Rapid calibration method and device suitable for AGV and medium of rapid calibration method and device

Abstract

The invention relates to the technical field of AGV calibration, in particular to a rapid calibration method and device suitable for an AGV and a medium of the rapid calibration method and device. The method comprises the steps that S1, a driving path of the AGV is painted or pasted with a colored tape, the driving path comprises two parallel boundary lines, and the area between the two boundary lines is the driving area of the AGV; wherein the boundary line and the driving area are distinguished by spraying paint with different colors or pasting different colored tapes; s2, enabling the AGV to run on the central line of the driving area, and obtaining an original image of the ground through an image collection module on the AGV; s3, converting the original image into a bird's-eye view by using perspective coordinate transformation; s4, based on the aerial view, parameter adjustment is carried out through the calibration configuration interface, target parameters are obtained, the target parameters are burnt to the AGV, and rapid calibration of the AGV is achieved; the calibration configuration interface comprises an image preview area and a parameter configuration area. According to the rapid calibration method suitable for the AGV, the requirement for site layout is low, and the implementation cost is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of AGV calibration, and particularly to a fast calibration method, device and medium applicable to AGVs. Background Art

[0002] An Automated Guided Vehicle (AGV) is a transport vehicle that can autonomously travel along a predetermined path or navigation system without human intervention. AGVs are widely used in fields such as manufacturing, warehousing, and logistics, and can effectively improve production efficiency and the automation level of logistics management. Currently, the commonly used AGVs are fixed-path AGVs, which have a low cost. Current guiding methods include: electromagnetic induction guiding, optical / tape guiding, and laser / infrared guiding, etc.

[0003] Electromagnetic guiding is a relatively traditional method, with mature and reliable technology and relatively low cost. However, since metal cables need to be buried on the ground, it is difficult to change the running path, and the ground also needs to be leveled. Optical and tape guiding are similar to electromagnetic guiding, and reflective tapes or tapes need to be pasted on the ground. This is more convenient than electromagnetic guiding, but regular maintenance of the reflective tapes or tapes is required. Laser and infrared guiding are equipped with scanners on the AGV that can emit and receive laser / infrared rays, and sufficient reflector plates are arranged around the guiding area as required. Its guiding and positioning accuracy is relatively high, but the cost is also relatively high, the device installation is complex, and the position calculation is also complex.

[0004] It can be seen that the existing guiding methods are very dependent on site deployment, require site transformation and implementation, and there are problems of high site layout requirements and high implementation costs. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, the present invention provides a fast calibration method applicable to AGVs, which has low requirements for site layout and effectively reduces the implementation cost.

[0007] According to the fast calibration method applicable to AGVs of the embodiments of the present invention, the method includes the following steps:

[0008] S1, paint or paste color tapes on the running path of the AGV, where the running path includes two parallel boundary lines, and the area between the two boundary lines is the running area of the AGV;

[0009] Wherein, the boundary lines and the running area are distinguished by spraying paint of different colors or pasting different color tapes;

[0010] S2. Make the AGV run along the center line of the driving area, and obtain the original image of the ground through the image acquisition module on the AGV.

[0011] S3. Use perspective coordinate transformation to convert the original image into an aerial view.

[0012] S4. Based on the aerial view, adjust the parameters through the calibration configuration interface to obtain the target parameters, and burn the target parameters into the AGV to achieve rapid calibration of the AGV.

[0013] The calibration configuration interface includes: an image preview area and a parameter configuration area.

[0014] The beneficial effect of the present invention is that the rapid calibration method applicable to AGV only needs to paint or paste color bands on the driving path of the AGV, and then adjust the parameters through the calibration configuration interface, burn the target parameters into the AGV, and the AGV can assist in driving in the driving area based on the target parameters during autonomous driving, with low requirements for site layout and effectively reducing the implementation cost; in addition, during the calibration process, no precision instruments are required, and the entire calibration process is simple and fast.

[0015] According to an embodiment of the present invention, step S4 specifically includes:

[0016] S41. Obtain the aerial view and display the aerial view through the image preview area.

[0017] Among them, a plurality of adjustable auxiliary dividing lines are set on the image preview area, and the plurality of adjustable auxiliary dividing lines are respectively: the vertical bisector, the horizontal line of the road surface ROI height, and two vertical marking lines of the road surface.

