Consistency calibration and butt joint method for multiple cantilever AGVs

Abstract

The invention provides a consistency calibration and docking method for multiple cantilever AGVs, and the method comprises the steps: loading an SLAM map through a laser radar, carrying out the steering wheel calibration of a first cantilever AGV, and obtaining a left-right change measurement standard and an angle change measurement standard in the straight movement process of the first cantilever AGV; performing attitude angle compensation, coordinate compensation and mechanical parameter compensation according to the scheduling position so as to realize position calibration of the laser radar, and recording the compensation numerical values and coordinates; the first cantilever AGV carries out line identification and feeds back a line angle, and angle compensation is carried out according to the line angle; measuring current position data through a laser radar, and recording line data and a line angle at the position; and calibrating the motion center coordinates of other cantilever AGVs, and compensating the calibration to the motion center coordinate of the first cantilever AGV. According to the invention, through calibration from the radar to the center of motion and compensation between the SLAM map and scheduling, unified calibration of the plurality of cantilever AGVs is realized, and the calibration consistency and docking effect of the plurality of cantilever AGVs are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a consistency calibration and docking method for multiple cantilever AGVs. Background Art

[0002] In recent years, with the continuous development of automated production technology and the continued expansion of the market, cantilever AGVs have played an increasingly important role in automated material handling and production, and their market share has gradually increased. Cantilever AGVs can be used in processes such as slitting and rewinding, die-cutting and unwinding, and cutting machine unwinding, taking on the task of handling material rolls and empty reels at various workstations. Therefore, when multiple cantilever AGVs work together, in order to improve implementation efficiency, it is often desirable for all cantilever AGVs to use the same docking data to successfully dock reels.

[0003] Currently, for cantilever AGVs (AGVs), navigation coordinates and vehicle attitude angles are typically calibrated solely through SLAM map compensation for navigation, movement, docking, and docking. While map compensation can meet basic AGV positioning requirements, it cannot achieve consistent calibration for every AGV. For example, due to variations in radar installation and device size, calibration based solely on map compensation cannot completely eliminate these variations. For example, an AGV may align with other AGVs at one location, but its coordinates may differ at other locations due to these variations. Furthermore, in practical applications, even if the same model is used, if the positions of each AGV on the map are inconsistent, even cantilever AGVs of the same model will have inconsistent positions during movement, docking, and docking. The accumulated errors can lead to docking failures during operation. Furthermore, compared to conventional AGVs, cantilever AGVs require cantilever cameras in addition to their ranging radars for object recognition. If the docking coordinates and attitude angles of each cantilever AGV are inconsistent, this can significantly impact the recognition performance of each camera.

[0004] Based on the above-mentioned issues, and the fact that existing cantilever AGVs usually use simple camera recognition or magnetic guidance for docking, cantilever AGVs often lack effective docking effects. For example, cameras are used to identify QR codes on the ground, and magnetic sensors are used to identify magnetic strips on the ground. However, these methods require high effectiveness in identifying the QR codes and magnetic guidance on the ground. However, in actual applications, the QR codes or magnetic guidance pasted on the ground are easily damaged, which can lead to docking failures and serious problems such as shutdowns. In addition, when there are many applications, these identification marks pasted on the ground will take up a lot of space and be complicated to arrange.

[0005] Therefore, a method is needed to enhance the calibration consistency and docking effect of multiple cantilever AGVs. Summary of the Invention

[0006] The present invention provides a method for calibrating and docking multiple cantilever AGVs, which is mainly used to solve the problem that existing cantilever AGVs lack effective coordinate and docking consistency calibration, thereby achieving the purpose of enhancing the calibration consistency and docking effect of multiple cantilever AGVs.

[0007] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0008] A method for calibrating the consistency of multiple cantilever AGVs, comprising:

[0009] S1: The LiDAR loads the SLAM map, calibrates the steering wheel of the first cantilever AGV, and obtains the left and right change measurement standards and angle change measurement standards of the touch screen during its straight-line movement.

[0010] S2: The first cantilever AGV establishes a communication connection with the scheduling system, and performs attitude angle compensation, coordinate compensation, and mechanical parameter compensation according to the scheduling position to realize the position calibration of the laser radar, and records the above compensation values and coordinates.

[0011] S3: The first cantilever AGV performs line recognition and feeds back the line angle, and performs angle compensation according to the line angle; measures the current position data through the laser radar, and records the line data and line angle at the position.

