An AGV laser radar calibration auxiliary detection system

Abstract

The present application relates to a kind of AGV laser radar calibration auxiliary detection systems, including two-axis motion platform, reflecting device and for controlling two-axis motion platform and reflecting device control device;On the ground of test site, set up containing pool, two-axis motion platform is installed in containing pool, camera is installed directly above containing pool;Reflecting device A, reflecting device B and reflecting device C are respectively arranged in the left front, front and right front of support plate.This scheme is controlled by sending inspection procedure AGV to be detected to automatically travel to two-axis motion platform;The position of AGV trolley is adjusted by controlling two-axis motion platform, so that the point in the laser radar of AGV trolley is aligned with the reference point of detection;System automatically identifies the model of AGV trolley and automatically adjusts the height of three groups of features accordingly, and automatically completes the verification and correction of laser radar.The system can greatly save the workload of manual operation, adjustment, significantly improve the calibration efficiency of laser radar.

Description

Technical Field

[0001] This invention relates to the field of testing and calibration technology, specifically to an AGV lidar calibration auxiliary testing system. Background Technology

[0002] As AGVs are used more and more widely in the field of modern warehousing and logistics, the accuracy requirements of their positioning and navigation technology are becoming increasingly important. The positioning and navigation accuracy is highly dependent on the pose accuracy of the sensors on the AGV, which requires high-precision measurement of the pose of the sensors on the AGV.

[0003] The traditional method involves designing fixed positioning holes on the AGV through mechanical design, and then mounting the LiDAR on these positioning holes. However, mechanical manufacturing has inherent errors, and tooling fit also contains errors. Therefore, sometimes after mounting the LiDAR on the AGV's positioning holes, the LiDAR's horizontal alignment may not meet requirements, meaning the LiDAR may exhibit roll and pitch angles. Therefore, each AGV requires manual calibration of its LiDAR before leaving the factory.

[0004] The existing calibration method is entirely manual. First, the AGV (Automated Guided Vehicle) is manually moved to the detection position. Then, at least three sets of feature objects are manually placed around the AGV. The positions of the feature objects must be adjusted according to the AGV's location to ensure that the distance between the three sets of feature objects and the LiDAR is the same. During the detection process, the height of the feature objects needs to be frequently adjusted manually to ensure that all feature objects appear within the LiDAR's field of view. This calibration method is labor-intensive and inefficient. Summary of the Invention

[0005] Based on the above description, the present invention provides an AGV lidar calibration auxiliary detection system to solve the defects of existing calibration methods that require frequent manual operation and adjustment.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: An AGV lidar calibration and auxiliary detection system includes a two-axis motion platform, a reflector, and a control device for controlling the two-axis motion platform and the reflector. The reflector has a height-adjustable triangular feature. A receiving pool is set up on the ground of the test site, and the two-axis motion platform is installed in the receiving pool. A camera is installed directly above the receiving pool, and the camera is electrically connected to the control device. Reference points are marked within the receiving pool, and the coordinates of these reference points in the captured image are calibrated. Reflector A, reflector B, and reflector C are installed at the left front, front, and right front of the support plate, respectively, so that the three sets of reflectors... The distance between the reference point and the support plate is equal; the inspection path of the AGV is marked behind the support plate, and the inspection path is used to guide the AGV to automatically drive to the support plate; the center point is marked on the center of the lidar top of each AGV to be inspected; when the AGV to be inspected drives to the two-axis motion platform, the camera takes an image of the AGV to be inspected and the support plate, the control device processes the image data to identify the model of the AGV and the position of the center point, the control device retrieves the design installation height H of the lidar corresponding to the model of the AGV, and then controls the reflection device to adjust the height of the feature to height H; The control device calculates the actual lateral and longitudinal distances between the center point and the reference point based on the coordinates of the center point, the coordinates of the reference point, and the actual length and width of the support plate. The control device then controls the two-axis motion platform to align the center point on the AGV with the reference point. Subsequently, the lidar of the AGV to be inspected rotates and scans three sets of features to obtain lidar point cloud data. The control device processes the lidar point cloud data and identifies the features in the point cloud data. Based on the identification, the height of the three sets of features is adjusted. When all three sets of features appear in the point cloud data, the pitch angle and roll angle of the lidar are calculated based on the height adjustment of the three sets of features.