[0018] S42. Based on the aerial view, configure in the parameter configuration area, modify the road surface ROI height to adjust the horizontal line of the road surface ROI height.

[0019] S43. Based on the vertical bisector, two vertical marking lines of the road surface, and the vertex coordinates of the aerial view, obtain the initial detection frame through the edge detection algorithm, where the initial detection frame is within the two vertical marking lines of the road surface, and the initial detection frame includes two perspective transformation area marking lines.

[0020] S44. Based on the modified horizontal line of the road surface ROI height, adjust the two perspective transformation area marking lines, and obtain the target detection frame according to the adjusted two perspective transformation area marking lines, and determine whether the target detection frame on the aerial view meets the requirements. If it meets the requirements, determine the target parameters.

[0021] According to an embodiment of the present invention, the parameter configuration area includes a parameter setting area and a slider adjustment area.

[0022] Modify the height of the road surface ROI through the parameter setting area;

[0023] Adjust the two perspective transformation area marking lines through the slider adjustment area.

[0024] According to an embodiment of the present invention, the slider adjustment area includes a distal left boundary slider, a distal right boundary slider, a proximal left correction slider, and a proximal right correction slider;

[0025] Adjusting the two perspective transformation area marking lines through the slider adjustment area includes:

[0026] Determine whether the two perspective transformation area marking lines are far from the two boundary lines in the bird's-eye view. If so, adjust the distal left boundary slider and the distal right boundary slider according to the bird's-eye view to make the two perspective transformation area marking lines close to the two boundary lines in the bird's-eye view, and then correct the two perspective transformation area marking lines through the proximal left correction slider and the proximal right correction slider respectively to make the two perspective transformation area marking lines perpendicular.

[0027] According to an embodiment of the present invention, the perspective coordinate transformation formula in step S3 is:

[0028]

[0029] Where (x, y) is the reference point coordinate of the original image, (x', y') is the reference point coordinate after conversion, and M is the conversion matrix.

[0030] According to an embodiment of the present invention, the method further includes setting parameters through the parameter setting area and calculating the pixel ratio scale of the boundary line and the driving area.

[0031] According to an embodiment of the present invention, the calculation of the single-pixel ratio scale of the boundary line and the driving area includes:

[0032] Set the physical quantity W1 of the boundary line width and the physical quantity W2 of the driving area width in the parameter setting area;

[0033] Automatically calculate the pixel quantity Wiy of the boundary line and the pixel quantity Wib of the driving area through the calibration algorithm;

[0034] Based on the physical quantity W1 of the boundary line width and the pixel quantity Wiy of the boundary line, calculate the single-pixel ratio scale Py of the boundary line. The calculation formula is:

[0035]

[0036] Based on the physical quantity W1 of the width of the driving area and the pixel quantity Wib of the driving area, calculate the single-pixel ratio scale Pb of the driving area. The calculation formula is:

[0037]

[0038] where H is the pixel height of the target detection frame;

[0039] Burn the obtained single-pixel ratio scale Py of the boundary line and the single-pixel ratio scale Pb of the driving area into the AGV.

[0040] A computer device according to an embodiment of the present invention includes:

[0041] A processor;

[0042] A memory for storing executable instructions;

[0043] wherein, the processor is configured to read the executable instructions from the memory and execute the executable instructions to implement the fast calibration method applicable to the AGV as described above.

[0044] A computer-readable storage medium according to an embodiment of the present invention, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor is caused to implement the fast calibration method applicable to the AGV as described above.

[0045] Other features and advantages of the present invention will be described in the subsequent description, and part of them will become obvious from the description, or be understood by implementing the present invention. The objectives and other advantages of the present invention are achieved and obtained by the structures specifically pointed out in the description, claims and drawings.

[0046] To make the above objectives, features and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0047] The present invention will be further described below in conjunction with the drawings and embodiments.

[0048] Figure 1 is a schematic flowchart of the method according to Embodiment 1 of the present invention.

[0049] Figure 2 is a schematic diagram of the original image according to Embodiment 1 of the present invention.

[0050] Figure 3 is a schematic top view according to Embodiment 1 of the present invention.

[0051] Figure 4 is a schematic diagram of the adjustable auxiliary dividing line according to Embodiment 1 of the present invention.

[0052] Figure 5 It is a schematic diagram of the calibration configuration interface of the first embodiment of the present invention.

[0053] Figure 6 It is a schematic diagram of the parameter setting area of the first embodiment of the present invention.

