CN117555356A

CN117555356A - Two-drive AGV calibration method, system, electronic equipment and storage medium

Info

Publication number: CN117555356A
Application number: CN202311506486.1A
Authority: CN
Inventors: 胡昌浩; 章鹏; 王志杰; 周业超; 李军; 王启龙; 朱展超
Original assignee: Zhejiang Hangcha Intelligent Technology Co ltd; Hangcha Group Co Ltd
Current assignee: Zhejiang Hangcha Intelligent Technology Co ltd; Hangcha Group Co Ltd
Priority date: 2023-11-13
Filing date: 2023-11-13
Publication date: 2024-02-13

Abstract

The invention discloses a two-drive AGV calibration method, a system, electronic equipment and a storage medium, which relate to the field of transportation, and are characterized in that whether the actual running track of an AGV is consistent with an ideal running track corresponding to a preset running mode is judged through a detection module arranged on the AGV, when the running of the AGV is deviated, a first conversion coefficient and/or a second conversion coefficient are adjusted until the AGV does not deviate in the running process, and the adjusted first conversion coefficient and second conversion coefficient are stored so as to facilitate the subsequent application of the AGV, so that the synchronization adjustment of a left wheel and a right wheel of the AGV is realized; the whole process is automatically completed through the controller of the AGV, automatic calibration of the AGV is achieved, manual calibration is not needed, the precision of the calibration process is improved, the accuracy and the reliability of the operation process of the AGV are guaranteed, the whole control mode is simple, and the adopted device can directly reuse the self structure of the AGV, so that the AGV is convenient to popularize and widely apply.

Description

Two-drive AGV calibration method, system, electronic equipment and storage medium

Technical Field

The invention relates to the field of transportation, in particular to a two-drive AGV calibration method, a system, electronic equipment and a storage medium.

Background

AGVs (Automated Guided Vehicle, automated guided vehicles) are important devices in logistics systems of modern manufacturing enterprises, are mainly used for storing and transporting various materials and transferring sequences, and provide important guarantees for system flexibility, integration and efficient operation. Two drive AGVs are the most common AGVs, walk through the same speed of two wheels, and steer through the displacement difference of two wheels. Because this kind of AGV possesses control accuracy height, wheel need not advantages such as excessive friction ground, simple structure, so be used for hiding AGV and workbin AGV generally, two drive AGVs owing to wheel arrangement and structural feature can the rotation in situ, and most commonly is in the express delivery trade, reduces the space. After the AGVs are installed, each AGV needs to be debugged and calibrated due to mechanical errors and the like, and at present, a plurality of sets of automatic debugging and calibration methods are adopted for single steering wheel AGVs at home and abroad, but no systematic automatic debugging and calibration methods for the AGVs, particularly two-drive AGVs, exist.

In the prior art, the calibration process of the two-drive AGV is mainly realized by directly adopting a manual calibration method, but the calibration needs to consume a large amount of manpower and material resources to perform a large amount of measurement, the workload is huge, the precision is poor, and the accuracy of the result of the manual calibration is lower.

Disclosure of Invention

The invention aims to provide a two-drive AGV calibration method, a system, electronic equipment and a storage medium, which realize the synchronization adjustment of a left wheel and a right wheel of an AGV; the whole process is automatically completed through the controller of the AGV, automatic calibration of the AGV is achieved, manual calibration is not needed, the precision of the calibration process is improved, the accuracy and the reliability of the operation process of the AGV are guaranteed, the whole control mode is simple, and the adopted device can directly reuse the self structure of the AGV, so that the AGV is convenient to popularize and widely apply.

In order to solve the technical problems, the invention provides a two-drive AGV calibration method which is applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration method comprises the following steps:

determining a theoretical value of a first conversion coefficient between the left wheel speed of the AGV and the motor rotating speed and a theoretical value of a second conversion coefficient between the right wheel speed of the AGV and the motor rotating speed, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient;

Controlling the AGV to walk for a first preset duration according to a preset walking mode based on the current first conversion coefficient and the current second conversion coefficient;

judging whether the actual traveling track of the AGV within the first preset time period is consistent with the ideal traveling track of the preset traveling mode or not by utilizing the detection module;

if not, adjusting the first conversion coefficient and/or the second conversion coefficient, and re-jumping to the step of controlling the AGV to walk for a first preset duration according to a preset walking mode based on the current first conversion coefficient and the current second conversion coefficient;

if yes, storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV.

Optionally, detection module including set up in preceding magnetic sensor of AGV's locomotive with set up in the back magnetic sensor of AGV's tail, based on current first conversion coefficient and current second conversion coefficient control the AGV is walked first time duration of predetermineeing according to the walking mode of predetermineeing, include:

controlling the AGV to walk along a preset magnetic stripe for a first preset time period based on the current first conversion coefficient and the current second conversion coefficient;

Correspondingly, the step of using the detection module to determine whether the actual travel track of the AGV within the first preset duration is consistent with the ideal travel track of the preset travel mode includes:

and judging whether the actual walking track of the AGV is consistent with the setting position of the preset magnetic stripe in the first preset time length based on a first offset distance between the front magnetic sensor and the preset magnetic stripe and a second offset distance between the rear magnetic sensor and the preset magnetic stripe.

Optionally, the detection module including set up in the first laser sensor of the tail of AGV with set up in the second laser sensor of the tail of AGV, first laser sensor with second laser sensor symmetry sets up the tail of AGV, based on current first conversion coefficient with current second conversion coefficient control the AGV is according to the first duration of predetermineeing of walking mode walking, includes:

controlling the AGV to linearly walk for a first preset time length in a direction away from a first reference object based on the current first conversion coefficient and the current second conversion coefficient;

And judging whether the actual walking track of the AGV is a straight line or not based on a first distance between the tail of the AGV and the first reference object detected by the first laser sensor and a second distance between the tail of the AGV and the first reference object detected by the second laser sensor.

Optionally, the detection module further includes a third laser sensor and a fourth laser sensor disposed on the same side of the vehicle body of the AGV, and the method for using the detection module to determine whether the actual travel track of the AGV in the first preset duration is consistent with the ideal travel track of the preset travel mode includes:

and judging whether the actual running track of the AGV is a straight line or not based on a first distance between the tail of the AGV and the first reference object detected by the first laser sensor, a second distance between the tail of the AGV and the first reference object detected by the second laser sensor, a third distance between one side of the vehicle body of the AGV and the second reference object detected by the third laser sensor and a fourth distance between one side of the vehicle body of the AGV and the second reference object detected by the fourth laser sensor.