[0007] As a preferred embodiment: the two-axis motion platform includes a base, a longitudinal slide above the base, and a transverse slide above the longitudinal slide; the support plate is fixed to the transverse slide; the upper surface of the base has a longitudinal guide rail, and the longitudinal slide is slidably connected to the longitudinal guide rail; the upper surface of the longitudinal slide has a transverse guide rail, and the transverse slide is slidably connected to the transverse guide rail; a guide plate is connected to one side of the support plate, and the guide plate is used to guide the AGV trolley onto the support plate; the two-axis motion platform also includes a first linear motor and a second linear motor; the first linear motor is longitudinally arranged, and a first connecting plate is provided on the side of the base; the housing of the first linear motor is fixed to the first connecting plate, and the output shaft of the first linear motor is connected to the longitudinal slide; the second linear motor is transversely arranged, and a second connecting plate is provided on the side of the longitudinal slide; the housing of the second linear motor is fixed to the second connecting plate, and the output shaft of the second linear motor is connected to the transverse slide.

[0008] As a preferred embodiment: the reflecting device includes a column, a connecting seat fixed to the lower end of the column, and a servo motor fixed to the upper end of the column; the connecting seat is used to fix the reflecting device to the ground; the column has a hollow structure, and a vertical lead screw is provided inside the column; the servo motor is inverted and its output shaft is coaxially connected to the upper end of the lead screw, and the lower end of the lead screw is rotatably connected to the lower end of the column; a slider is also provided inside the column, and the lead screw passes through the slider and is threadedly engaged with it; the outer wall of the slider contacts the inner wall of the column, and the feature is located in front of the slider and fixed to the slider.

[0009] As a preferred embodiment: the AGV vehicle body and the circumference of the lidar are marked with a uniformly distributed first positioning point, second positioning point and third positioning point. For each model of AGV vehicle, the color combination of the three sets of positioning points is unique; the control device identifies the model of the AGV vehicle by the three sets of positioning points and their color combinations.

[0010] As a preferred solution, the pitch and roll angles of the lidar are calculated as follows: Feature objects in the point cloud data are identified. If three features cannot be detected simultaneously, the lidar's level is unacceptable. The features are moved within ±100mm of the lidar's designed installation height until all three are visible. After adjustment, the heights of the three sets of features are recorded as H1, H2, and H3. The roll angle of the lidar at this point can then be calculated as arctan[(H2-H1) / D]. After roll angle adjustment, the heights of the three detection devices should be consistent, denoted as H4. At this point, the lidar... Three triangular markers should be detectable. Given that the radar's designed installation height is H, the detection height is H4. If H = H4, it means the radar is now completely level. If H is not equal to H4, it indicates that the radar installation still has an elevation angle, and the elevation angle is arctan[(H4-H) / L], where L represents the distance between the reflector and the reference point. At this point, the installer can obtain the adjustment direction and range of the elevation angle. After adjusting the elevation angle, adjust the height of the triangular markers on the detection device to H. The radar can then detect all three markers simultaneously, indicating that the radar installation is now at the correct level.

[0011] As a preferred embodiment: the control device includes a microprocessor module, and further includes an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module, and a power supply module connected to the microprocessor module; wherein the motion control module is used to control the first linear motor and the second linear motor, and the drive module is used to control the servo motor.

[0012] Compared with existing technologies, the technical solution of this application has the following beneficial technical effects: This solution designs a two-axis motion platform to support the AGV to be inspected, and a reflective device that allows the height of the feature objects to be automatically adjusted; the inspection procedure controls the AGV to be inspected to automatically drive onto the two-axis motion platform; image recognition positioning is used to locate the AGV on the two-axis motion platform, and then the position of the AGV is adjusted by controlling the two-axis motion platform to align the center point of the AGV's lidar with the detection reference point; the system automatically identifies the model of the AGV and retrieves the design installation height corresponding to the lidar of that model, and automatically adjusts the height of the three sets of feature objects accordingly, automatically completing the lidar calibration and correction. This system can significantly reduce the workload of manual operation and adjustment, and significantly improve the calibration efficiency of the lidar. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the two-axis motion platform in this embodiment; Figure 2 This is a schematic diagram of the reflective device in this embodiment; Figure 3This is a schematic diagram of the AGV vehicle in this embodiment; Figure 4 for Figure 3 Enlarged view of part E in the image; Figure 5 This is a schematic diagram of the system layout in this embodiment; Figure 6 This is a schematic diagram of the control device in this embodiment; Figure 7 This is a schematic diagram of the AGV trolley entering the two-axis motion platform in this embodiment; Figure 8 This is a schematic diagram of the center point and reference point in this embodiment; Figure 9 This is a schematic diagram of the two-axis motion platform after adjustment and alignment. Figure 10 This is a schematic diagram of height adjustment in this embodiment.