[0054] Figure 7 It is a schematic diagram of the slider adjustment area of the first embodiment of the present invention.

[0055] Figure 8 It is a schematic diagram of the structure of the computer device according to the second embodiment of the present invention.

[0056] In the figure, 10 is the computer device; 1002 is the processor; 1004 is the memory; 1006 is the transmission device. Detailed implementation manners

[0057] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0060] Embodiment 1

[0061] The embodiment of the present application provides a fast calibration method applicable to AGV, as Figure 1 shown, the method includes the following steps:

[0062] S1. Paint or paste color tapes on the driving path of the AGV. The driving path includes two parallel boundary lines, and the area between the two boundary lines is the driving area of the AGV. Among them, the boundary lines and the driving area are distinguished by spraying paint of different colors or pasting different color tapes. For example, yellow paint is sprayed on the boundary lines and yellow paint is sprayed on the driving area.

[0063] S2. Make the AGV cart drive on the center line of the driving area, and obtain the original image of the ground through the image acquisition module on the AGV. The original image is shown in Figure 2 shown. Before calibrating the AGV, the AGV will be moved to the center line of the driving area for subsequent fast calibration of the AGV.

[0064] S3. Use perspective coordinate transformation to convert the original image into an aerial view. The aerial view is shown in Figure 3 shown. The formula for further perspective coordinate transformation is:

[0065]

[0066] where, (x, y) is the reference point coordinate of the original image, (x’, y’) is the reference point coordinate after conversion, M is the conversion matrix, and the acquisition of the conversion matrix M specifically includes: manually obtaining the source coordinates of the original image and the corresponding destination coordinates in the aerial view, and then calculating through the calibration tool.

[0067] S4. Based on the aerial view, adjust the parameters through the calibration configuration interface to obtain the target parameters, and burn the target parameters into the AGV to achieve fast calibration of the AGV;

[0068] As Figure 5 shown, the calibration configuration interface includes: an image preview area and a parameter configuration area.

[0069] It should be noted that the AGV is connected to the terminal device, and the calibration configuration interface is displayed through the terminal device. The parameters are adjusted through the calibration configuration interface. The terminal device can be a mobile phone, a PAD or a PC.

[0070] Further, step S4 includes:

[0071] S41. Obtain the aerial view and display the aerial view through the image preview area. Among them, a plurality of adjustable auxiliary dividing lines are set on the image preview area. The plurality of adjustable auxiliary dividing lines are respectively: the vertical bisector, the horizontal line of the road ROI height, and two vertical marking lines of the road surface, as shown in Figure 4as shown;

[0072] S42. Based on the bird's-eye view, configure in the parameter configuration area, modify the height of the road surface ROI, and adjust the horizontal line of the road surface ROI height;

[0073] S43. Based on the vertical bisector, two vertical marking lines of the road surface, and the vertex coordinates of the bird's-eye view, obtain the initial detection frame through the edge detection algorithm. Among them, the initial detection frame is within the two vertical marking lines of the road surface, and the initial detection frame includes two perspective transformation area marking lines;

[0074] S44. Based on the modified horizontal line of the road surface ROI height, adjust the two perspective transformation area marking lines. According to the adjusted two perspective transformation area marking lines, obtain the target detection frame, and determine whether the target detection frame on the bird's-eye view meets the requirements. If it meets the requirements, determine the target parameters and burn the determined target parameters into the AGV.

[0075] In the embodiment, refer to Figures 5 - 7 as shown, the parameter configuration area includes a parameter setting area and a slider adjustment area; modify the height of the road surface ROI through the parameter setting area; adjust the two perspective transformation area marking lines through the slider adjustment area. The slider adjustment area includes a distal left boundary slider, a distal right boundary slider, a proximal left correction slider, and a proximal right correction slider; adjusting the two perspective transformation area marking lines through the slider adjustment area includes: determining whether the two perspective transformation area marking lines are far from the two boundary lines in the bird's-eye view. If so, adjust the distal left boundary slider and the distal right boundary slider respectively according to the bird's-eye view to make the two perspective transformation area marking lines close to the two boundary lines in the bird's-eye view, and then correct the two perspective transformation area marking lines respectively through the proximal left correction slider and the proximal right correction slider to make the two perspective transformation area marking lines vertical.