Optionally, the two-drive AGV calibration method further includes:

determining the running track of the AGV by using the detection module;

when the running track of the AGV is not a straight line in the straight running state of the AGV, judging that the AGV needs to be calibrated, jumping to the theoretical value of a first conversion coefficient between the speed of the left wheel of the AGV and the rotating speed of the motor and the theoretical value of a second conversion coefficient between the speed of the right wheel of the AGV and the rotating speed of the motor, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient;

and/or the number of the groups of groups,

acquiring a first feedback speed of the left wheel and a second feedback speed of the rear wheel;

and when the running track of the AGV is a straight line and the first feedback speed is inconsistent with the second feedback speed, judging that the AGV needs to be calibrated, jumping to the theoretical value of the first conversion coefficient between the left wheel speed of the AGV and the motor rotating speed and the theoretical value of the second conversion coefficient between the right wheel speed of the AGV and the motor rotating speed, taking the theoretical value of the first conversion coefficient as the current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as the current second conversion coefficient.

Optionally, before storing the current first conversion coefficient and the current second conversion coefficient to complete calibration of the AGV, the method further includes:

controlling the AGV to walk at a first speed for a second preset time period based on the current first conversion coefficient and the current second conversion coefficient;

determining the actual running speed of the AGV in the process of walking for a second preset time period based on the detection module;

if the actual running speed is consistent with the first speed, jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV;

and if the actual running speed is inconsistent with the first speed, correcting the first conversion coefficient and the second conversion coefficient based on the actual running speed and the first speed, and jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV.

Optionally, the AGV further includes a left wheel encoder connected to the left wheel and a right wheel encoder connected to the right wheel, and before storing the current first conversion coefficient and the current second conversion coefficient to complete calibration of the AGV, the AGV further includes:

Controlling the AGV to walk at a second speed for a third preset time period based on the current first conversion coefficient and the current second conversion coefficient;

acquiring a first displacement detected by the left wheel encoder and a second displacement detected by the right wheel encoder;

determining a change in position of the left wheel based on the first displacement and the first conversion factor, and determining a change in position of the right wheel based on the second displacement and the second conversion factor;

determining the actual mileage of the AGV walking for the third preset time period based on the detection module, and determining whether the position change of the left wheel and the position change of the right wheel are consistent with the actual mileage;

if yes, jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV;

if not, the step of controlling the AGV to walk for a first preset duration according to a preset walking mode based on the current first conversion coefficient and the current second conversion coefficient is skipped again.

In order to solve the technical problems, the invention also provides a two-drive AGV calibration system, which is applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration system comprises:

The theoretical value determining unit is used for determining a theoretical value of a first conversion coefficient between the speed of the left wheel of the AGV and the rotating speed of the motor and a theoretical value of a second conversion coefficient between the speed of the right wheel of the AGV and the rotating speed of the motor, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient;

the traveling unit is used for controlling the AGV to travel for a first preset duration according to a preset traveling mode based on the current first conversion coefficient and the current second conversion coefficient;

the judging unit is used for judging whether the actual walking track of the AGV within the first preset duration is consistent with the ideal walking track of the preset walking mode or not by utilizing the detecting module; if not, triggering the adjusting unit, and if so, triggering the storage unit;

the adjusting unit is used for adjusting the first conversion coefficient and/or the second conversion coefficient and triggering the walking unit;

the storage unit is used for storing the current first conversion coefficient and the current second conversion coefficient so as to finish the calibration of the AGV.

In order to solve the technical problem, the present invention further provides an electronic device, including:

A memory for storing a computer program;

and the processor is used for realizing the steps of the two-drive AGV calibration method.

In order to solve the technical problem, the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the steps of the two-drive AGV calibration method are realized when the computer program is executed by a processor.

The invention provides a two-drive AGV calibration method, which comprises the steps of judging whether an actual walking track of an AGV is consistent with an ideal walking track corresponding to a preset walking mode through a detection module arranged on the AGV, when the walking of the AGV is deviated, adjusting a first conversion coefficient between the speed of a left wheel of the AGV and the rotating speed of a motor and/or a second conversion coefficient between the speed of a right wheel of the AGV and the rotating speed of the motor until the AGV does not deviate in the walking process, and storing the adjusted first conversion coefficient and second conversion coefficient so as to facilitate the subsequent application of the AGV, thereby realizing the synchronous adjustment of the left wheel and the right wheel of the AGV; the whole process is automatically completed through the controller of the AGV, automatic calibration of the AGV is achieved, manual calibration is not needed, the precision of the calibration process is improved, the accuracy and the reliability of the operation process of the AGV are guaranteed, the whole control mode is simple, and the adopted device can directly reuse the self structure of the AGV, so that the AGV is convenient to popularize and widely apply.

The invention also provides a two-drive AGV calibration system, electronic equipment and a computer readable storage medium, which have the same beneficial effects as the two-drive AGV calibration method.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a two-drive AGV calibration method provided by the invention;

FIG. 2 is a schematic diagram of an AGV configuration when a detection module provided by the present invention is a magnetic sensor;

FIG. 3 is a schematic diagram of the AGV driving process in the calibration process of the detection module for the magnetic sensor according to the present invention;

FIG. 4 is a schematic diagram of an AGV configuration when the detection module provided by the present invention is a laser sensor;

FIG. 5 is a schematic diagram of the AGV driving process during calibration of the laser sensor as a detection module according to the present invention;

FIG. 6 is a schematic flow chart of speed calibration in a two-drive AGV calibration method provided by the invention;

FIG. 7 is a schematic diagram illustrating the setting of a reference point when the detection module is a magnetic sensor;

FIG. 8 is a schematic flow chart of mileage calibration in a two-drive AGV calibration method provided by the invention;

FIG. 9 is a schematic flow chart of a method for calibrating a two-drive AGV when a detection module provided by the invention is a magnetic sensor;

FIG. 10 is a schematic flow chart of a method for calibrating a two-drive AGV when a detection module provided by the invention is a laser sensor;

FIG. 11 is a schematic diagram of a two-drive AGV calibration system according to the present invention;

fig. 12 is a schematic structural diagram of an electronic device according to the present invention.