[0014] The attached diagram lists the components represented by each number as follows: 1. Two-axis motion platform; 101. Base; 102. Longitudinal guide rail; 103. Longitudinal slide table; 104. First connecting plate; 105. First linear motor; 106. Transverse guide rail; 107. Transverse slide table; 108. Second connecting plate; 109. Second linear motor; 110. Support plate; 111. Guide plate; 2. Reflecting device; 201. Column; 202. Connecting seat; 203. Servo motor; 204. Lead screw; 205. Slider; 206. Feature object; 3. AGV trolley; 301. Body; 302. LiDAR; 303. Center point; 304. First positioning point; 305. Second positioning point; 306. Third positioning point; 4. Ground; 5. Reception pool; 6. Reference point; 7. Inspection path; 8. Camera; 9. Mounting bracket. Detailed Implementation

[0015] An automatic tilt angle detection system for AGV lidar 302 includes a two-axis motion platform 1, a reflective device 2, and a control device.

[0016] Reference Figure 1The two-axis motion platform 1 includes a base 101, a longitudinal slide 103 located above the base 101, a transverse slide 107 located above the longitudinal slide 103, and a support plate 110 located above the transverse slide 107. The upper surface of the base 101 has a longitudinal guide rail 102, and the longitudinal slide 103 is slidably connected to the longitudinal guide rail 102, allowing the longitudinal slide 103 to slide back and forth along the longitudinal guide rail 102. The upper surface of the longitudinal slide 103 has a transverse guide rail 106, and the transverse slide 107 is slidably connected to the transverse guide rail 106, allowing the transverse slide 107 to slide back and forth along the transverse guide rail 106. The support plate 110 is fixed to the transverse slide 107, and a guide plate 111 is connected to one side of the support plate 110. The guide plate 111 is used to guide the AGV trolley 3 onto the support plate 110.

[0017] The two-axis motion platform 1 also includes a first linear motor 105 and a second linear motor 109. The first linear motor 105 is longitudinally positioned, with a first connecting plate 104 located on the side of the base 101. The housing of the first linear motor 105 is fixed to the first connecting plate 104, and the output shaft of the first linear motor 105 is connected to a longitudinal slide 103. By controlling the extension and retraction of the output shaft of the first linear motor 105, the longitudinal slide 103 can be driven to slide back and forth along the longitudinal guide rail 102. The second linear motor 109 is transversely positioned, with a second connecting plate 108 located on the side of the longitudinal slide 103. The housing of the second linear motor 109 is fixed to the second connecting plate 108, and the output shaft of the second linear motor 109 is connected to a transverse slide 107. By controlling the extension and retraction of the output shaft of the second linear motor 109, the transverse slide 107 can be driven to slide back and forth along the transverse guide rail 106.

[0018] Reference Figure 2 The reflector 2 includes a column 201, a connecting seat 202 fixed to the lower end of the column 201, and a servo motor 203 fixed to the upper end of the column 201. The connecting seat 202 is used to fix the reflector 2 to the ground 4. The column 201 has a hollow structure, and a vertical lead screw 204 is provided inside it. The servo motor 203 is inverted and its output shaft is coaxially connected to the upper end of the lead screw 204. The lower end of the lead screw 204 is rotatably connected to the lower end of the column 201. A slider 205 is also provided inside the column 201. The lead screw 204 passes through the slider 205 and is threaded into it. The outer wall of the slider 205 contacts the inner wall of the column 201, which can prevent the slider 205 from rotating with the lead screw 204. When the servo motor 203 drives the lead screw 204 to rotate, it can drive the slider 205 to slide up and down. The reflective device 2 also includes a triangular feature 206, which is located in front of and fixed to the slider 205, allowing the feature 206 to move up and down synchronously with the slider 205. The feature 206 is made of a highly reflective material.

[0019] Reference Figure 3 and Figure 4 A center point 303 is marked at the center of the top of the lidar 302 on the AGV 3. A first positioning point 304, a second positioning point 305, and a third positioning point 306 are evenly distributed on the body 301 of the AGV 3, surrounding the lidar 302. The center point 303 is the geometric center of the first positioning point 304, the second positioning point 305, and the third positioning point 306. The colors of the first positioning point 304, the second positioning point 305, and the third positioning point 306 on the body 301 are different for different models of the AGV 3; and the color combination of the three sets of positioning points is unique for each model of the AGV 3.

