The invention relates to the technical field of steering wheel zero offset calibration, and discloses an AGV steering wheel zero offset calibration method and system, a vehicle and a medium, and the method comprises the steps: obtaining the steering wheel wheelbase of a target AGV, and the pose data and course angle of the target AGV when the target AGV moves to any moment; determining vehicle deviation data at the current moment based on the pose data and the course angle; determining steering wheel zero offset data at the current moment based on a preset steering wheel model, the pose data and the steering wheel wheelbase; and calibrating the target AGV based on the vehicle deviation data and the steering wheel zero deviation data. According to the method, research on the steering wheel zero offset of the three-steering-wheel AGV is considered, decoupling calibration is carried out on the steering wheel zero offset by utilizing the single-steering-wheel kinematics model, the calibration time of the steering wheel zero offset can be greatly shortened, the calibration precision and efficiency are improved, and automatic, efficient and accurate steering wheel zero offset calibration requirements are met.

    本发明涉及舵轮零偏校准技术领域,公开了一种AGV舵轮零偏的校准方法、系统、车辆及介质,方法包括:获取目标AGV的舵轮轴距,以及其运动至任一时刻的位姿数据和航向角;基于位姿数据和航向角确定当前时刻的车辆偏差数据;基于预设舵轮模型、位姿数据和舵轮轴距确定当前时刻的舵轮零偏数据;基于车辆偏差数据和舵轮零偏数据对目标AGV进行校准。本发明考虑对三舵轮式AGV舵轮零偏的研究,利用单舵轮运动学模型对舵轮零偏进行解耦校准,能够大大缩短舵轮零偏的校准时间,提高校准的精度和效率,满足了自动、高效、精准的舵轮零偏校准需求。


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    Titel :

    AGV steering wheel zero offset calibration method and system, vehicle and medium


    Weitere Titelangaben:

    一种AGV舵轮零偏的校准方法、系统、车辆及介质


    Beteiligte:
    WANG XUE (Autor:in) / YAN WEI (Autor:in) / GAO HONGDA (Autor:in)

    Erscheinungsdatum :

    22.10.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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