Detailed Description

The invention provides a two-drive AGV calibration method, a system, electronic equipment and a storage medium, which realize the synchronization adjustment of a left wheel and a right wheel of an AGV; the whole process is automatically completed through the controller of the AGV, automatic calibration of the AGV is achieved, manual calibration is not needed, the precision of the calibration process is improved, the accuracy and the reliability of the operation process of the AGV are guaranteed, the whole control mode is simple, and the adopted device can directly reuse the self structure of the AGV, so that the AGV is convenient to popularize and widely apply.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1, fig. 1 is a schematic flow chart of a two-drive AGV calibration method according to the present invention; in order to solve the technical problems, the invention provides a two-drive AGV calibration method which is applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration method comprises the following steps:

s11: determining a theoretical value of a first conversion coefficient between the left wheel speed of the AGV and the motor rotating speed and a theoretical value of a second conversion coefficient between the right wheel speed of the AGV and the motor rotating speed, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient;

typically, the speed issued by the AGV's controller to the motor drive is the motor speed, which requires a reduction in speed and wheel diameter in the middle of the conversion to wheel speed. For example, the controller needs to issue a speed of 1m/s to the AGV, and the controller often needs to lower the rotation speed of the generator 1000 to drive the wheels, and defines a conversion coefficient between the vehicle speed and the motor rotation speed as K, and when parameters such as the wheel diameter, the reduction ratio and the like are known, a theoretical value of K can be obtained through conversion of a conversion formula rpm=vel×d×60/(r×pi) of the motor rotation speed converted by the vehicle speed, where RPM is the motor rotation speed, R is the wheel diameter, m (meters), D is the reduction ratio, VEL is the linear speed of the wheels, and m/s (meters/second). However, in practical application, due to errors such as mechanical engineering difference, driver parameters and encoder errors, certain errors exist in the conversion coefficients K of different wheels, and the conversion coefficients K need to be recalibrated, before calibration begins, the theoretical value of K can be calculated through a conversion formula, the first conversion coefficient of the left wheel is defined as K1 by the controller, and the second conversion coefficient of the right wheel is defined as K2.

It should be understood that, when calibration is performed, it is necessary to calculate the theoretical values of the first conversion coefficient and the second conversion coefficient according to the conversion formula first, and calibrate the first conversion coefficient and the second conversion coefficient based on the theoretical values, so that the corresponding theoretical values may be first used as initial values of the first conversion coefficient and the second conversion coefficient, and the initial values may be used as current first conversion coefficient and current second conversion coefficient.

S12: controlling the AGV to walk for a first preset duration according to a preset walking mode based on the current first conversion coefficient and the current second conversion coefficient;

it can be understood that after the AGV is installed, the controller firstly needs to be debugged and calibrated to calibrate the synchronism between the left wheel and the right wheel, so that the fact that the actual speeds of the left wheel and the right wheel are consistent is ensured, at the moment, the AGV can be controlled to walk for a first preset time according to the current first conversion coefficient and the current second conversion coefficient, and whether the left wheel and the right wheel are in a synchronous state is determined according to the walking condition of the AGV. The specific implementation manners of the first preset duration and the preset running manner are not particularly limited herein, and may be selected and adjusted according to actual situations. And the speed that can issue the left wheel of AGV and right wheel is the same in this process for the left wheel of AGV and right wheel walk the same duration based on the same speed, and whether the left wheel of AGV and right wheel synchronous more is convenient for discover.

S13: judging whether the actual traveling track of the AGV within a first preset duration is consistent with the ideal traveling track of a preset traveling mode or not by using a detection module;

it is easy to understand that after the AGV walks for a first preset time period, whether the actual walking track of the transport is consistent with the ideal walking track corresponding to the preset walking mode can be determined according to the detection module arranged on the AGV, and the synchronization condition of the left wheel and the right wheel of the AGV can be determined by comparing the actual walking track of the AGV with the ideal walking track corresponding to the preset walking mode. The specific type and implementation of the detection module are not particularly limited herein, and may be implemented using various types of ranging sensors or other detection devices.

S14: if not, the first conversion coefficient and/or the second conversion coefficient are adjusted, and the step of controlling the AGV to walk for a first preset duration according to a preset walking mode based on the current first conversion coefficient and the current second conversion coefficient is repeated;

it can be understood that if the actual running track of the AGV within the first preset duration is inconsistent with the ideal running track of the preset running mode, it is indicated that a certain error exists in the first conversion coefficient and/or the second conversion coefficient, and the AGV cannot accurately run according to the preset running mode based on the control of the controller, at this time, the first conversion coefficient and/or the second conversion coefficient need to be adjusted according to the deviation condition of the specific running track of the AGV, and the AGV is controlled to run again, and whether the actual running track is consistent with the ideal running track is determined. The specific implementation manner of adjusting the first conversion coefficient and/or the second conversion coefficient is not particularly limited herein, and may be adjusted according to the deviation condition of the AGV in the actual test process.

S15: if yes, storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV.

It is easy to understand that, until the actual running track of the AGV within the first preset duration of the AGV is consistent with the ideal running track of the preset running mode, the speed issued by the controller can accurately control the left wheel and the right wheel to run according to the preset mode, the synchronicity calibration of the left wheel and the right wheel is completed, and the current first conversion coefficient and the current second conversion coefficient can be stored at this time, so that the subsequent controller can control the AGV based on the calibrated first conversion coefficient and second conversion coefficient.

It should be noted that, specific types and implementation manners of the left wheel, the right wheel, the motor, the detection module, the controller and the like in the AGV are not particularly limited herein, the detection module can be implemented by using ranging sensors such as a magnetic sensor and a laser sensor, and the controller can be implemented by using control chips such as a single chip microcomputer. The invention belongs to the technical field of AGVs, and particularly relates to a calibration method of a two-drive AGV. The two-wheel AGV controls the motion of the whole AGV by issuing speeds to the left wheel and the right wheel, the AGV can advance or retreat when the issuing speeds received by the two wheels are the same value in the same direction, the AGV will turn if the delivery speed received by the two wheels is one fast and one slow, and the AGV will rotate in place if the delivery speed received by the two wheels is the same value but two different directions.

The two-drive AGV calibration method provided by the invention realizes real-time automatic calibration of the AGV without manual calibration; the cost is low, and the control mode is simple; the method has the general popularization value for the two-drive AGVs; the precision is far more than manual calibration; according to the operation characteristics of the two-drive AGVs, the controller can automatically adjust related parameters according to the traveling condition of the AGVs fed back by the detection module, and the controller can automatically calibrate and adjust the AGVs, so that the precision of the AGVs is improved, and the debugging steps are reduced.