[0076] In the embodiment, the method further includes setting parameters through the parameter setting area and calculating the pixel ratio scale of the boundary line and the driving area, specifically including:

[0077] Set the physical quantity W1 of the boundary line width and the physical quantity W2 of the driving area width in the parameter setting area;

[0078] Automatically calculate the pixel quantity Wiy of the boundary line and the pixel quantity Wib of the driving area through the calibration algorithm;

[0079] Based on the physical quantity W1 of the boundary line width and the pixel quantity Wiy of the boundary line, calculate the single-pixel ratio scale Py of the boundary line, and the calculation formula is:

[0080]

[0081] Based on the physical quantity W1 of the driving area width and the pixel quantity Wib of the driving area, calculate the single-pixel ratio scale Pb of the driving area. The calculation formula is as follows:

[0082]

[0083] Wherein, H is the pixel height of the target detection frame;

[0084] Burn the obtained single-pixel ratio scale Py of the boundary line and the single-pixel ratio scale Pb of the driving area into the AGV to update the AGV parameters. The single-pixel ratio scale Py of the boundary line and the single-pixel ratio scale Pb of the driving area are convenient for calculating the driving angle and driving distance during the subsequent AGV automatic driving process, and can effectively improve the accuracy of automatic driving.

[0085] In summary, the fast calibration method applicable to AGV of the present invention only needs to paint or paste a color ribbon on the driving path of the AGV, and then adjust the parameters through the calibration configuration interface, burn the target parameters into the AGV, and subsequent AGV can assist in driving in the driving area based on the target parameters during automatic driving, with low requirements for site layout and effectively reducing the implementation cost; in addition, during the calibration process, no precision instruments are required, and the entire calibration process is simple and fast.

[0086] Embodiment 2

[0087] The embodiment of the present application provides a computer device, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement a fast calibration method applicable to AGV as provided in the above method embodiment.

[0088] Figure 8 The hardware structure schematic diagram of a device for implementing a fast calibration method applicable to AGV provided in the embodiment of the present application is shown. The device can participate in forming or include the device or system provided in the embodiment of the present application. As Figure 8 shown, the computer device 10 may include one or more processors 1002 (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand that Figure 8 the structure shown is only schematic and does not limit the structure of the above electronic device. For example, the computer device 10 may further include more than Figure 8more or fewer components as shown, or having a configuration different from that Figure 8 shown.

[0089] It should be noted that one or more of the above-mentioned processors and / or other data processing circuits can generally be referred to as "data processing circuits" herein. The data processing circuit can be embodied in software, hardware, firmware, or any combination thereof, in whole or in part. In addition, the data processing circuit can be a single independent processing module, or can be incorporated in whole or in part into any one of the other elements in the computer device 10 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is a kind of processor control (such as the selection of a variable resistance terminal path connected to an interface).

[0090] The memory 1004 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to a fast calibration method applicable to AGVs in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, that is, implements the above-mentioned method. The memory 1004 can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 1004 can further include a memory remotely set relative to the processor, and these remote memories can be connected to the computer device 10 through a network. Examples of the above-mentioned network include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0091] The transmission device 1006 is used to receive or send data via a network. Specific examples of the above-mentioned network can include the wireless network provided by the communication provider of the computer device 10. In one instance, the transmission device 1006 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station and thus can communicate with the Internet. In one instance, the transmission device 1006 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0092] The display can be, for example, a touch-screen liquid crystal display (LCD), which enables a user to interact with the user interface of the computer device 10 (or mobile device).

[0093] Embodiment 3

[0094] The embodiments of the present application also provide a computer-readable storage medium, which can be disposed in a server to store at least one instruction or at least one segment of program related to a fast calibration method applicable to AGV in the method embodiments. The at least one instruction or the at least one segment of program is loaded and executed by the processor to implement the fast calibration method applicable to AGV provided in the above method embodiments.

[0095] Optionally, in this embodiment, the above storage medium may be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium may include, but is not limited to: various media that can store program codes such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0096] Embodiment 4

[0097] The embodiments of the present invention also provide a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes a fast calibration method applicable to AGV provided in the above various optional embodiments.

[0098] It should be noted that: the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above specific embodiments of the present application have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be executed in a different order from that in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0099] Each embodiment in the present application is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the embodiments of the device, equipment, and storage medium, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0100] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk, an optical disc, etc.