[0012] S4: Calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standards, compensation values, line data, and line angles in steps S1-S3, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

[0013] A further solution is that step S1 further includes:

[0014] S11: sequentially numbering the plurality of cantilever AGVs, and determining the first cantilever AGV according to the size of the number.

[0015] The steering wheel calibration includes:

[0016] S12: Calibrate the steering wheel origin of the first cantilever AGV.

[0017] S13: When the first cantilever AGV moves straight from point A to point B over a specific distance, the left and right offsets of the touch screen at points A and B are used as the left and right change measurement standard, and the angle difference of the touch screen at points A and B is used as the angle change measurement standard.

[0018] S14: Performing in-situ rotation offset detection on the first cantilever AGV.

[0019] A further solution is that the determination of the left-right change measurement standard and the angle change measurement standard in step S13 includes:

[0020] S131: Select two coordinate points in the allowed ambient occlusion value area as the coordinates of point A and point B respectively.

[0021] S132: Set the orientation of the first cantilever AGV at point A to 0°, and record the current coordinates and angle values of the touch screen:

[0022] (1Xa,1Ya,1Ta)

[0023] Among them, (1Xa, 1Ya) is the left and right coordinate value of point A, and (1Ta) is the angular coordinate value of point A.

[0024] Set the orientation of the first cantilever AGV at point B to 90°, and record the current coordinates and angle values of the touch screen:

[0025] (2Xa,2Ya,2Ta)

[0026] Among them, (2Xa, 2Ya) is the left and right coordinate value of point B, and (2Ta) is the angular coordinate value of point B.

[0027] S133: The left-right change measurement standard is: (2Xa-1Xa)<10mm and (2Ya-1Ya)<10mm.

[0028] The angle change measurement standard is: (1Tb-2Tb)<0.2°.

[0029] Wherein, the specific distance is at least 2m.

[0030] A further solution is that the position calibration of the laser radar in step S2 includes:

[0031] S21: Adjust the inclination angle of the front end of the cantilever of the first cantilever AGV so that the cantilever is parallel to the wall, and perform attitude angle compensation on the vehicle body according to the scheduling direction of the vehicle head and the relative position with the cantilever.

[0032] S22: Obtain the actual coordinates of the first cantilever AGV through the laser radar ranging, and perform coordinate compensation according to the deviation between the actual coordinates and the coordinates of its scheduling position.

[0033] S23: Perform mechanical parameter compensation according to the properties of the first cantilever AGV.

[0034] A further solution is that the line recognition and angle compensation in step S3 include:

[0035] S31: Identify line markings on the driving path and determine whether the angle of the line feedback needs to be compensated.

[0036] S32: If the line angle is 0°, no angle compensation is required; if it is not 0°, the angle is compensated to 0°.

[0037] A further solution is that the calibration process for other cantilever AGVs in step S4 includes:

[0038] S41: Setting the outer contour ground mark and motion center coordinate mark of the first cantilever AGV.

[0039] S42: Place the other cantilever AGVs in the ground marks respectively, and calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standard, compensation value, line data and line angle, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

[0040] A further solution is that in step S41, the deviation between the ground mark of the first cantilever AGV and its outer contour is less than 2 mm.

[0041] In step S42, the deviation between the outer contours of the other cantilever AGVs and the ground marking of the first cantilever AGV is less than 3 mm.

[0042] Further plans include:

[0043] S5: Set a docking pixel threshold and determine whether the offset of the camera data fed back by the cantilever camera of the cantilever AGV when docking is within the docking pixel threshold. If so, perform pixel compensation on the camera data; if not, adjust the cantilever camera platform and repeat step S5.

[0044] A further solution is that step S5 further includes:

[0045] S51: Set an identification code on a string rod of each cantilever AGV.

[0046] S52, when the cantilever AGV is docked, the circular shaft head is simulated to feed back docking data and the cantilever camera thereof recognizes the identification code.

[0047] A method for docking multiple cantilever AGVs, comprising:

[0048] S1: Calibrate all cantilever AGVs using the consistency calibration method for multiple cantilever AGVs as described in any one of claims 1 to 9.

[0049] S2: Multiple cantilever AGVs conduct simulated docking tests with reels and spindle heads.

[0050] S3: Feedback the simulated docking data of each cantilever AGV to the touch screen and the industrial computer through the cantilever camera, and fine-tune the cantilever camera according to the offset of the docking data.