Based on the above embodiments:

referring to fig. 2, fig. 2 is a schematic structural diagram of an AGV when a detection module provided by the present invention is a magnetic sensor; referring to fig. 3, fig. 3 is a schematic diagram illustrating a driving process of an AGV in a calibration process of a magnetic sensor by using a detection module according to the present invention; as an alternative embodiment, the detection module includes a front magnetic sensor disposed at a head of the AGV and a rear magnetic sensor disposed at a tail of the AGV, controls the AGV to walk for a first preset time period according to a preset walking mode based on a current first conversion coefficient and a current second conversion coefficient, and includes:

controlling the AGV to walk along the preset magnetic stripe for a first preset time period based on the current first conversion coefficient and the current second conversion coefficient;

correspondingly, judging whether the actual traveling track of the AGV within the first preset time length is consistent with the ideal traveling track of the preset traveling mode by using the detection module, and comprising the following steps:

and judging whether the actual walking track of the AGV in the first preset time period is consistent with the setting position of the preset magnetic stripe or not based on the first offset distance between the front magnetic sensor and the preset magnetic stripe and the second offset distance between the rear magnetic sensor and the preset magnetic stripe.

It is not difficult to understand that the function of detection module can be realized through the magnetic sensor to the detection to the actual moving track of AGV is realized to the mutual cooperation of the preceding magnetic sensor that needs to set up in the locomotive of AGV and the back magnetic sensor that sets up in the tail of AGV, and the magnetic sensor needs to be with the help of predetermineeing the magnetic stripe when detecting the moving track of AGV, and the magnetic sensor can detect the locomotive of AGV or the offset distance between the tail and the magnetic stripe of predetermineeing, thereby realizes the detection to the actual moving track of AGV, consequently at the first long in-process of predetermineeing of control AGV walking, predetermine the ideal walking track that the walking mode corresponds needs to be consistent with the setting position of predetermineeing the magnetic stripe itself, predetermine the walking mode at this moment be along the process of predetermineeing the magnetic stripe walking, and predetermine the magnetic stripe and need be the straight line state when setting up. The specific types and implementation manners of the front magnetic sensor, the rear magnetic sensor and the preset magnetic stripe are not particularly limited herein, and can be selected and adjusted according to actual application conditions.

Specifically, the AGV needs to be manually moved to the set position of the preset magnetic stripe before calibration begins, and the front and rear magnetic sensors need to be above the preset magnetic stripe. After the movement is completed, the controller issues speeds a and a simultaneously to the left wheel and the right wheel as vehicle speeds, and defines motor speeds of the left wheel and the right wheel as R1 and R2 at this time, respectively, and r1=k1×a and r2=k2×a. AGVs travel a distance forward, can detect the running situation of AGVs through preceding magnetic sensor and back magnetic sensor, if R2 is less than R1, then AGVs will deflect towards the right side of predetermineeing the magnetic stripe at the in-process of walking forward. The distance between the front magnetic sensor and the preset magnetic stripe is set to be C1, the distance between the rear magnetic sensor and the preset magnetic stripe is set to be C2, the distances between the C1 and the C2 are positive and negative, the front magnetic sensor moves leftwards on the preset magnetic stripe to be negative, the movement of the rear magnetic sensor moves leftwards on the preset magnetic stripe to be positive, and the movement of the rear magnetic sensor moves rightwards to be negative, as shown in (b) of fig. 3, the AGV deflects to the right side of the preset magnetic stripe, and the C1 is positive at the moment, and the C2 is positive, so that when C1> C2>0, the AGV is considered to deflect rightwards, and the R1> R2 is required to be enlarged. As shown in fig. 3 (C), C1 is negative and C2 is negative, so when C1< C2<0, R1< R2, the AGV is shifted to the left, and K2 needs to be reduced.

It should be noted that, compare with initial position, if AGV can follow the accurate walking of preset magnetic stripe, then the inductive position on preceding magnetic sensor and the back magnetic sensor is unanimous with the inductive position of initial position department all the time, if the walking of AGV has the skew, then the inductive position on preceding magnetic sensor and the back magnetic sensor compares with the inductive position of initial position department, can have the skew, the route of skew is the magnetic sensor and through the distance of preset magnetic stripe, through the distance of the same time of preceding magnetic sensor and back magnetic sensor through preset magnetic stripe, offset distance between locomotive and the tail and the preset magnetic stripe, the running condition of AGV can be judged. The controller may continue to adjust K2 until when c1=c2=0, where K1 and K2 may not be equal, but the actual speed of the left and right wheels are equal, r1=r2, and the AGV may go straight forward without being offset in either direction. And finally obtaining and storing K1 and K2 after adjustment, and completing the synchronicity calibration of the left wheel and the right wheel.

Specifically, the function of the detection module can be realized through the magnetic sensor, the preset magnetic stripe is arranged to serve as a basis for the magnetic sensor to detect the traveling condition of the AGV, the detection process of the actual traveling track of the AGV is realized through the cooperation of the front magnetic sensor, the rear magnetic sensor and the preset magnetic stripe, and therefore the synchronization calibration of the left wheel and the right wheel is realized.

Referring to fig. 4, fig. 4 is a schematic structural diagram of an AGV when a detection module provided by the present invention is a laser sensor; referring to fig. 5, fig. 5 is a schematic diagram illustrating a driving process of an AGV in a calibration process when a detection module provided by the present invention is a laser sensor; as an alternative embodiment, the detection module includes a first laser sensor disposed at a tail of the AGV and a second laser sensor disposed at a tail of the AGV, where the first laser sensor and the second laser sensor are symmetrically disposed at the tail of the AGV, and the detection module controls the AGV to travel for a first preset period according to a preset travel mode based on a current first conversion coefficient and a current second conversion coefficient, and includes:

controlling the AGV to linearly walk for a first preset time length in a direction away from the first reference object based on the current first conversion coefficient and the current second conversion coefficient;

and judging whether the actual running track of the AGV is a straight line or not based on a first distance between the tail of the AGV detected by the first laser sensor and the first reference object and a second distance between the tail of the AGV detected by the second laser sensor and the first reference object.

It is to be understood that the function of the detection module can be realized through the laser sensor, and as the main function of the laser sensor is distance measurement, a reference object needs to be set in advance in the process of detecting the travel track of the AGV by using the laser sensor, and the first laser sensor and the second laser sensor determine the position of the AGV by detecting the distance between the AGV and the first reference object, so that the detection process of the travel track of the AGV is realized. The specific types and implementation manners of the first laser sensor, the second laser sensor and the first reference object are not particularly limited herein, and may be selected and adjusted according to practical application. Meanwhile, in consideration of the fact that the synchronous calibration process of the left wheel and the right wheel is usually required to control the left wheel and the right wheel to drive the AGV to walk at the same speed, the preset walking mode can be directly set to be straight walking.

