or multi-wheel drive), whose structural symmetry line passes through a spin reference point (i.e., the center point around which the AGV spins). To improve the navigation accuracy of this type of AGV, traditional calibration methods typically correct these errors by manually adjusting the position of the navigator and performing multiple measurements and calibrations. This approach has the following drawbacks:
[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.). These devices or systems are usually expensive and not easily applicable in various application scenarios.
[0006] 2. Manual operation is cumbersome and prone to errors: Traditional calibration methods require manually adjusting the position of the navigator and performing relevant measurements. This not only increases the complexity of the operation but also may lead to errors due to human factors, thus affecting the calibration results. Summary of the Invention
[0007] Therefore, it is necessary to provide an auxiliary calibration method and device for the installation position of AGV navigators, addressing the problems of complex calibration processes, reliance on external equipment, and difficulty in adapting to environmental changes in existing AGV navigator calibration processes.
[0008] This invention is achieved using the following technical solution:
[0009] In a first aspect, the present invention discloses 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.
[0010] Auxiliary calibration methods for the installation location of AGV navigators include:
[0011] Step 1: First, control the target AGV to rotate 180 degrees in one direction around the spin reference point, 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 on one side edge of the target AGV vehicle onto the ground and mark the ground marker 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] Obtain 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 between 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 in step four exceeds the preset threshold T0, the calibration fails; otherwise, repeat step five.
[0018] Step 6: Vertically project the marked position 2 on the other side of the target AGV vehicle's edge onto the ground and mark the ground marker point PhyPos2;
[0019] Step 7: Measure the X-axis coordinate deviation and Y-axis coordinate deviation between 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 between 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 taken as the installation point oldNav of the target AGV navigator before calibration, and the process returns to step one.
[0021] The formula for calculating the coordinates of Nav is:
[0022] NavX=oldNavX+(phyBiasX-controlBiasX) / 2;
[0023] NavY=oldNavY-(phyBiasY-controlBiasY) / 2;
[0024] In the formula, NavX and NavY represent the X-axis and Y-axis coordinates of Nav, respectively; oldNavX and oldNavY represent the X-axis and Y-axis coordinates of oldNav, respectively; phyBiasX and phyBiasY represent the X-axis and Y-axis coordinate deviations of PhyPos1 and PhyPos2, respectively; and controlBiasX and controlBiasY represent the X-axis and Y-axis coordinate deviations 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 embodiments of this disclosure.
[0026] Secondly, the present invention discloses a computer program product, comprising a computer program. When executed by a processor, the computer program implements the steps of the auxiliary calibration method for the installation position of an AGV navigator as disclosed in the first aspect.
[0027] Compared with the prior art, the present invention has the following beneficial effects:
[0028] 1. The auxiliary calibration method provided by this invention no longer requires expensive external equipment or complex reference systems, which reduces calibration costs, simplifies the operation process, and improves calibration efficiency.
[0029] 2. The auxiliary calibration method provided by this invention has strong adaptability and is not limited by the working environment. Even in complex or highly variable working scenarios, this invention can ensure the stability and high accuracy of the calibration process, greatly reducing the impact of environmental factors on the calibration results.
[0030] 3. The auxiliary calibration method provided by this invention has a self-verification step and ensures the accuracy of calibration through multiple iterations. Attached Figure Description
[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0032] Figure 1This is a structural diagram of an AGV (Automated Guided Vehicle) with a left-right symmetrical design in the background technology.
[0033] Figure 2 for Figure 1 A schematic diagram of an AGV (Automated Guided Vehicle) spinning.
[0034] Figure 3 A flowchart of an auxiliary calibration method for the installation position of an AGV navigator provided in Embodiment 1 of the present invention;
[0035] Figure 4 for Figure 1 A schematic diagram of the AGV trolley performing step two;
[0036] Figure 5 for Figure 1 A schematic diagram of the AGV trolley performing step six;
[0037] Figure 6 for Figure 1 The diagram illustrates step seven of the AGV process. Detailed Implementation
[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0039] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.
[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.
[0041] Example 1
[0042] This embodiment 1 provides an auxiliary calibration method for the installation position of an AGV navigator, used to calibrate the position of a target AGV navigator installed on a target AGV vehicle.
[0043] As mentioned in the background section, the target AGV vehicle meets the following characteristics:
[0044] 1. The target AGV has a symmetrical design and can be driven by a single steering wheel or multiple steering wheels.