[0051] S4: Set the parameters after consistency calibration and then proceed with the docking work.

[0052] It can be seen that the present invention has the following beneficial effects:

[0053] 1. The present invention can enhance the coordinate consistency of multiple cantilever AGVs. By combining the calibration of the radar to the center of motion and the compensation between the SLAM map and the dispatch, and unifying the SLAM map compensation values for all cantilever AGVs of the same type, the map origin of all cantilever AGVs on the SLAM map and the dispatch system can be determined, and the coordinates and actual positions of the same dispatch and SLAM map can be made consistent, meeting the efficient application requirements of one-vehicle navigation and multiple-vehicle following.

[0054] 2. The present invention can unify the docking effects of multiple cantilever AGVs and reels. While determining the origin of the scheduling system and the SLAM map, the radar used in the secondary docking can identify the lines containing point cloud information. The radar point cloud is not only independent of the constructed SLAM map and can be identified in real time, but can also screen out the lines that are most suitable for the storage location information for docking. Compared with traditional calibration, the consistency of docking can be improved more significantly, which facilitates the cantilever AGV to better use consistent data, thereby providing better support for on-site implementation.

[0055] 3. This invention improves positioning and mapping accuracy. By calibrating multiple cantilever AGVs consistently, each cantilever AGV can share its coordinate information with other cantilever AGVs in the area, improving the dispatch system's data management of cantilever AGVs. This unified calibration method enables more convenient data access for dispatchers, further improving the travel and docking accuracy of cantilever AGVs in a unified regional environment.

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a flow chart of a method for calibrating the consistency of multiple cantilever AGVs according to an embodiment of the present invention.

[0058] Figure 2 Schematic diagram of a consistency calibration module according to an embodiment of the present invention.

[0059] Figure 3 Schematic diagram of consistency calibration of multiple cantilever AGVs according to an embodiment of the present invention.

[0060] Figure 4Schematic diagram of steering wheel calibration according to an embodiment of the present invention.

[0061] Figure 5 This is the control page for left-right and angle change measurement in an embodiment of the present invention.

[0062] Figure 6 This is the control page 1 for the laser radar position calibration according to an embodiment of the present invention.

[0063] Figure 7 This is the second control page for the laser radar position calibration according to an embodiment of the present invention.

[0064] Figure 8 Schematic diagram of pixel compensation and camera platform calibration of a cantilever camera according to an embodiment of the present invention.

[0065] Figure 9 This is a physical picture of a simulated docking test between the cantilever AGV, the reel, and the spindle head according to an embodiment of the present invention. DETAILED DESCRIPTION

[0066] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described 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.

[0067] Example of a consistency calibration method for multiple cantilever AGVs

[0068] See also Figure 1-3 The embodiment of the present invention relates to a consistency calibration method for multiple cantilever AGVs, including:

[0069] S1: The LiDAR loads the SLAM map, calibrates the steering wheel of the first cantilever AGV, and obtains the left and right change measurement standards and angle change measurement standards of the touch screen during its straight-line movement.

[0070] S2: The first cantilever AGV establishes a communication connection with the scheduling system, and performs attitude angle compensation, coordinate compensation, and mechanical parameter compensation according to the scheduling position to realize the position calibration of the laser radar, and records the above compensation values and coordinates.

[0071] S3: The first cantilever AGV performs line recognition and feeds back the line angle, and performs angle compensation according to the line angle; measures the current position data through the laser radar, and records the line data and line angle at the position.

[0072] S4: Calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standards, compensation values, line data, and line angles in steps S1-S3, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

[0073] In this embodiment, step S1 further includes:

[0074] S11: sequentially numbering the plurality of cantilever AGVs, and determining the first cantilever AGV according to the size of the number.

[0075] See also Figure 4 , the steering wheel calibration includes:

[0076] S12: Calibrate the steering wheel origin of the first cantilever AGV.

[0077] Specifically, the origin calibration in this embodiment includes:

[0078] S121: Determine the encoder feedback at each steering wheel at 0 degrees and 90 degrees to obtain the actual steering wheel angle;

[0079] S122: Figure 4 The cross hole of the wire cutting calibration plate on the right is set to the same mechanical position as the 3-steering wheel AGV chassis on the left, and the cross hole is slightly larger than the steering wheel to avoid installation errors that cause the calibration plate to be unable to fit into the steering wheel.