Specifically, the function of the detection module can be realized through the laser sensor, a first reference object is arranged as a basis for detecting the traveling condition of the AGV through the cooperation of the first laser sensor, the second laser sensor and the first reference object, and the detection process of the actual traveling track of the AGV is realized, so that the synchronization calibration of the left wheel and the right wheel is realized.

As an alternative embodiment, the detection module further includes a third laser sensor and a fourth laser sensor disposed on the same side of the vehicle body of the AGV, and the detection module is used to determine whether the actual travel track of the AGV within a first preset duration is consistent with the ideal travel track of the preset travel mode, including:

whether the actual travel track of the AGV is a straight line is judged based on a first distance between the tail of the AGV detected by the first laser sensor and the first reference, a second distance between the tail of the AGV detected by the second laser sensor and the first reference, a third distance between one side of the AGV detected by the third laser sensor and the second reference, and a fourth distance between one side of the AGV detected by the fourth laser sensor and the second reference.

Considering that only the first laser sensor and the second laser sensor which are arranged at the tail of the AGV can possibly have certain errors in determining the walking track of the AGV, the third laser sensor and the fourth laser sensor which are arranged at the same side of the vehicle body of the AGV can be additionally arranged, and the corresponding second reference object at the same side of the vehicle body of the AGV is arranged, so that the third laser sensor and the fourth laser sensor can further accurately determine the walking track of the AGV by detecting the distance between the vehicle body of the AGV and the second reference object. The specific types and implementation manners of the third laser sensor, the fourth laser sensor, the second reference object and the like are not particularly limited herein, and may be selected and adjusted according to practical application. Meanwhile, in consideration of the fact that the synchronous calibration process of the left wheel and the right wheel is usually required to control the left wheel and the right wheel to drive the AGV to walk at the same speed, the preset walking mode can be directly set to be straight walking.

Specifically, before calibration begins, the side face and the back of the AGV body are provided with the magnetic laser sensors, the laser sensors can be connected with the field network in a MODBUS TCP and other communication modes, the controller of the AGV is also connected with the field network, laser ranging data are transmitted to the AGV controller in the mode, wiring and interface occupation are avoided, and the installation positions of the first laser sensor, the second laser sensor, the third laser sensor and the fourth laser sensor can be set according to FIG. 4. Before calibration, the AGV needs to be driven to a right-angle wall edge, two walls of the right-angle wall are respectively used as a first reference object and a second reference object, data of four laser sensors are convenient to read, the variable quantity of a first distance between the tail of the AGV detected by the first laser sensor and the first reference object is defined as C1, the variable quantity of a second distance between the tail of the AGV detected by the second laser sensor and the first reference object is defined as C2, the variable quantity of a third distance between one side of the AGV detected by the third laser sensor and the second reference object is defined as C3, and the variable quantity of a fourth distance between one side of the AGV detected by the fourth laser sensor and the second reference object is defined as C4. For testing, the distance between the head and the wall can be controlled to be slightly larger than the distance between the tail and the wall. Firstly, synchronous calibration of a left wheel and a right wheel is carried out, wherein the synchronous calibration is to ensure that the left wheel and the right wheel of the AGV can keep the same rotating speed, the controller simultaneously issues a speed A for the left wheel and the right wheel, A is the vehicle speed, the motor rotating speeds of the left wheel and the right wheel are defined as R1 and R2 respectively, and then R1=K1×A and R2=K2×A. The AGV moves forwards for a certain distance, and the controller can calculate and analyze the movement track of the AGV according to the data comparison of C1, C2, C3 and C4. If C3> C4 and C2> C1 illustrate that the AGV is biased to the right, then R1> R2, the speed of the right wheel needs to be increased, so K2 can be increased. If C4> C3 and C1> C2 illustrate that the AGV is biased to the left, then R2> R1, the speed of the right wheel needs to be reduced, so K2 can be reduced. The controller can continuously adjust K2 until when c3=c4 and c2=c1, the AGV can move straight accurately at this time, K1 and K2 may not be equal at this time, but the actual speed of the left wheel and the actual speed of the right wheel are equal, r1=r2, and the AGV can move straight forward without being offset in either direction. Indicating that the synchronous calibration is completed, the controller stores the current K1 and K2. The controller can also judge the track of the AGV by simply comparing C3 and C4 or C1 and C2, namely only the first laser sensor and the second laser sensor or only the third laser sensor and the fourth laser sensor are arranged, but two sets of data redundancy comparison are used for determining the walking track of the AGV for improving the precision and preventing errors. If the detected data are not the three conditions, the sensor can be judged to have errors, and the detection is manually performed.

Specifically, the function of the detection module can be realized through the laser sensor, the accuracy of the detection result is considered, two groups of laser sensors are arranged to realize the detection process of the traveling track of the AGV, and meanwhile, the first reference object and the second reference object are arranged to serve as the basis for the laser sensors to detect the traveling condition of the AGV, so that the accuracy and the reliability of the detection result of the traveling track of the AGV are further improved, and the accuracy of the finally adjusted first conversion coefficient and second conversion coefficient is ensured.

As an alternative embodiment, the two-drive AGV calibration method further includes:

determining the running track of the AGV by using a detection module;

when the running track of the AGV is not a straight line in the straight running state of the AGV, judging that the AGV needs to be calibrated, jumping to a theoretical value of a first conversion coefficient between the left wheel speed of the AGV and the motor rotating speed and a theoretical value of a second conversion coefficient between the right wheel speed of the AGV and the motor rotating speed, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient;

and/or the number of the groups of groups,

acquiring a first feedback speed of a left wheel and a second feedback speed of a rear wheel;

And when the running track of the AGV is a straight line and the first feedback speed is inconsistent with the second feedback speed, judging that the AGV needs to be calibrated, jumping to a theoretical value of a first conversion coefficient between the left wheel speed of the AGV and the motor rotating speed and a theoretical value of a second conversion coefficient between the right wheel speed of the AGV and the motor rotating speed, taking the theoretical value of the first conversion coefficient as a current first conversion coefficient, and taking the theoretical value of the second conversion coefficient as a current second conversion coefficient.

It will be appreciated that the following 3 situations may occur when the AGV is in use to determine that the AGV needs recalibration. The first case is when the left and right wheels are both feeding back the same speed, in theory the AGV should be in a straight state but the travel path of the AGV fed back by the AGV navigation is not a straight line. Usually, the error of the two ends of the ending after the AGV moves straight for 10 meters is larger than 5 cm, and the need of recalibration can be considered. The second case is when the AGV trajectory approximates a straight line, but the feedback speed of the left and right wheels is not uniform. The third case is that the AGV has just been installed and has not been commissioned.

