AGV vehicle driving wheel neutral position detection method and device and driving control system

Abstract

The invention discloses an AGV vehicle driving wheel neutral position detection method and device and a driving control system. The method comprises the steps that a vehicle is controlled to be started; in the power-on process of the vehicle, rotation of a steering motor is controlled, and a detection signal output after the detection sensor detects the position of the detected component is obtained; the detected part is driven by the steering motor to rotate; after it is detected that the detection signal jumps, the steering motor is controlled to stop rotating, and a steering electric signal of the driving wheel is obtained; and comparing the stored driving wheel neutral position calibration electric signal with the steering electric signal, when a difference value is within a preset range, keeping the driving wheel neutral position calibration electric signal unchanged, otherwise, updating the driving wheel neutral position calibration electric signal as the steering electric signal. According to the invention, the calibration difficulty is reduced, the calibration time is shortened, the calibration precision is improved, and accurate control of linear driving and steering of the AGV is finally realized.

Description

Technical Field

[0001] This application relates to the field of AGV vehicle technology, and in particular to an AGV vehicle drive wheel center position detection method, device and driving control system. Background Technology

[0002] With the rapid development of intelligent logistics systems, driverless AGVs (Automated Guided Vehicles) are becoming increasingly widely used as intelligent logistics tools, and the market demands higher and higher control precision from AGVs. Improving AGV control precision at the lowest cost and fastest speed has become crucial for enhancing enterprise competitiveness.

[0003] Unmanned AGV warehouse vehicles have high requirements for straight-line driving and turning angle control. Whether the drive wheels are truly in the center position after steering calibration, and whether the center position of the drive wheels will deviate as the running time increases, are crucial to whether the vehicle can achieve the above functions.

[0004] The existing method for calibrating the center position of the drive wheels mainly involves first visually observing whether the drive wheels are in the center position, and then repeatedly driving in a straight line to fine-tune the drive wheels to ensure that the drive wheels are in the center position as much as possible. This method not only involves a large amount of repeated fine-tuning work and is time-consuming, but the entire process is based on visual observation and judgment, which is highly subjective and makes it difficult to achieve true centering.

[0005] Furthermore, due to gear backlash in the transmission system, the positional error caused by the backlash increases with the vehicle's operating time. This manifests as a situation where the vehicle veers off course during straight-line driving after a vehicle restart, making it unable to meet the customer's steering control precision requirements.

[0006] A precise steering control method for heavy-duty AGVs (application publication number CN115230805A) discloses a control method for an electro-hydraulic steering system. By designing a tracking controller and an anti-interference controller in the steering controller, the control error caused by time delay and load interference is suppressed, thereby ensuring the tracking accuracy of the vehicle's turning angle. However, it does not mention solutions for control errors caused by the steering system's own structure. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a method, device, and driving control system for detecting the center position of the drive wheels of an AGV vehicle. Based on a drive wheel center position detection sensor, the method reduces calibration difficulty and shortens calibration time while improving steering calibration accuracy, ultimately achieving precise control of the AGV vehicle's straight-line driving and steering.

[0008] The present invention adopts the following technical solution:

[0009] On the one hand, a method for detecting the center position of the drive wheels of an AGV vehicle includes:

[0010] Control the vehicle to start;

[0011] During vehicle power-on, the rotation of the steering motor is controlled and the detection signal output by the detection sensor after position detection of the detected component is acquired; the detected component rotates under the drive of the steering motor.

[0012] After detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired;

[0013] The stored drive wheel center position calibration electrical signal is compared with the steering electrical signal. If the difference is within the preset range, the drive wheel center position calibration electrical signal remains unchanged; otherwise, the drive wheel center position calibration electrical signal is updated to the steering electrical signal.

[0014] Preferably, after detecting a change in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including:

[0015] The steering motor is controlled to rotate. When the detection signal changes from a first level signal to a second level signal or from a second level signal to a first level signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheel is acquired.

[0016] Preferably, after detecting a change in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including:

[0017] The steering motor is controlled to rotate counterclockwise. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel; when the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel.