[0080] S13: When the first cantilever AGV moves straight from point A to point B over a specific distance, the left and right offsets of the touch screen at points A and B are used as the left and right change measurement standard, and the angle difference of the touch screen at points A and B is used as the angle change measurement standard.

[0081] In this embodiment, the determination of the left-right change measurement standard and the angle change measurement standard in step S13 includes:

[0082] S131: Select two coordinate points in the allowed ambient occlusion value area as the coordinates of point A and point B respectively.

[0083] S132: Set the orientation of the first cantilever AGV at point A to 0°, and record the current coordinates and angle values of the touch screen:

[0084] (1Xa,1Ya,1Ta)

[0085] Among them, (1Xa, 1Ya) is the left and right coordinate value of point A, and (1Ta) is the angular coordinate value of point A.

[0086] See also Figure 5Specifically, in this embodiment, a laser level is used to draw a straight line with a length greater than 2m along the ground, and the cantilever AGV is parallel to the straight line and travels along the straight line.

[0087] Set the orientation of the first cantilever AGV at point B to 90°, and record the current coordinates and angle values of the touch screen:

[0088] (2Xa,2Ya,2Ta)

[0089] Among them, (2Xa, 2Ya) is the left and right coordinate value of point B, and (2Ta) is the angular coordinate value of point B.

[0090] S133: The left-right change measurement standard is: (2Xa-1Xa)<10mm and (2Ya-1Ya)<10mm.

[0091] The angle change measurement standard is: (1Tb-2Tb)<0.2°.

[0092] Wherein, the specific distance is at least 2m.

[0093] S14: Performing in-situ rotation offset detection on the first cantilever AGV.

[0094] Specifically, the in-situ rotation offset detection method of this embodiment is: using the "AGV In-situ Rotation Offset Detection Method" as the detection standard, when the cantilever AGV rotates 180° in-situ, the actual error between its chassis and the ground is less than 5mm.

[0095] See also Figure 6-7 In this embodiment, the position calibration of the laser radar in step S2 includes:

[0096] S21: Adjust the inclination angle of the front end of the cantilever of the first cantilever AGV so that the cantilever is parallel to the wall, and perform attitude angle compensation on the vehicle body according to the scheduling direction of the vehicle head and the relative position with the cantilever.

[0097] S22: Obtain the actual coordinates of the first cantilever AGV through the laser radar ranging, and perform coordinate compensation according to the deviation between the actual coordinates and the coordinates of its scheduling position.

[0098] S23: Perform mechanical parameter compensation according to the properties of the first cantilever AGV.

[0099] In this embodiment, the line recognition and angle compensation in step S3 include:

[0100] S31: Identify line markings on the driving path and determine whether the angle of the line feedback needs to be compensated.

[0101] S32: If the line angle is 0°, no angle compensation is required; if it is not 0°, the angle is compensated to 0°.

[0102] In this embodiment, the calibration process of other cantilever AGVs in step S4 includes:

[0103] S41: Setting the outer contour ground mark and motion center coordinate mark of the first cantilever AGV.

[0104] Specifically, after the first cantilever AGV of this embodiment completes the above parameter calibration, a circle of tape is attached to the ground along the edge of the vehicle, and the current motion center coordinates are recorded.

[0105] S42: Place the other cantilever AGVs in the ground marks respectively, and calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standard, compensation value, line data and line angle, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

[0106] In this embodiment, in step S41, the deviation between the ground mark of the first cantilever AGV and its outer contour is less than 2 mm.

[0107] In step S42, the deviation between the outer contours of the other cantilever AGVs and the ground marking of the first cantilever AGV is less than 3 mm.

[0108] Specifically, this embodiment stops the cantilever AGV within the ground tape of the first cantilever AGV according to its number. After completing the aforementioned angular external parameter calibration, the cantilever AGV is then re-aligned with the ground tape in both the front-to-back and left-to-right directions to ensure that the edge error between the ground tape and the AGV is within 2mm. By adjusting the front-to-back and left-to-right distance parameters from the touchscreen radar to the center of motion, the center of motion coordinates are compensated to the coordinates of the first cantilever AGV. XY axis offset compensation must be consistent for all vehicles of the same type.