[0020] Reference Figure 5 The automatic detection system requires a receiving pool 5 to be set up on the ground 4 of the test site, and the two-axis motion platform 1 to be installed in the receiving pool 5 so that the support plate 110 is flush with the ground 4 and there is space between the edge of the support plate 110 and the four walls of the receiving pool 5.

[0021] In addition, a camera 8 needs to be installed directly above the receiving pool 5. The camera 8 is fixed to the ground 4 by a mounting bracket 9. The camera 8 is used to capture images of the two-axis motion platform 1.

[0022] It is also necessary to mark the reference point 6 within the receiving pool 5 and calibrate the coordinates of the reference point 6 in the captured image. Then, reflective devices 2A, 2B, and 2C are installed at the left front, front, and right front of the support plate 110, respectively, so that the distance L (i.e., the detection distance) between the three sets of reflective devices 2 and the reference point 6 is equal. The inspection path 7 of the AGV trolley 3 is marked behind the support plate 110. The inspection path 7 is used to guide the AGV trolley 3 to automatically travel onto the support plate 110.

[0023] Reference Figure 6 The control device in this embodiment includes a microprocessor module, as well as an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module, and a power supply module.

[0024] The image signal output terminal of camera 8 is connected to the input terminal of the image acquisition module, and the output terminal of the image acquisition module is connected to the data receiving terminal of the microprocessor module. The storage module is connected to the data read / write interface of the microprocessor module and is used to store image data and other data. The communication module is connected to the signal transceiver interface of the microprocessor module and is used for communication and data transmission between the control device and the cloud system or other devices. The human-machine interaction module is connected to the I / O port of the microprocessor module and is used to detect interactive operations between personnel and the control device.

[0025] The motion control module's signal receiving end is connected to the microprocessor module's control signal output end, and the motion control module's control signal output end is connected to the drive ends of the first linear motor 105 and the second linear motor 109 of the two-axis motion platform 1. The motion control module is used to control the motion direction and stroke of the first linear motor 105 and the second linear motor 109. The drive module's signal receiving end is connected to the microprocessor module's control signal output end, and the drive module's control signal output end is connected to the servo motor 203's drive end. The drive module is used to control the motion direction and stroke of the servo motor 203. The alarm module is connected to the microprocessor module's control signal output end, and the alarm module is used to emit audible and visual alarm signals. The power supply module is used to power the camera 8 and all other modules.

[0026] Since different models of AGV vehicles 3 have varying shapes and heights, and the LiDAR 302 is typically mounted on the top of the vehicle, it is necessary to calibrate the design installation height H of the LiDAR 302 for each different model of AGV vehicle 3. For example, the laser emission height when the pitch angle of the LiDAR 302 is zero can be defined as the standard height of the LiDAR 302. The data on the design installation height H of the LiDAR 302 for various models of AGV vehicles 3 are stored in the storage module.

[0027] Furthermore, due to the varying shapes and specifications of the AGVs 3, their final stopping positions on the support plate 110 will also differ. Before testing, it is necessary to ensure that the center point 303 of each AGV 3 is aligned with the reference point 6.

[0028] The working principle of this system is as follows: In the initial state, the height of the feature 206 of the three sets of reflective devices 2 is a uniform default height. An inspection program is written to each AGV trolley 3. The inspection program controls the AGV trolley 3 to be inspected to move from the starting point along the inspection path 7. After the AGV trolley 3 has traveled a certain distance, it will stop on the two-axis motion platform 1.

[0029] Figure 7 This is a schematic diagram of the AGV trolley 3 to be inspected stopping on the two-axis motion platform 1.

[0030] Next, camera 8 captures images of the AGV trolley 3 and support plate 110 to be inspected. The image acquisition device camera 8 outputs the image signal and sends the acquired image data to the microprocessor module, which processes the image data and stores it in the storage module.

[0031] The process by which the microprocessor module processes the image is as follows: The microprocessor module integrates an image recognition unit, a computing unit, and a data processing unit. The image recognition unit identifies the features and colors of the first positioning point 304, the second positioning point, and the third positioning point 306 in the image. The microprocessor module determines the model of the current AGV trolley 3 based on the identified points and their color combinations.

[0032] After the microprocessor module determines the model of the AGV 3 to be inspected, it retrieves the design installation height H of the laser radar 302 corresponding to that model of AGV 3. Then, the microprocessor module sends a control command to the drive module to control the servo motor 203 to rotate, thereby adjusting the height of the feature 206 to height H.