[0018] or,

[0019] The steering motor is controlled to rotate clockwise. When the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel.

[0020] Preferably, the initially stored drive wheel center calibration electrical signal is the calibration electrical signal obtained by adjusting the steering calibration tool and / or handle after the steering component is first assembled or replaced.

[0021] On the other hand, an AGV vehicle drive wheel center position detection device includes:

[0022] Drive wheel;

[0023] The motor gear assembly rotates, driving the drive wheel to rotate.

[0024] The steering motor rotates, driving the motor gear assembly to rotate as it rotates.

[0025] The component being tested is fixed above the motor gear assembly and rotates with the motor gear assembly;

[0026] A detection sensor is positioned above the component being detected to detect its position and output a detection signal.

[0027] A potentiometer, fixed on the motor gear assembly, outputs a direction-direction electrical signal;

[0028] The steering controller controls the rotation of the steering motor and acquires the detection signal output by the detection sensor during vehicle power-on. After detecting a jump in the detection signal, it controls the steering motor to stop rotating and acquires the steering electrical signal output by the potentiometer. It compares the stored drive wheel center calibration electrical signal with the steering electrical signal. When the difference is within a preset range, it keeps the drive wheel center calibration electrical signal unchanged; otherwise, it updates the drive wheel center calibration electrical signal to the steering electrical signal.

[0029] Preferably, the AGV vehicle drive wheel center position detection device further includes: a mounting plate; the steering motor is fixed to the vehicle frame via the mounting plate; and the detection sensor is fixed to the mounting plate.

[0030] Preferably, the motor gear assembly includes a steering gearbox and a steering ring gear; the pinion of the steering gearbox meshes with the steering ring gear.

[0031] Preferably, the component being tested is fixed above the steering gear ring; the potentiometer is fixed on the steering gearbox.

[0032] Preferably, the component being detected is an arc-shaped sensing block, an arc-shaped sensing strip, or an arc-shaped reflector; the detection sensor includes a capacitive proximity sensor, an inductive proximity sensor, or an optical proximity sensor.

[0033] On another front, an AGV vehicle driving control system includes:

[0034] Drive motor;

[0035] Drive wheel;

[0036] The motor gear assembly rotates, driving the drive wheel to rotate.

[0037] The steering motor rotates, driving the motor gear assembly to rotate as it rotates.

[0038] Motor gear assembly: The rotation of the steering motor drives the rotation of the motor gear assembly.

[0039] The drive wheel is driven to rotate when the motor gear assembly rotates.

[0040] The component being tested is fixed above the motor gear assembly and rotates with the motor gear assembly;

[0041] A detection sensor is positioned above the component being detected to detect its position and output a detection signal.

[0042] A potentiometer, fixed on the motor gear assembly, outputs a direction-direction electrical signal;

[0043] The steering controller, during vehicle power-on, controls the rotation of the steering motor and acquires the detection signal output by the detection sensor; upon detecting a change in the detection signal, it controls the steering motor to stop rotating and acquires the steering electrical signal output by the potentiometer; it compares the pre-stored drive wheel center position calibration electrical signal with the steering electrical signal; when the difference is within a preset range, it keeps the drive wheel center position calibration electrical signal unchanged; otherwise, it assigns the drive wheel center position calibration electrical signal as the steering electrical signal; based on the drive wheel center position calibration electrical signal, it controls the drive motor to move when a straight-line driving command is received, or controls the steering motor to move when a steering command is received.

[0044] The present invention has the following beneficial effects:

[0045] (1) To meet the high-precision control requirements of existing AGV vehicles and achieve straight-line driving and precise steering, calibration engineers need to spend a lot of time fine-tuning the wheel center position calibration. This invention adds a drive wheel center position detection sensor, eliminating the need for repeated fine-tuning, which can greatly reduce the calibration difficulty, shorten the calibration time and save manpower costs. Moreover, by finding the physical center position of the drive wheel through the detection sensor rather than through human observation, the steering calibration accuracy is greatly improved.