[0109] Specifically, in this embodiment, each cantilever axis is positioned against a wall, with the secondary positioning radar 40-60 cm from the wall. The cantilever AGV is manually controlled to ensure the cantilever swings parallel to the wall. A tape measure is used to measure the distance from the first and last roller edges of the cantilever to the wall, ensuring the error is within ±1 mm. The navigation radar and secondary positioning radar angles are then calibrated. The navigation radar is calibrated by compensating the touchscreen angle to parallel with the wall; the secondary positioning radar angle is set using line recognition parameters to compensate for fluctuations in line recognition angle feedback within a ±0.1° range.

[0110] Specifically, this embodiment uses the radar used for secondary docking to identify lines containing point cloud information while determining the origin of the scheduling system and the SLAM map. The radar point cloud is not only independent of the constructed SLAM map and can be identified in real time, but can also filter out the lines that are most suitable for the storage location information for docking.

[0111] See also Figure 8 , in this embodiment, further comprising:

[0112] S5: Set a docking pixel threshold and determine whether the offset of the camera data fed back by the cantilever camera of the cantilever AGV when docking is within the docking pixel threshold. If so, perform pixel compensation on the camera data; if not, adjust the cantilever camera platform and repeat step S5.

[0113] In this embodiment, step S5 further includes:

[0114] S51: Set an identification code on a string rod of each cantilever AGV.

[0115] S52, when the cantilever AGV is docked, the circular shaft head is simulated to feed back docking data and the cantilever camera thereof recognizes the identification code.

[0116] Specifically, step S51 in this embodiment includes:

[0117] S511: Make a barrel-shaped tool with one end being put on the skewer and the other end being fixed with a QR code.

[0118] Specifically, after the roll-shaped tool is extended 40 cm, the end disturbance thereof is less than 1 mm.

[0119] Specifically, this embodiment S5 further includes:

[0120] S53: pushing the roll-shaped tool back and forth within a range of 5-40 cm, and observing the offset values of the QR code captured by the cantilever camera at different distances;

[0121] S54: Determine whether the offset value is less than 5 pixels. If the up and down offset values are greater than 5 pixels, adjust the pitch angle of the cantilever camera. If the left and right offset values are greater than 5 pixels, adjust the heading angle of the cantilever camera.

[0122] S55: Repeat steps S53-S54 until the offset value is less than 5 pixels.

[0123] See also Figure 9 , a docking method for multiple cantilever AGVs, comprising:

[0124] S1: Calibrate all cantilever AGVs using the consistency calibration method for multiple cantilever AGVs as described in any one of claims 1 to 9.

[0125] S2: Multiple cantilever AGVs conduct simulated docking tests with reels and spindle heads.

[0126] S3: Feedback the simulated docking data of each cantilever AGV to the touch screen and the industrial computer through the cantilever camera, and fine-tune the cantilever camera according to the offset of the docking data.

[0127] Specifically, in this embodiment, the docking data needs to be fed back in the center.

[0128] S4: Set the parameters after consistency calibration and then proceed with the docking work.

[0129] Specifically, this embodiment adopts the above-mentioned docking method so that all cantilever AGVs use the same docking data for docking, thereby compensating and eliminating all deviations as much as possible, greatly improving implementation efficiency and maintenance efficiency.

[0130] Specifically, in this embodiment, through the consistency calibration of multiple cantilever AGVs, each cantilever AGV can not only share its own coordinate information data with other cantilever AGVs in the area, but also improve the data management of the cantilever AGV by the scheduling system.

[0131] The above embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A method for calibrating the consistency of multiple cantilever AGVs, characterized in that: include: S1: The LiDAR loads the SLAM map, calibrates the steering wheel of the first cantilever AGV, and obtains the left and right change measurement standards and angle change measurement standards of the touch screen during its straight-line movement; S2: The first cantilever AGV establishes a communication connection with the scheduling system, and performs attitude angle compensation, coordinate compensation, and mechanical parameter compensation according to the scheduling position to realize the position calibration of the laser radar, and records the above compensation values and coordinates; S3: The first cantilever AGV recognizes the line and feeds back the line angle, and performs angle compensation according to the line angle; measures the current position data through the laser radar, and records the line data and line angle at the position; S4: Calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standards, compensation values, line data, and line angles in steps S1-S3, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

2. The consistency calibration method of multiple cantilever AGVs according to claim 1 is characterized in that: Step S1 also includes: S11: sequentially labeling multiple cantilever AGVs, and determining the first cantilever AGV according to the label size; The steering wheel calibration includes: S12: Calibrate the steering wheel origin of the first cantilever AGV; S13: When the first cantilever AGV travels a specific distance from point A to point B in a straight line, the left and right offsets of the touch screen at points A and B are used as the left and right change measurement standard, and the angle difference of the touch screen at points A and B is used as the angle change measurement standard; S14: Performing in-situ rotation offset detection on the first cantilever AGV.