[0101] Based on the above-mentioned ideal embodiments of the present invention as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A rapid calibration method suitable for AGV, characterized in that: The method comprises the following steps: S1, painting or pasting a ribbon on the driving path of the AGV, wherein the driving path includes two parallel boundary lines, and the area between the two boundary lines is the driving area of ​​the AGV; Wherein, the boundary line and the driving area are distinguished by spraying different colors of paint or sticking different color tapes; S2, making the AGV drive along the center line of the driving area, and obtaining the original image of the ground through the image acquisition module on the AGV; S3, using perspective coordinate transformation, converting the original image into a bird's-eye view; S4, based on the bird's-eye view, adjusting parameters through the calibration configuration interface to obtain target parameters, burning the target parameters to the AGV, and realizing rapid calibration of the AGV; The calibration configuration interface includes: an image preview area and a parameter configuration area.

2. The rapid calibration method applicable to AGV according to claim 1, characterized in that: Step S4 specifically includes: S41, obtaining a bird's-eye view image, and displaying the bird's-eye view image in the image preview area; Wherein, a plurality of adjustable auxiliary dividing lines are arranged on the image preview area, and the plurality of adjustable auxiliary dividing lines are respectively: a median vertical line, a road surface ROI height horizontal line and two road surface vertical marking lines; S42, based on the bird's-eye view, configure in the parameter configuration area to modify the road surface ROI height and adjust the road surface ROI height horizontal line; S43, based on the perpendicular bisector, two road surface vertical marking lines and the vertex coordinates of the bird's-eye view, an initial detection frame is obtained by an edge detection algorithm, wherein the initial detection frame is within the two road surface vertical marking lines, and the initial detection frame includes two perspective transformation area marking lines; S44, based on the modified road surface ROI height horizontal line, the two perspective transformation area marking lines are adjusted, and the target detection frame is obtained according to the two adjusted perspective transformation area marking lines, and it is determined whether the target detection frame on the bird's-eye view meets the requirements. If so, the target parameters are determined.

3. The rapid calibration method applicable to AGV according to claim 2, characterized in that: The parameter configuration area includes a parameter setting area and a drag bar adjustment area; Modify the road surface ROI height through the parameter setting area; The two perspective transformation area marking lines are adjusted through the drag bar adjustment area.

4. The rapid calibration method for AGV according to claim 3, characterized in that: The drag strip adjustment area includes a distal left boundary drag strip, a distal right boundary drag strip, a proximal left correction drag strip, and a proximal right correction drag strip; Adjusting the two perspective transformation area marking lines through the drag bar adjustment area includes: Determine whether the two perspective transformation area marking lines are far away from the two boundary lines in the bird's-eye view. If so, adjust the far left boundary drag bar and the far right boundary drag bar according to the bird's-eye view to make the two perspective transformation area marking lines close to the two boundary lines in the bird's-eye view, and then use the near left correction drag bar and the near right correction drag bar to correct the two perspective transformation area marking lines so that the two perspective transformation area marking lines are vertical.

5. The rapid calibration method applicable to AGV according to claim 1, characterized in that: The perspective coordinate transformation formula in step S3 is: Among them, (x, y) is the reference point coordinate of the original image, (x', y') is the reference point coordinate after transformation, and M is the transformation matrix.

6. The rapid calibration method applicable to AGV according to claim 3, characterized in that: The method further includes setting parameters through the parameter setting area and calculating the pixel ratio scale of the boundary line and the driving area.

7. The rapid calibration method applicable to AGV according to claim 6, characterized in that: The calculation of the single pixel scale of the boundary line and the driving area includes: In the parameter setting area, a physical quantity W1 of the width of the boundary line and a physical quantity W2 of the width of the driving area are set; Automatically calculate the pixel quantity Wiy of the boundary line and the pixel quantity Wib of the driving area through a calibration algorithm; Based on the physical quantity W1 of the width of the border line and the pixel quantity Wiy of the border line, the single pixel scale Py of the border line is calculated, and the calculation formula is: Based on the physical quantity W1 of the driving area width and the pixel quantity Wib of the driving area, the single pixel scale Pb of the driving area is calculated, and the calculation formula is: Where H is the pixel height of the target detection box; The obtained boundary line single pixel scale Py and the driving area single pixel scale Pb are burned into the AGV.

8. A computer device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the rapid calibration method applicable to AGV as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the rapid calibration method applicable to AGV according to any one of claims 1 to 7.

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