[0046] (2) The present invention compares the initial calibrated center position electrical signal (voltage value) with the electrical signal of the physical center position of the drive wheel corresponding to the drive wheel detection sensor, thereby correcting the center position of the drive wheel to compensate for the position deviation caused by the vehicle transmission system and gear backlash, thereby achieving precise control of the AGV vehicle's straight-line driving and steering.

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Attached Figure Description

[0048] Figure 1 This is a flowchart of the AGV vehicle drive wheel center position detection method according to an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the AGV vehicle drive wheel center position detection device according to an embodiment of the present invention;

[0050] Figure 3 This is a control flowchart of the steering controller of the AGV vehicle according to an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the driving control system of an AGV vehicle according to an embodiment of the present invention. Detailed Implementation

[0052] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0053] In the description of this invention, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0054] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed", "equipped", "sleeved / connected", "connected", etc., should be interpreted broadly. For example, "connection" 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 a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this invention can be understood according to the specific circumstances.

[0056] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the step identifiers S101, S102, S103, etc. are used only for convenience of description and do not indicate the execution order. The corresponding execution order can be adjusted.

[0057] See Figure 1 As shown, the present invention provides a method for detecting the center position of the drive wheels of an AGV vehicle, comprising:

[0058] S101, controls vehicle start-up;

[0059] S102, during the vehicle power-on process, the rotation of the steering motor is controlled and the detection signal output by the detection sensor after the detection sensor performs position detection on the detected component is acquired; the detected component rotates under the drive of the steering motor;

[0060] S103, after detecting a jump in the detection signal, controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel;

[0061] S104. Compare the stored drive wheel center position calibration electrical signal with the steering electrical signal. If the difference is within a preset range, keep the drive wheel center position calibration electrical signal unchanged; otherwise, update the drive wheel center position calibration electrical signal to the steering electrical signal.

[0062] In one embodiment, after detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including:

[0063] The steering motor is controlled to rotate. When the detection signal changes from a first level signal to a second level signal or from a second level signal to a first level signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheel is acquired.

[0064] In another embodiment, after detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including:

[0065] The steering motor is controlled to rotate counterclockwise. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel; when the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel.

[0066] or,

[0067] The steering motor is controlled to rotate clockwise. When the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel.

[0068] Furthermore, the initial stored drive wheel center calibration electrical signal is the calibration electrical signal obtained by adjusting the steering calibration tool and / or handle after the steering component is first assembled or replaced.

[0069] It should be noted that the median can be a 0° position or other custom angle positions, which can be set according to the specific needs. This embodiment does not impose any restrictions.

[0070] See Figure 2 As shown, the present invention also discloses an AGV vehicle drive wheel center position detection device, which realizes the above-mentioned AGV vehicle drive wheel center position detection method through a steering controller, specifically including:

[0071] Drive wheel 4;

[0072] The motor gear assembly drives the drive wheel 4 to rotate when it rotates.

[0073] Steering motor 9, when rotating, drives the motor gear assembly to rotate;

[0074] The component being tested, 5, is fixed above the motor gear assembly and rotates with the motor gear assembly;

[0075] The detection sensor 6 is positioned above the component 5 being detected and is used to detect the position of the component 5 being detected and output a detection signal.

[0076] Potentiometer 8 is fixed on the motor gear assembly and outputs a steering electrical signal;

[0077] During vehicle power-on, the steering controller 10 controls the rotation of the steering motor 9 and acquires the detection signal output by the detection sensor 6; after detecting a jump in the detection signal, it controls the steering motor 9 to stop rotating and acquires the steering electrical signal output by the potentiometer 8; it compares the stored drive wheel center calibration electrical signal with the steering electrical signal, and when the difference is within a preset range, it keeps the drive wheel center calibration electrical signal unchanged; otherwise, it updates the drive wheel center calibration electrical signal to the steering electrical signal.

[0078] It should be noted that when the drive wheel is in the center position, the detected component 5 is located directly below the detection sensor 6, and one side is aligned with the center of the sensor.

[0079] Furthermore, the AGV vehicle drive wheel center position detection device also includes: mounting plate 2.