Specifically, when the problem occurs in the process of just installing or running the AGV, the AGV can be identified to be calibrated, and the two-drive AGV calibration method provided by the application can be adopted to calibrate the AGV, so that the accurate running of the AGV is ensured.

Referring to fig. 6, fig. 6 is a schematic flow chart of speed calibration in the two-drive AGV calibration method according to the present invention; as an alternative embodiment, before storing the current first conversion coefficient and the current second conversion coefficient to complete the calibration of the AGV, the method further comprises:

s21: controlling the AGV to walk at the first speed for a second preset time period based on the current first conversion coefficient and the current second conversion coefficient;

s22: determining the actual running speed of the AGV in the process of walking for a second preset time period based on the detection module;

s23: if the actual running speed is consistent with the first speed, jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV;

s24: if the actual running speed is inconsistent with the first speed, correcting the first conversion coefficient and the second conversion coefficient based on the actual running speed and the first speed, and jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV.

After the AGV finishes the synchronous calibration of the left wheel and the right wheel, the actual speed and the theoretical speed of the AGV often have errors, and the speed calibration is also required to be finished at the moment, so that the issuing speed of the controller is ensured to be consistent with the actual speed of the AGV. At this time, the AGV needs to be controlled to walk for a second preset time period and whether the actual speed of the AGV is consistent with the speed issued by the controller or not in the walking process is judged, if so, the actual speed of the AGV is consistent with the speed issued by the controller all the time, the AGV can accurately walk according to the speed instruction of the controller, if not, the actual speed of the AGV and the speed issued by the controller are different, and the synchronous calibration of the left wheel and the right wheel is finished before, so that the actual speeds of the left wheel and the right wheel are different from the speed issued by the controller at this time, and the first conversion coefficient and the second conversion coefficient need to be corrected simultaneously based on the difference between the actual speed and the first speed until the actual speed of the AGV is consistent with the speed issued by the controller all the time, and the speed calibration of the AGV is finished. Specific values of the first speed and the second preset duration and the like are not particularly limited herein.

Specifically, taking a magnetic sensor as an example of a detection module, please refer to fig. 7, fig. 7 is a schematic diagram illustrating a reference point setting when the detection module is a magnetic sensor; the RFID (Radio Frequency Identification ) point can be arranged on the preset magnetic stripe to serve as a reference point for the AGV to walk, the controller issues the speed A again on the basis of completing synchronous calibration of the left wheel and the right wheel by using the magnetic sensor, the AGV is controlled to walk forward from one RFID point, the AGV stops after the RFID point sensor on the AGV detects the point position of the next RFID point, and the time t used by the AGV is recorded. Knowing that the AGV runs for t time at the speed A and then goes from one RFID point to the next RFID point, and knowing the distance L between the two points, the actual speed of the AGV is V=L/t, at the moment, the controller judges whether V is consistent with A, if so, K1 and K2 are directly stored, the actual speed of the AGV is consistent with the speed issued by the controller, and the speed calibration is completed; if the first and second conversion coefficients are inconsistent, the proportional relationship between V and a, that is, the proportional relationship between the current conversion coefficient K and the actual conversion coefficient K, may be corrected based on k1=k1×v/a and k2=k2×v/a, and the corrected current first and second conversion coefficients may be stored, so that the speed calibration of the AGV is completed.

Specifically, taking a laser sensor as an example of a detection module, on the basis that synchronous calibration of a left wheel and a right wheel is completed by the laser sensor, the controller issues a speed A again, the AGV walks forwards at a theoretical speed A, the controller reads a variation C3 of a third distance between one side of a vehicle body of the AGV and a second reference object detected by a third laser sensor in real time and a variation C4 of a fourth distance between one side of the vehicle body of the AGV and the second reference object detected by a fourth laser sensor in real time, C3 and C4 are equal in unit time when the AGV is in a uniform speed state after acceleration is completed, an average value of C3 and C4 is adopted to reduce an error, the actual speed of the AGV is equal to (C3+C4)/2 in a uniform speed state, the controller judges whether (C3+C4)/2 is consistent with A, if so, K1 and K2 are directly stored, the actual speed of the AGV is consistent with the speed issued by the controller, and the speed calibration is completed; if not, the first and second scaling factors may be corrected based on k1=k1× (c3+c4)/2/a and k2=k2× (c3+c4)/2/a, and the corrected current first and second scaling factors may be stored, and the speed calibration of the AGV is completed.

Specifically, after the synchronization calibration of the left wheel and the right wheel is completed, errors often exist between the actual speed and the theoretical speed of the AGV, the speed calibration can be further completed at this time, the AGV is controlled to walk for a second preset time period, whether the actual speed of the AGV is consistent with the speed issued by the controller in the walking process is judged, the first conversion coefficient and the second conversion coefficient are corrected based on the difference between the actual speed and the first speed, the issuing speed of the controller and the actual speed of the AGV are ensured to be consistent, the two-drive AGV calibration method is further perfected, and the accurate work of the calibrated AGV is ensured.

Referring to fig. 8, fig. 8 is a schematic flow chart of mileage calibration in a two-drive AGV calibration method according to the present invention; as an alternative embodiment, the AGV further includes a left wheel encoder coupled to the left wheel and a right wheel encoder coupled to the right wheel, and further includes, prior to storing the current first scaling factor and the current second scaling factor to complete calibration of the AGV:

s31: controlling the AGV to walk at the second speed for a third preset time period based on the current first conversion coefficient and the current second conversion coefficient;

s32: acquiring a first displacement detected by a left wheel encoder and a second displacement detected by a right wheel encoder;

S33: determining a position change of the left wheel based on the first displacement and the first conversion coefficient, and determining a position change of the right wheel based on the second displacement and the second conversion coefficient;

s34: determining the actual mileage of the AGV in a third preset time period based on the detection module, and determining whether the position change of the left wheel and the position change of the right wheel are consistent with the actual mileage;

s35: if yes, jumping to the step of storing the current first conversion coefficient and the current second conversion coefficient to finish the calibration of the AGV;

s36: if not, the step of controlling the AGV to walk for a first preset time length according to the preset walking mode based on the current first conversion coefficient and the current second conversion coefficient is skipped again.