[0033] Reference Figure 8 The image recognition unit identifies and locates the center point 303 in the image. After identifying the center point 303 and its coordinates in the image, the calculation unit calculates the difference in the horizontal coordinate and the difference in the vertical coordinate between the center point 303 and the reference point 6 based on the coordinates of the center point 303 and the reference point 6. The calculation unit then calculates the actual horizontal distance and vertical distance between the center point 303 and the reference point 6 based on the actual length and width of the support plate 110 and the aforementioned difference in the horizontal and vertical coordinates.

[0034] The calculated longitudinal and lateral distances are the control strokes of the first linear motor 105 and the second linear motor 109, respectively. The microprocessor module sends a command to the motion control module to control the first linear motor 105 and the second linear motor 109 to drive the longitudinal slide 103 and the lateral slide 107 to slide the required strokes, at which point the center point 303 on the AGV trolley 3 is aligned with the reference point 6.

[0035] Figure 9 This is a schematic diagram showing the alignment of the center point 303 with the reference point 6 after the two-axis motion platform 1 has moved.

[0036] Subsequently, the lidar 302 of the AGV trolley 3 under inspection can rotate and scan three sets of feature objects 206 at a zero-degree tilt angle to obtain laser point cloud data.

[0037] The data processing unit of the microprocessor module processes the laser point cloud data and extracts the point cloud with a reflectivity greater than 70% from the radar point cloud data. If it contains three triangles, it means that the radar elevation angle and roll angle meet the requirements.

[0038] If all three features 206 cannot be detected simultaneously, it indicates that the level of the lidar 302 is unqualified. In this case, the microprocessor module controls the alarm module to issue an abnormal alarm signal, reminding the installer to perform installation and calibration of the lidar 302. At the same time, the microprocessor module sends abnormal alarm information to external devices or cloud platforms through the communication module.

[0039] Since the reflectors 2 are arranged in sequence in the radar field of view, it is only necessary to adjust the height of the feature 206 that is not detected. By controlling the movement of the feature 206 within ±100mm of the designed installation height of the lidar 302, the three markers can be seen.

[0040] Reference Figure 10 After adjustment, the heights of the three sets of feature objects 206 are recorded as H1, H2, and H3, respectively. Since radar scanning is a plane, the centers of the three detection device triangles can necessarily be connected by a straight line. Figure 10 As shown, D is the horizontal distance between the reflectors. The radar's roll angle at this point can be calculated as arctan[(H2-H1) / D]. At this time, the installer can obtain the adjustment direction and range of the roll angle.

[0041] After completing the roll angle adjustment, the three detection devices should be at the same height, denoted as H4. At this point, the radar should be able to detect the three triangular markers. Given that the radar's designed installation height is H, and the current detection height is H4, if H = H4, it means the radar is now completely horizontal. If H is not equal to H4, it indicates that the radar installation still has an elevation angle. The elevation angle is arctan[(H4-H) / L], and the distance L between reflector 2 and reference point 6 is given. At this point, the installer can obtain the direction and range of elevation angle adjustment.

[0042] After adjusting the pitch angle, the height of the triangular feature 206 on the detection device is adjusted to H. The radar can detect three features 206 at the same time, which means that the radar installation level is qualified. At this time, the microprocessor module controls the alarm module to issue a normal prompt signal.

[0043] After the inspection is completed, the AGV trolley 3 moves away from the support plate 110 along the original path. The microprocessor module sends instructions to the drive module and the motion control module, causing the motion control module to control the two-axis motion platform 1 to reset, and causing the drive module to control the three sets of features 206 to return to the default height.