[0080] The motor gear assembly includes a steering gearbox 7 and a steering ring gear 3; the pinion of the steering gearbox 7 meshes with the steering ring gear 3. The detected component 5 is fixed above the steering ring gear 3; the potentiometer 8 is fixed on the steering gearbox 7. The detected component 5 is an arc-shaped sensing block, an arc-shaped sensing strip, or an arc-shaped reflector. The detection sensor 6 includes a capacitive proximity sensor, an inductive proximity sensor, or an optical proximity sensor.

[0081] In this embodiment, the steering motor 9 is fixed to the vehicle frame by the mounting plate 2, the pinion of the steering gearbox 7 meshes with the steering ring gear 3, the detected component 5 is fixed on the steering ring gear 3, the detection sensor 6 is fixed on the mounting plate 2, and the rotation of the steering motor 9 drives the steering ring gear 3 to rotate, which in turn drives the drive wheel 4 to rotate.

[0082] In one embodiment, after detecting a jump in the detection signal, the steering motor 9 is controlled to stop rotating, and the steering electrical signal output by the potentiometer 8 is acquired, specifically including:

[0083] The steering motor 9 is controlled to rotate. When the detection signal changes from a first level signal to a second level signal or from a second level signal to a first level signal, the steering motor 9 is controlled to stop rotating, and the steering electrical signal output by the potentiometer 8 is acquired.

[0084] When the detection signal changes direction during rotation, it indicates that the drive wheel has been positioned correctly, and rotation can be stopped. The first level signal can be a high-level signal, and the second level signal corresponds to a low-level signal. It is understood that the first level signal can also be a low-level signal, and the second level signal corresponds to a high-level signal. The specific settings are determined as needed, and this embodiment does not impose any limitations.

[0085] In another embodiment, after detecting a jump in the detection signal, the steering motor 9 is controlled to stop rotating, and the steering electrical signal output by the potentiometer 8 is acquired, specifically including:

[0086] The steering motor is controlled to rotate counterclockwise. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel; when the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel.

[0087] or,

[0088] The steering motor is controlled to rotate clockwise. When the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel.

[0089] The reason for performing two detections is to prevent inaccurate detections caused by detecting a change in the level signal when the component being detected is initially located to the left of the detection sensor and the steering motor rotates counterclockwise, or when the component being detected is initially located to the right of the detection sensor and the steering motor rotates clockwise.

[0090] Furthermore, the initial stored drive wheel 0° position calibration electrical signal is the calibration electrical signal obtained by adjusting the steering calibration tool and handle after the steering component is first assembled or replaced.

[0091] Based on the aforementioned drive wheel center position detection device, the process of calibrating the drive wheel center position will be explained in detail below, taking the center position as 0° as an example.

[0092] For the first assembly of steering components or replacement of steering-related components, steering calibration must be performed first.

[0093] Step 11: Power on the AGV vehicle.

[0094] Step 12, manually calibrate the 0° position of drive wheel 4, as follows:

[0095] Open the steering calibration tool and observe whether the drive wheel 4 is at the 0° position. If it is, complete the manual drive wheel 0° calibration and the steering controller 10 records the current actual value feedback voltage V1. If not, turn the rudder (handle) until the drive wheel 4 is observed to be at the 0° position to complete the calibration and the steering controller 10 records the voltage V1 currently fed back by the potentiometer 8.

[0096] Step 13: The software detects the 0° position of the drive wheels, as detailed below:

[0097] Steering controller 10 controls the rotary motor to rotate slowly and detects the 0° position via detection sensor 6. Taking an inductive proximity switch as an example, when the sensing strip is not within the sensor's detection range, the proximity switch outputs a high level (e.g., 24V) to steering controller 10. Steering controller 10 drives steering motor 9 to rotate slowly counterclockwise. When the detected component is initially located to the right of the detection sensor, steering controller 10 detects the first change in the level signal from the first signal to the second signal, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel. When the detected component is initially located to the left of the detection sensor, steering controller 10 controls the steering motor to stop rotating when the first signal changes to the second signal, and steering controller 10 records the current feedback voltage V2 of potentiometer 8.