[0045] See Figure 1 This demonstrates a single-steering-wheel driven AGV: it adopts a 3-wheel design—a single steering wheel is set at the head of the AGV for driving, and a set of follower wheels are set on each of the two outriggers 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 of the baseline of the target AGV and the edge of one side of the target AGV is marked as position one; the intersection of the baseline of the target AGV and the edge of the other side of the target AGV is marked as position two.
[0048] by Figure 1 Taking an AGV (Automated Guided Vehicle) as an example, the line connecting the centers of the two sets of follower wheels forms the baseline. The intersection of this baseline with the outer edge of one of the AGV's support legs is mark position one, and the intersection with the outer edge of the other support leg is mark position two. The spin reference point is the midpoint of the line connecting the two sets of follower wheels. (See [link to relevant documentation]). Figure 2 When the AGV trolley spins, it rotates circumferentially 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 will come with an AGV navigator installation point information when it leaves the factory. This information can be used as the oldNav installation point before the target AGV navigator is calibrated.
[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, theoretically, marking the spin reference point is the most direct way to perform calibration. However, in practice, it is not convenient to mark the spin reference point (it may be blocked by the transported object). Therefore, the method of this invention uses marking position one and marking position two to perform indirect calibration.
[0051] In summary, the auxiliary calibration method for the installation position of the AGV navigator provided in Embodiment 1 can be summarized as follows: First, control the target AGV vehicle to run and determine the target point NavPos1. Then, mark the ground marker point PhyPos1. Next, control the target AGV vehicle to run and determine the target point NavPos2. Then, determine whether calibration can be performed based on the deviation between NavPos1 and NavPos2. After that, mark the ground marker point PhyPos2. 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 calibration accuracy.
[0052] For details, please refer to 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 proceeding to step one, the target AGV is facing direction 1. Therefore, step one corresponds to the following:
[0057] 101. After the target AGV trolley rotates 180 degrees in one direction around the spin reference point (it can be clockwise or counterclockwise), it will face 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 spin can also cause inaccurate positioning. Therefore, subsequent steps are needed to eliminate the physical spin deviations and positioning deviations.
[0059] 102. The target AGV trolley completes one linear reciprocating motion, which aims to eliminate spin physical deviation and positioning deviation.
[0060] The linear reciprocating motion can be either: advancing M meters forward and then retreating M meters along the direction of the structural symmetry line, or retreating M meters and then advancing M meters along the direction of the structural symmetry line.
[0061] Considering that this invention needs to be adapted to different scenarios and ensure the effect of eliminating deviations, the value of M is set to [2,5], and in general, 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] The positioning data of the target AGV navigator can be obtained based on the positioning function built into the target AGV navigator (such as 2D SLAM positioning, 3D positioning, etc.).
[0064] In addition, to avoid positioning jumps, it is recommended to acquire the positioning data of the target AGV navigator multiple times and calculate the average value. That is, periodically acquire the positioning data of the target AGV navigator N times; calculate the average value of the N positioning data and use it as the coordinate of NavPos1. 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 the actual situation.
[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: Vertically project the marked position on one side edge of the target AGV vehicle onto the ground and mark the ground marker point PhyPos1.
[0067] Referring to the above, it is inconvenient to mark the reference point on the ground based on the spin, such as... Figure 4 As shown, in this step, the present invention selects and marks PhyPos1 based on the marked position.
[0068] It should be noted that, considering the needs of subsequent calculations, step two can also be performed: using PhyPos1 as the origin to construct a local two-dimensional coordinate system.
[0069] In the local two-dimensional coordinate system, the X-axis is parallel to the structural symmetry line, and the Y-axis is parallel to the baseline.
[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 its spin reference point (either clockwise or counterclockwise), it will face direction 1 again, thus returning the AGV to NavPos1 from the opposite direction. However, due to the spin, spin physical deviation and positioning deviation are generated again. Therefore, subsequent steps are required to make the AGV return to NavPos1 as close as possible.
[0072] Step 4: Control the target AGV to complete one linear reciprocating motion;
[0073] Obtain the positioning data of the target AGV navigator and use it as the coordinates of the target point NavPos2.
[0074] Similar to step one, the corresponding situation exists in step four:
[0075] 401. The target AGV completes one linear reciprocating motion to correct and eliminate spin physical deviation and positioning deviation.