[0044] Then the next AGV travels along inspection path 7 to the two-axis motion platform 1, and the above steps are repeated. I will not go into details again! The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An AGV lidar calibration-assisted detection system, characterized in that: The system includes a two-axis motion platform, a reflector, and a control device for controlling the two-axis motion platform and the reflector. The reflector has a height-adjustable triangular feature. A receiving pool is set up on the ground of the test site, and the two-axis motion platform is installed in the receiving pool. A camera is installed directly above the receiving pool, and the camera is electrically connected to the control device. A reference point is marked in the receiving pool, and the coordinates of the reference point in the captured image are calibrated. Reflector A, reflector B, and reflector C are installed at the left front, front, and right front of the support plate, respectively, with the distance between the three sets of reflectors and the reference point being... Equal; the inspection path of the AGV is marked behind the support plate, and the inspection path is used to guide the AGV to drive automatically to the support plate; the center point is marked on the center of the lidar of each AGV to be inspected; when the AGV to be inspected drives to the two-axis motion platform, the camera takes an image of the AGV to be inspected and the support plate, the control device processes the image data to identify the model of the AGV and the position of the center point, the control device retrieves the design installation height H of the lidar corresponding to the model of the AGV, and then controls the reflection device to adjust the height of the feature to height H; The control device calculates the actual lateral and longitudinal distances between the center point and the reference point based on the coordinates of the center point, the coordinates of the reference point, and the actual length and width of the support plate. The control device then controls the two-axis motion platform to align the center point on the AGV with the reference point. Subsequently, the lidar of the AGV to be inspected rotates and scans three sets of features to obtain lidar point cloud data. The control device processes the lidar point cloud data and identifies the features in the point cloud data. Based on the identification, the height of the three sets of features is adjusted. When all three sets of features appear in the point cloud data, the pitch angle and roll angle of the lidar are calculated based on the height adjustment of the three sets of features.

2. The AGV lidar calibration-assisted detection system according to claim 1, characterized in that: The two-axis motion platform includes a base, a longitudinal slide above the base, and a transverse slide above the longitudinal slide. A support plate is fixed to the transverse slide. The upper surface of the base has a longitudinal guide rail, and the longitudinal slide is slidably connected to the longitudinal guide rail. The upper surface of the longitudinal slide has a transverse guide rail, and the transverse slide is slidably connected to the transverse guide rail. A guide plate is connected to one side of the support plate, used to guide the AGV trolley onto the support plate. The two-axis motion platform also includes a first linear motor and a second linear motor. The first linear motor is longitudinally positioned, with a first connecting plate on the side of the base. The housing of the first linear motor is fixed to the first connecting plate, and the output shaft of the first linear motor is connected to the longitudinal slide. The second linear motor is transversely positioned, with a second connecting plate on the side of the longitudinal slide. The housing of the second linear motor is fixed to the second connecting plate, and the output shaft of the second linear motor is connected to the transverse slide.

3. The AGV lidar calibration and auxiliary detection system according to claim 2, characterized in that: The reflecting device includes a column, a connecting seat fixed to the lower end of the column, and a servo motor fixed to the upper end of the column. The connecting seat is used to fix the reflecting device to the ground. The column has a hollow structure with a vertical lead screw inside. The servo motor is inverted and its output shaft is coaxially connected to the upper end of the lead screw. The lower end of the lead screw is rotatably connected to the lower end of the column. A slider is also provided inside the column. The lead screw passes through the slider and is threaded into it. The outer wall of the slider contacts the inner wall of the column. The feature is located in front of the slider and fixed to it.

4. The AGV lidar calibration and auxiliary detection system according to claim 1, characterized in that: The AGV has three evenly distributed positioning points: a first positioning point, a second positioning point, and a third positioning point, marked on its body and around the circumference of the lidar. The color combination of the three positioning points is unique for each AGV model. The control device identifies the AGV model by the three positioning points and their color combinations.

5. The AGV lidar calibration and auxiliary detection system according to claim 1, characterized in that, The calculation of the lidar's pitch and roll angles is as follows: Feature objects in the point cloud data are identified. If three features cannot be detected simultaneously, the lidar's level is unacceptable. The features are moved within ±100mm of the lidar's designed installation height until all three are visible. After adjustment, the heights of the three sets of features are recorded as H1, H2, and H3. The lidar's roll angle at this point is calculated as arctan[(H2-H1) / D]. After roll angle adjustment, the three detection devices are at the same height, recorded as H4. At this point, the lidar can detect... Three triangular markers are located. The radar's designed installation height is H, and the current detection height is H4. If H = H4, it means the radar is now completely level. If H is not equal to H4, it means the radar installation still has an elevation angle, and the elevation angle is arctan[(H4-H) / L], where L represents the distance between the reflector and the reference point. At this point, the installer can obtain the adjustment direction and range of the elevation angle. After adjusting the elevation angle, the height of the triangular markers on the detection device is adjusted to H. The radar can detect all three markers simultaneously, indicating that the radar installation is now at the correct level.

6. The AGV lidar calibration auxiliary detection system according to claim 3, characterized in that: The control device includes a microprocessor module, and further includes an image acquisition module, a storage module, a communication module, a human-computer interaction module, a motion control module, a drive module, an alarm module, and a power supply module connected to the microprocessor module; wherein the motion control module is used to control the first linear motor and the second linear motor, and the drive module is used to control the servo motor.

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