It is easy to understand that after the AGV finishes the speed calibration, the calibration process before the calibration can be further checked through the mileage calibration, and whether the AGV can accurately walk based on the control of the controller is determined by judging whether the actual mileage of the AGV walking for the third preset time length is consistent with the position change condition of the left wheel and the right wheel; if the calibration results are consistent, the first conversion coefficient and the second conversion coefficient which are finally obtained by calibrating the synchronism and the speed of the AGV are indicated to ensure the accurate running of the AGV, and the AGV finishes the accurate calibration process; if the two conversion coefficients are inconsistent, the first conversion coefficient and the second conversion coefficient obtained through the synchronization calibration and the speed calibration of the AGV cannot ensure the accurate running of the AGV, and errors exist, so that the whole calibration process needs to be carried out again. Specific values of the second speed and the third preset time period are not particularly limited herein, and specific types and implementations of the left wheel encoder and the right wheel encoder are not particularly limited herein.

Specifically, taking a magnetic sensor as an example of a detection module, setting encoder pulse feedback of a left wheel and a right wheel as W1 and W2 respectively on the basis of completing speed calibration of the AGV by utilizing the magnetic sensor, wherein a pulse value is a motor rotating speed accumulated value, reflecting displacement change of the wheel, namely position change condition of the wheel, after the AGV walks for t time at a speed A, the controller controls the AGV to move from one RFID point to the next RFID point, a known distance L between the two points, the controller judges whether L=W1/K1 and L=W2/K2 are met, if both equations are met, the calibration process is accurate, the controller can store K1 and K2 as a final first conversion coefficient and a final second conversion coefficient, and if the two equations are unequal, the previous synchronization calibration and the speed calibration are repeated.

Specifically, taking a laser sensor as an example of a detection module, setting W1 and W2 for a left wheel and a right wheel respectively on the basis of completing speed calibration of an AGV by using the laser sensor, wherein a pulse value is a motor rotation speed accumulated value, reflecting displacement change of the wheels, namely position change condition of the wheels, after the AGV walks for t time at the speed A, recording C3 and C4 in the walking time t at the moment by a controller, taking an average value, and judging whether L=W1/K1 and L=W2/K2 are met by the controller according to actual mileage L= (C3+C4)/2, if both equations are met, the calibration process is accurate, and the controller can store K1 and K2 as a final first conversion coefficient and a final second conversion coefficient, and if the two equations are unequal, the previous synchronization calibration and speed calibration are repeated.

Specifically, after the speed calibration of the AGV is completed, whether the calibration process before the calibration is accurate can be further checked through mileage calibration, whether the first conversion coefficient and the second conversion coefficient which are finally obtained through the synchronization calibration and the speed calibration of the AGV before the calibration can ensure the accurate running of the AGV is determined, the two-drive AGV calibration method is further perfected, and the accurate work of the calibrated AGV is ensured.

As a specific embodiment, please refer to fig. 9, fig. 9 is a schematic flow chart of a two-drive AGV calibration method when a detection module provided by the present invention is a magnetic sensor; FIG. 9 shows the use of magnetic sensors as detection modules for sequentially performing the synchronization calibration process for the left and right wheels provided by steps S11-S15, the speed calibration process for the AGV provided by steps S21-S24, and the mileage calibration process for the AGV provided by steps S31-S36; referring to fig. 10, fig. 10 is a schematic flow chart of a calibration method of a two-drive AGV when a detection module provided by the present invention is a laser sensor; fig. 10 shows the steps of performing the synchronization calibration process of the left and right wheels provided in steps S11-S15, the speed calibration process of the AGV provided in steps S21-S24, and the mileage calibration process of the AGV provided in steps S31-S36, in order, using the laser sensor as the detection module.

Referring to FIG. 11, FIG. 11 is a schematic diagram of a two-drive AGV calibration system according to the present invention; in order to solve the technical problems, the invention also provides a two-drive AGV calibration system, which is applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration system comprises:

a theoretical value determining unit 11, configured to determine a theoretical value of a first conversion coefficient between a left wheel speed of the AGV and a motor rotation speed and a theoretical value of a second conversion coefficient between a right wheel speed of the AGV and the motor rotation speed, and use the theoretical value of the first conversion coefficient as a current first conversion coefficient and the theoretical value of the second conversion coefficient as a current second conversion coefficient;

the traveling unit 12 is used for controlling the AGV to travel for a first preset duration according to a preset traveling mode based on the current first conversion coefficient and the current second conversion coefficient;

the judging unit 13 is used for judging whether the actual traveling track of the AGV within the first preset time length is consistent with the ideal traveling track of the preset traveling mode or not by utilizing the detecting module; if not, triggering the adjusting unit, and if so, triggering the storage unit;

an adjusting unit 14, configured to adjust the first conversion coefficient and/or the second conversion coefficient, and trigger the walking unit;

And the storage unit 15 is used for storing the current first conversion coefficient and the current second conversion coefficient so as to complete the calibration of the AGV.

As an alternative embodiment, the detection module includes a front magnetic sensor disposed at the head of the AGV and a rear magnetic sensor disposed at the tail of the AGV, and the traveling unit 12 includes:

the first traveling subunit is used for controlling the AGV to travel along the preset magnetic stripe for a first preset time period based on the current first conversion coefficient and the current second conversion coefficient;

correspondingly, the judging unit 13 includes:

the first judging subunit is used for judging whether the actual walking track of the AGV in the first preset duration is consistent with the setting position of the preset magnetic stripe or not based on the first offset distance between the front magnetic sensor and the preset magnetic stripe and the second offset distance between the rear magnetic sensor and the preset magnetic stripe.

As an alternative embodiment, the detection module includes a first laser sensor disposed at the tail of the AGV and a second laser sensor disposed at the tail of the AGV, and the first laser sensor and the second laser sensor are symmetrically disposed at the tail of the AGV, and the traveling unit 12 includes:

the second walking subunit is used for controlling the AGV to linearly walk for a first preset time period in a direction away from the first reference object based on the current first conversion coefficient and the current second conversion coefficient;

Correspondingly, the judging unit 13 includes:

and the second judging subunit is used for judging whether the actual running track of the AGV is a straight line or not based on the first distance between the tail of the AGV detected by the first laser sensor and the first reference object and the second distance between the tail of the AGV detected by the second laser sensor and the first reference object.

As an alternative embodiment, the detection module further includes a third laser sensor and a fourth laser sensor disposed on the same side of the body of the AGV, and the determination unit 13 includes:

and the third judging subunit is used for judging whether the actual walking track of the AGV is a straight line or not based on a first distance between the tail of the AGV detected by the first laser sensor and the first reference object, a second distance between the tail of the AGV detected by the second laser sensor and the first reference object, a third distance between one side of the AGV detected by the third laser sensor and the second reference object and a fourth distance between one side of the AGV detected by the fourth laser sensor and the second reference object.