[0076] The linear reciprocating motion can be either: advancing M meters forward and then retreating M meters along the direction of the structural symmetry line, or retreating M meters and then advancing 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] The positioning data of the target AGV navigator can be obtained based on the positioning function built into the target AGV navigator.
[0079] In addition, to avoid positioning jumps, it is recommended to acquire the positioning data of the target AGV navigator multiple times and calculate the average value when acquiring the positioning data. That is, periodically acquire the positioning data of the target AGV navigator N times; 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 between 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 in step four exceeds the preset threshold T0, the calibration fails; otherwise, repeat step five.
[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] The formulas for calculating controlBiasX and controlBiasY are as follows:
[0084] controlBiasX=NavPos1X-NavPos2X;
[0085] controlBiasY=NavPos1Y-NavPos2Y;
[0086] In the formula, NavPos1X and NavPos1Y represent the X-axis coordinate and Y-axis coordinate of NavPos1, respectively;
[0087] NavPos2X and NavPos2Y represent the X-axis and Y-axis coordinates 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 has not returned to NavPos1 from the opposite direction, so step four must be repeated. If neither controlBiasX nor controlBiasY exceeds controlBias0, the target AGV has returned to NavPos1 from the opposite direction, so the subsequent steps can be performed.
[0089] The value of controlBias0 is selected based on the required accuracy, and the 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 the deflection angle of the ground positioning or navigation system and the steering wheel deflection angle, there may be situations where repeating step four multiple times still fails to achieve effective correction. Therefore, T0 is set to promptly stop the useless repetition of step four. Generally, the value of T0 is selected based on the actual situation, and the range is set to: 3≤T0≤10.
[0091] Step 6: Vertically project the marked position 2 on the other side of the target AGV vehicle's body edge onto the ground and mark the ground marker point PhyPos2.
[0092] Similar to step two, since it is inconvenient to mark the ground based on the spin reference point, such as... Figure 5 As shown, in this step, the present invention selects and marks PhyPos2 based on the second mark position.
[0093] Step 7: Measure the X-axis coordinate deviation and Y-axis coordinate deviation between 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 between 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 taken as the installation point oldNav of the target AGV navigator before calibration, and the process returns to step one.
[0095] It should be noted that, see Figure 6 PhyPos1 and PhyPos2 both fall within a local two-dimensional coordinate system. Based on the position of PhyPos2 in the local two-dimensional coordinate system, the X-axis coordinate deviation phyBiasX and the Y-axis coordinate deviation phyBiasY between PhyPos1 and PhyPos2 are measured.
[0096] After steps one through six, if controlBiasX and controlBiasY do not exceed controlBias0, then theoretically, if the target AGV navigator is installed correctly, phyBiasX and phyBiasY should also not exceed controlBias0. However, considering processing errors and manual marking errors, phyBias0 is introduced as a preset calibration deviation threshold. The value of phyBias0 is selected based on accuracy requirements, with a range set to: 5nm ≤ phyBias0 ≤ 10nm, and satisfying controlBias0 < phyBias0. Therefore, if phyBiasX or phyBiasY exceeds phyBias0, it indicates that the target AGV navigator is installed incorrectly.
[0097] It is important to emphasize that regardless of whether phyBiasX or phyBiasY exceeds phyBias0, the coordinates of Nav still need to be calculated.
[0098] The formula for calculating the coordinates of Nav is:
[0099] NavX=oldNavX+(phyBiasX-controlBiasX) / 2;
[0100] NavY=oldNavY-(phyBiasY-controlBiasY) / 2;
[0101] In the formula, NavX and NavY represent the X-axis coordinates and Y-axis coordinates of Nav, respectively; oldNavX and oldNavY represent the X-axis coordinates and Y-axis coordinates of oldNav, respectively.
[0102] Furthermore, step seven not only provides the coordinate calculation formula for Nav, but also performs self-verification—determining whether to perform further updates and iterations 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 needed; the coordinates of Nav calculated in this step are taken as the final calibration result.
[0104] 2. If phyBiasX or phyBiasY exceeds phyBias0, it means that the calibration result has not yet reached the set accuracy. Update the coordinates of oldNav with the coordinates of Nav calculated this time, and restart steps one through seven 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 Embodiment 1 reduces calibration costs, simplifies the operation process, and improves calibration efficiency.