[0098] Step 14, the steering controller 10 determines: if |V1-V2|<δ, then the voltage representing the 0° position in the calibration program remains unchanged at V1; if |V1-V2|>δ, then the voltage representing the 0° position in the calibration program is replaced by the value of V2, that is, the value of V2 is assigned to V1.

[0099] The above completes the calibration of steering drive wheel 4. For detailed procedures, please refer to [link / reference needed]. Figure 3 As shown.

[0100] Furthermore, in order to compensate for the positional deviation caused by the vehicle transmission system and gear backlash, and to achieve precise control of the AGV vehicle's straight-line driving and steering, it is necessary to continue to compare the previously calibrated 0° position voltage value with the voltage value of the physical 0° position of the drive wheel 4 corresponding to the drive wheel 4 detection sensor 6 after the current power-on during normal vehicle operation, so as to correct the 40° position of the drive wheel, as follows.

[0101] Normal vehicle operating conditions:

[0102] Step 21: Power on the vehicle.

[0103] Step 21: Steering controller 10 reads the current calibration voltage V1.

[0104] S23, the steering controller 10 controls the motor to rotate slowly, the detection sensor detects the 0° position, and reads the voltage V2 currently output by the potentiometer 8 (see S103 for details).

[0105] S24, Steering controller 10 determines: if |V1-V2|<δ, the voltage representing the 0° position in the calibration program remains unchanged at V1; if |V1-V2|>δ, the voltage representing the 0° position in the calibration program is replaced by the value of V2 to eliminate the accumulation of errors caused by gear backlash and system assembly errors, so as to solve the problem of loss of straight-line driving accuracy of AGV vehicles after a certain power-on in actual use.

[0106] See Figure 4 As shown, based on the above-mentioned AGV vehicle drive wheel center position detection device, this embodiment also discloses an AGV vehicle driving control system, including:

[0107] Drive motor 1;

[0108] Drive wheel 4;

[0109] The motor gear assembly drives the drive wheel 4 to rotate when it rotates.

[0110] Steering motor 9, when rotating, drives the motor gear assembly to rotate;

[0111] The motor gear assembly is driven to rotate by the rotation of the steering motor 9.

[0112] Drive wheel 4 is driven to rotate when the motor gear assembly rotates.

[0113] The component being tested, 5, is fixed above the motor gear assembly and rotates with the motor gear assembly;

[0114] The detection sensor 6 is positioned above the component 5 being detected and is used to detect the position of the component 5 being detected and output a detection signal.

[0115] Potentiometer 8 is fixed on the motor gear assembly and outputs a steering electrical signal;

[0116] During vehicle power-on, the steering controller 10 controls the rotation of the steering motor 9 and acquires the detection signal output by the detection sensor 6. After detecting a jump in the detection signal, it controls the steering motor 9 to stop rotating and acquires the steering electrical signal output by the potentiometer 8. It compares the pre-stored drive wheel center calibration electrical signal with the steering electrical signal. When the difference is within a preset range, it keeps the drive wheel center calibration electrical signal unchanged; otherwise, it assigns the drive wheel center calibration electrical signal as the steering electrical signal. Based on the drive wheel center calibration electrical signal, it controls the drive motor 1 to move when a straight-line driving command is received, or controls the steering motor 9 to move when a steering command is received.

[0117] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A method for detecting the center position of the drive wheels of an AGV vehicle, characterized in that, include: Control the vehicle to start; During vehicle power-on, the rotation of the steering motor is controlled and the detection signal output by the detection sensor after position detection of the detected component is acquired; the detected component rotates under the drive of the steering motor. After detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired; The stored drive wheel center position calibration electrical signal is compared with the steering electrical signal. When the difference is within the preset range, the drive wheel center position calibration electrical signal remains unchanged; otherwise, the drive wheel center position calibration electrical signal is updated to the steering electrical signal.

2. The AGV vehicle drive wheel center position detection method according to claim 1, characterized in that, After detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including: The steering motor is controlled to rotate. When the detection signal changes from a first level signal to a second level signal or from a second level signal to a first level signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheel is acquired.

