The embodiment of the invention provides an error calibration method and device, electronic equipment and a storage medium. The method comprises the following steps of acquiring first actual motion data of each group of steering wheels of an AGV and second actual motion data of a motion center of the AGV when the AGV moves along any track; based on the obtained first actual motion data and secondactual motion data, determining an ideal motion calibration result when the AGV moves along any track by using a preset ideal motion model for the AGV; based on the ideal motion calibration result andthe second actual motion data, establishing an error calibration function containing a calibration error parameter to be solved; and solving the error calibration function according to a predetermined error solving manner to obtain a parameter value of the calibration error parameter to be solved. Compared with the prior art, by using the scheme provided by the embodiment of the invention, the parameter value of the calibration error parameter for compensating the moving track of the AGV can be determined.

    本发明实施例提供了一种误差标定方法、装置、电子设备及存储介质。该方法包括:获取自动导引运输车AGV沿任意轨迹运动时,AGV的各组舵轮的第一实际运动数据和AGV的运动中心的第二实际运动数据;基于所获取到的第一实际运动数据和第二实际运动数据,利用预设的针对AGV的理想运动模型,确定AGV沿任意轨迹运动时的理想运动标定结果;基于理想运动标定结果和第二实际运动数据,建立包含待求解的标定误差参数的误差标定函数;按照预定的误差求解方式,求解误差标定函数,得到待求解的标定误差参数的参数值。与现有技术相比,应用本发明实施例提供的方案,能够确定用于对AGV的移动轨迹进行补偿的标定误差参数的参数值。


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    Title :

    Error calibration method and device, electronic equipment and storage medium


    Additional title:

    一种误差标定方法、装置、电子设备及存储介质


    Contributors:
    SANG YUN (author) / WANG JIE (author) / JIA YONGHUA (author) / WU YONGHAI (author) / LI BIYONG (author) / BAI HAN (author)

    Publication date :

    2020-12-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B62D MOTOR VEHICLES , Motorfahrzeuge



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