As an alternative embodiment, further comprising:

the track determining unit is used for determining the running track of the AGV by using the detecting module;

a first determination unit for determining that the AGV needs to be calibrated and triggering the theoretical value determination unit 11 when the running track of the AGV is not a straight line in the straight running state of the AGV

And/or the number of the groups of groups,

the speed determining unit is used for obtaining the first feedback speed of the left wheel and the second feedback speed of the rear wheel;

and the second judging unit is used for judging that the AGV needs to be calibrated when the running track of the AGV is a straight line and the first feedback speed is inconsistent with the second feedback speed, and triggering the theoretical value determining unit 11.

As an alternative embodiment, further comprising:

the first AGV control unit is used for controlling the AGV to walk at a first speed for a second preset time period based on the current first conversion coefficient and the current second conversion coefficient;

the actual speed determining unit is used for determining the actual running speed of the AGV in the process of walking for a second preset time period based on the detection module;

a third determining unit, configured to trigger the storage unit 15 if the actual running speed is consistent with the first speed;

and fourth determining means for correcting the first conversion coefficient and the second conversion coefficient based on the actual running speed and the first speed and triggering the storing means 15 if the actual running speed does not coincide with the first speed.

As an alternative embodiment, further comprising:

the second AGV control unit is used for controlling the AGV to walk at a second speed for a third preset time period based on the current first conversion coefficient and the current second conversion coefficient;

The displacement determining unit is used for acquiring the first displacement detected by the left wheel encoder and the second displacement detected by the right wheel encoder;

a position change determining unit configured to determine a position change of the left wheel based on the first displacement and the first conversion coefficient, and determine a position change of the right wheel based on the second displacement and the second conversion coefficient;

the checking unit is used for determining the actual mileage of the AGV in a third preset time period based on the detection module, and determining whether the position change of the left wheel and the position change of the right wheel are consistent with the actual mileage; if so, the storage unit 15 is triggered, and if not, the travel unit 12 is triggered.

For the description of the two-drive AGV calibration system provided by the invention, reference is made to the embodiment of the two-drive AGV calibration method, and the description of the two-drive AGV calibration system is omitted herein.

Referring to fig. 12, fig. 12 is a schematic structural diagram of an electronic device according to the present invention. In order to solve the technical problem, the present invention further provides an electronic device, including:

a memory 21 for storing a computer program;

a processor 22 for implementing the steps of the two-drive AGV calibration method as described above.

Processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like, among others. The processor 22 may be implemented in at least one hardware form of a DSP (Digital Signal Processor ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 22 may also include a main processor, which is a processor for processing data in an awake state, also called a central processor, and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 22 may integrate a GPU (graphics process ing unit, graphics processor) for taking care of rendering and drawing of content that the display screen is required to display. In some embodiments, the processor 22 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 21 may include one or more computer-readable storage media, which may be non-transitory. Memory 21 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used for storing a computer program, where the computer program can implement the relevant steps of the two-drive AGV calibration method disclosed in any one of the foregoing embodiments after being loaded and executed by the processor 22. In addition, the resources stored in the memory 21 may also include an operating system, data, and the like, and the storage manner may be transient storage or permanent storage. The operating system may include Windows, unix, linux, among others. The data may include, but is not limited to, data from a two-drive AGV calibration method, and the like.

In some embodiments, the electronic device may further include a display screen, an input-output interface, a communication interface, a power supply, and a communication bus.

Those skilled in the art will appreciate that the structure shown in fig. 12 is not limiting of the electronic device and may include more or fewer components than shown.

For the description of the electronic device provided by the present invention, reference is made to the embodiment of the two-drive AGV calibration method, and the description of the present invention is omitted herein.

It will be appreciated that the methods of the above embodiments, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored on a computer readable storage medium. With such understanding, the technical solution of the present application, or a part contributing to the prior art or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium, performing all or part of the steps of the method described in the various embodiments of the present application. In particular, the computer readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, and removable hard disks, etc., or any type of medium or device suitable for storing instructions, data, etc., which are not particularly limited herein.

For an introduction to a computer readable storage medium provided by the present invention, reference is made to the embodiment of the two-drive AGV calibration method described above, and the description of the present invention is omitted herein.

It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The two-drive AGV calibration method is characterized by being applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration method comprises the following steps:

2. The two-drive AGV calibration method according to claim 1, wherein the detection module includes a front magnetic sensor disposed at a head of the AGV and a rear magnetic sensor disposed at a tail of the AGV, and the controlling the AGV to travel for a first preset period of time according to a preset travel mode based on the current first conversion coefficient and the current second conversion coefficient includes:

3. The two-drive AGV calibration method according to claim 1, wherein the detection module includes a first laser sensor disposed at a tail of the AGV and a second laser sensor disposed at the tail of the AGV, the first laser sensor and the second laser sensor are symmetrically disposed at the tail of the AGV, and the control of the AGV to travel in a preset travel mode for a first preset period based on the current first conversion coefficient and the current second conversion coefficient includes:

4. The two-drive AGV calibration method according to claim 3 wherein the detection module further comprises a third laser sensor and a fourth laser sensor disposed on the same side of the vehicle body of the AGV, and wherein the step of using the detection module to determine whether the actual travel track of the AGV within the first preset time period is consistent with the ideal travel track of the preset travel mode comprises the steps of:

5. The two-drive AGV calibration method of claim 1 further comprising:

determining the running track of the AGV by using the detection module;

and/or the number of the groups of groups,

6. The two-drive AGV calibration method according to claim 1, wherein before storing the current first conversion coefficient and the current second conversion coefficient to complete the calibration of the AGV, further comprising:

7. The two-drive AGV calibration method according to any one of claims 1 to 6 wherein the AGV further includes a left wheel encoder coupled to the left wheel and a right wheel encoder coupled to the right wheel, the method further comprising, prior to storing the current first scaling factor and the current second scaling factor to complete the calibration of the AGV:

8. The two-drive AGV calibration system is characterized by being applied to a controller of an AGV, wherein the AGV further comprises a left wheel, a right wheel, a motor and a detection module arranged on the AGV, and the left wheel and the right wheel are respectively connected with the motor; the calibration system comprises:

9. An electronic device, comprising:

A memory for storing a computer program;

a processor for implementing the steps of the two-drive AGV calibration method according to any one of claims 1 to 7.

10. A computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the two-drive AGV calibration method according to any one of claims 1 to 7 are implemented.