3. The consistency calibration method of multiple cantilever AGVs according to claim 2 is characterized in that: The determination of the left-right change measurement standard and the angle change measurement standard in step S13 includes: S131: Select two coordinate points in the allowed ambient occlusion value area as the coordinates of point A and point B respectively; S132: Set the orientation of the first cantilever AGV at point A to 0°, and record the current coordinates and angle values of the touch screen: (1Xa,1Ya,1Ta) Among them, (1Xa, 1Ya) is the left and right coordinate value of point A, and (1Ta) is the angular coordinate value of point A; Set the orientation of the first cantilever AGV at point B to 90°, and record the current coordinates and angle values of the touch screen: (2Xa,2Ya,2Ta) Among them, (2Xa, 2Ya) is the left and right coordinate value of point B, and (2Ta) is the angular coordinate value of point B; S133: The left-right variation measurement standard is: (2Xa-1Xa) < 10 mm and (2Ya-1Ya) < 10 mm; The angle change measurement standard is: (1Tb-2Tb) < 0.2°; Wherein, the specific distance is at least 2m.

4. The consistency calibration method of multiple cantilever AGVs according to claim 1 is characterized in that: The position calibration of the laser radar in step S2 includes: S21: Adjust the inclination angle of the front end of the cantilever of the first cantilever AGV so that the cantilever is parallel to the wall, and perform attitude angle compensation on the vehicle body according to the scheduling head direction of the vehicle body and its relative position with the cantilever; S22: Obtain the actual coordinates of the first cantilever AGV by using the laser radar ranging, and perform coordinate compensation according to the deviation between the actual coordinates and the coordinates of its dispatching position; S23: Perform mechanical parameter compensation according to the properties of the first cantilever AGV.

5. The consistency calibration method of multiple cantilever AGVs according to claim 4 is characterized in that: The line recognition and angle compensation in step S3 include: S31: Identify the line markings on the driving path and determine whether the angle of the line feedback needs to be compensated; S32: If the line angle is 0°, no angle compensation is required; if it is not 0°, the angle is compensated to 0°.

6. The consistency calibration method of multiple cantilever AGVs according to any one of claims 1 to 5, characterized in that: The calibration process for other cantilever AGVs in step S4 includes: S41: Setting the outer contour ground mark and motion center coordinate mark of the first cantilever AGV; S42: Place the other cantilever AGVs in the ground marks respectively, and calibrate the motion center coordinates of the other cantilever AGVs according to the measurement standard, compensation value, line data and line angle, and compensate the calibration to the motion center coordinates of the first cantilever AGV.

7. The method for calibrating consistency of multiple cantilever AGVs according to claim 6, characterized in that: In step S41, the deviation between the ground mark of the first cantilever AGV and its outer contour is less than 2 mm; In step S42, the deviation between the outer contours of the other cantilever AGVs and the ground marking of the first cantilever AGV is less than 3 mm.

8. The method for calibrating consistency of multiple cantilever AGVs according to claim 1, characterized in that: Also includes: S5: Set a docking pixel threshold and determine whether the offset of the camera data fed back by the cantilever camera of the cantilever AGV when docking is within the docking pixel threshold. If so, perform pixel compensation on the camera data; if not, adjust the cantilever camera platform and repeat step S5.

9. The method for calibrating consistency of multiple cantilever AGVs according to claim 8, characterized in that: Step S5 further includes: S51: Setting an identification code on a string rod of each cantilever AGV; S52, when the cantilever AGV is docked, the circular shaft head is simulated to feed back docking data and the cantilever camera thereof recognizes the identification code.

10. A method for docking multiple cantilever AGVs, characterized in that: include: S1: Calibrate all cantilever AGVs using the consistency calibration method for multiple cantilever AGVs according to any one of claims 1 to 9; S2: Multiple cantilever AGVs conduct simulated docking tests with reels and spindle heads; S3: Feedback the simulated docking data of each cantilever AGV to the touch screen and the industrial computer through the cantilever camera, and fine-tune the cantilever camera according to the offset of the docking data; S4: Set the parameters after consistency calibration and then proceed with the docking work.

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