3. The AGV vehicle drive wheel center position detection method according to claim 1, characterized in that, After detecting a jump in the detection signal, the steering motor is controlled to stop rotating, and the steering electrical signal of the drive wheels is acquired, specifically including: The steering motor is controlled to rotate counterclockwise. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel; when the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, controls the steering motor to stop rotating, and acquires the steering electrical signal of the drive wheel. or, The steering motor is controlled to rotate clockwise. When the detected component is initially located to the left of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the first time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel. When the detected component is initially located to the right of the detection sensor, the steering controller detects the change of the level signal from the first signal to the second signal for the second time, and controls the steering motor to stop rotating and acquires the steering electrical signal of the drive wheel.

4. The AGV vehicle drive wheel center position detection method according to claim 1, characterized in that, The initial stored drive wheel center calibration electrical signal is the calibration electrical signal obtained by adjusting the steering calibration tool and / or handle after the steering component is first assembled or replaced.

5. A device for detecting the center position of the drive wheels of an AGV vehicle, characterized in that, include: Drive wheel; The motor gear assembly rotates, driving the drive wheel to rotate. The steering motor rotates, driving the motor gear assembly to rotate as it rotates. The component being tested is fixed above the motor gear assembly and rotates with the motor gear assembly; A detection sensor is positioned above the component being detected to detect its position and output a detection signal. A potentiometer, fixed on the motor gear assembly, outputs a direction-direction electrical signal; The steering controller controls the rotation of the steering motor and acquires the detection signal output by the detection sensor during vehicle power-on. After detecting a jump in the detection signal, it controls the steering motor to stop rotating and acquires the steering electrical signal output by the potentiometer. It compares the stored drive wheel center calibration electrical signal with the steering electrical signal. When the difference is within a preset range, it keeps the drive wheel center calibration electrical signal unchanged; otherwise, it updates the drive wheel center calibration electrical signal to the steering electrical signal.

6. The AGV vehicle drive wheel center position detection device according to claim 5, characterized in that, Also includes: Mounting plate; the steering motor is fixed to the vehicle frame via the mounting plate; the detection sensor is fixed to the mounting plate.

7. The AGV vehicle drive wheel center position detection device according to claim 5, characterized in that, The motor gear assembly includes a steering gearbox and a steering ring gear; the pinion of the steering gearbox meshes with the steering ring gear.

8. The AGV vehicle drive wheel center position detection device according to claim 7, characterized in that, The component being tested is fixed above the steering gear ring; the potentiometer is fixed on the steering gearbox.

9. The AGV vehicle drive wheel center position detection device according to claim 5, characterized in that, The component being detected is an arc-shaped sensing block, an arc-shaped sensing strip, or an arc-shaped reflector; the detection sensor includes a capacitive proximity sensor, an inductive proximity sensor, or an optical proximity sensor.

10. An AGV vehicle driving control system, characterized in that, include: Drive motor; Drive wheel; The motor gear assembly rotates, driving the drive wheel to rotate. The steering motor rotates, driving the motor gear assembly to rotate as it rotates. Motor gear assembly: The rotation of the steering motor drives the rotation of the motor gear assembly. The drive wheel is driven to rotate when the motor gear assembly rotates. The component being tested is fixed above the motor gear assembly and rotates with the motor gear assembly; A detection sensor is positioned above the component being detected to detect its position and output a detection signal. A potentiometer, fixed on the motor gear assembly, outputs a direction-direction electrical signal; The steering controller, during vehicle power-on, controls the rotation of the steering motor and acquires the detection signal output by the detection sensor; upon detecting a change in the detection signal, it controls the steering motor to stop rotating and acquires the steering electrical signal output by the potentiometer; it compares the pre-stored drive wheel center position calibration electrical signal with the steering electrical signal; when the difference is within a preset range, it keeps the drive wheel center position calibration electrical signal unchanged; otherwise, it assigns the drive wheel center position calibration electrical signal as the steering electrical signal; based on the drive wheel center position calibration electrical signal, it controls the drive motor to move when a straight-line driving command is received, or controls the steering motor to move when a steering command is received.

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