[0106] It should be noted that the operations of "measuring the X-axis and Y-axis coordinate deviations between PhyPos1 and PhyPos2" in steps two, six, and seven can be performed manually, while the other operations in steps one, three, four, five, and seven can be completed automatically by controlling the target AGV vehicle and the target AGV navigator. Although this invention still requires a small amount of manual intervention, the overall level of automation has been greatly improved, and the complexity of the manual intervention has been reduced, which meets the actual needs of existing AGV navigator calibration.
[0107] Example 2
[0108] This embodiment 2 discloses a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in embodiment 1.
[0109] This embodiment 2 also discloses a readable storage medium storing computer program instructions. 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 performed.
[0110] This embodiment 2 also discloses a computer program product, including a computer program. When executed by a processor, the computer program implements the steps of the auxiliary calibration method for the installation position of the AGV navigator disclosed in embodiment 1.
[0111] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended 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 trolley; It includes: Step 1: First, control the target AGV to rotate 180 degrees in one direction around the spin reference point, 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 on one side edge of the target AGV vehicle onto the ground and mark the ground marker 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; Obtain 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 between NavPos1 and NavPos2 do not exceed the preset positioning deviation threshold controlBias0, proceed to step 6; otherwise, determine whether the number of repetitions in step 4 does not exceed the preset number of repetitions threshold T0; if it does not exceed, continue to repeat step 4; otherwise, it indicates that the calibration has failed. Step 6: Vertically project the marked position 2 on the other side of the target AGV vehicle's edge onto the ground and mark the ground marker point PhyPos2; Step 7: Measure the X-axis coordinate deviation and Y-axis coordinate deviation between 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 between 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 taken as the installation point oldNav of the target AGV navigator before calibration, and the process returns to step one. The formula for calculating the coordinates of Nav is: NavX=oldNavX+(phyBiasX-controlBiasX) / 2; NavY=oldNavY-(phyBiasY-controlBiasY) / 2; In the formula, NavX and NavY represent the X-axis and Y-axis coordinates of Nav, respectively; oldNavX and oldNavY represent the X-axis and Y-axis coordinates of oldNav, respectively; phyBiasX and phyBiasY represent the X-axis and Y-axis coordinate deviations of PhyPos1 and PhyPos2, respectively; and controlBiasX and controlBiasY represent the X-axis and Y-axis coordinate deviations of NavPos1 and NavPos2, respectively.
2. The auxiliary calibration method for the installation position of an AGV navigator according to claim 1, characterized in that, The target AGV has a symmetrical design; 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; the intersection of the reference line of the target AGV and the edge of one side of the vehicle body is marked as position one; the intersection of the reference line of the target AGV and the edge of the other side of the vehicle body is marked as position two.
3. The auxiliary calibration method for the installation position of an AGV navigator according to claim 1, characterized in that, In steps one and four, the linear reciprocating motion of the target AGV is as follows: it moves forward M meters and then backward M meters along the direction of the structural symmetry line. Alternatively, the linear reciprocating motion of the target AGV is: moving back M meters and then forward M meters along the direction of the structural symmetry line; Where 5 ≥ M ≥ 2.
4. The auxiliary calibration method for the installation position of an AGV navigator according to claim 1, characterized in that, In step one, the method for calculating the NavPos1 coordinates includes: Periodically acquire N positioning data from the target AGV navigator; Calculate the average value of N positioning data and use it as the coordinates of NavPos1.
5. The auxiliary calibration method for the installation position of an AGV navigator according to claim 2 or 4, characterized in that, In step one, the method for obtaining the positioning data of the target AGV navigator is as follows: 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 an AGV navigator according to claim 2, characterized in that, In step two, PhyPos1 is also used as the origin to construct a local two-dimensional coordinate system; In the local two-dimensional coordinate system, the X-axis is parallel to the structural symmetry line, and the Y-axis is parallel to the baseline.
7. The auxiliary calibration method for the installation position of an AGV navigator according to claim 1, characterized in that, In step four, the method for calculating the NavPos2 coordinates includes: Periodically acquire N positioning data from the target AGV navigator; Calculate the average value of N positioning data and use it as the coordinates of NavPos2.
8. The auxiliary calibration method for the installation position of an AGV navigator according to claim 6, characterized in that, In step seven, based on the position of PhyPos2 in the local two-dimensional coordinate system, the X-axis coordinate deviation and Y-axis coordinate deviation between PhyPos1 and PhyPos2 are measured.
9. The auxiliary calibration method for the installation position of an 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, Includes a computer program; when executed by a processor, the computer program implements the steps of the auxiliary calibration method for the installation position of an AGV navigator as described in any one of claims 1-9.