CN110244705A - A kind of the walking calibrating installation and calibration method of automatic guided vehicle - Google Patents
A kind of the walking calibrating installation and calibration method of automatic guided vehicle Download PDFInfo
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- CN110244705A CN110244705A CN201910376320.XA CN201910376320A CN110244705A CN 110244705 A CN110244705 A CN 110244705A CN 201910376320 A CN201910376320 A CN 201910376320A CN 110244705 A CN110244705 A CN 110244705A
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- 238000013439 planning Methods 0.000 claims abstract description 32
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
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- 238000001514 detection method Methods 0.000 claims description 76
- 230000000694 effects Effects 0.000 claims description 47
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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Abstract
The invention discloses a kind of walking calibrating installations of automatic guided vehicle, including the induction testing agency being mounted on automatic guided vehicle and for the mobile deflecting roller group turned to, automatic adjusting mechanism is installed in the deflecting roller group, and automatic guided vehicle bottom is provided with pre-buried electrified cable, the induction testing agency and automatic adjusting mechanism pass through control system control, the automatic adjusting mechanism includes being mounted on the driven tooth wheel disc adjusted in shaft, additionally provide a kind of walking calibration method of automatic guided vehicle, include the following steps: S100, planning setting is carried out to the path of automatic guided vehicle；S200, comparative analysis planning path and real-time route；S300, it is calibrated according to comparative situation, and with planning path real time contrast until completing to calibrate, by incude testing agency real-time induction mode it is more accurate calculate automatic guided vehicle walking when planning path between deviation, and path alternative is stronger, calibrates convenience and high-efficiency.
Description
Technical field
The present invention relates to intelligent material conveying technical field, the walking calibrating installation of specially a kind of automatic guided vehicle and
Calibration method.
Background technique
Intelligent material conveying equipment refers to for the intelligence equipment that material is mobile in manufacturing shop or between workshop, carries, packet
Automatic guided vehicle (AGV), las er-guidance trolley (LGV), intelligent suspension transportation system etc. are included, intelligent storage equipment, referring to can be certainly
Dynamic storage and the intelligence equipment and system for taking out cargo, including automatic stereowarehouse and its automatic recognition system, tunnel stacking
Machine, expert system etc..
AGV is the english abbreviation of automatic guided vehicle, is referred to magnetic stripe, the homing guidances equipment such as track or laser, edge
The route planned, using battery as power, and equipment safety protection and various auxiliary bodies (such as transfer, assembly
Mechanism) unpiloted automated vehicle；Usually more AGV and control computer (console), navigation equipment, charging equipment
And periphery auxiliary device forms AGV system, main operational principle shows as the monitoring and task schedule in control computer
Under, AGV can accurately walk according to the path of regulation, after reaching task designated position, complete a series of job task, control
Computer processed can decide whether to carry out automatic charging to charging zone according to AGV self electric quantity.
And automatic guided vehicle is when in use, the case where being often easy to appear Path error, it is therefore desirable to carry out walking school
It is quasi-.
But existing automatic guided vehicle walking calibrating installation is primarily present following defect:
It (1) is directly to calibrate when calibration due to automatic guided vehicle, there is no carry out school for particular situation
Standard, single calibrating mode cause calibration result not accurate enough, have an impact to the handling efficiency of entire automatic guided vehicle；
(2) and when being calibrated, detection error situation is needed, and traditional separate-blas estimation mode is only single
Ability precision with higher under path, and the path once planned changes, it is difficult to it adapts to and is easy to appear testing result not
Accurate problem influences the quality of piece calibration.
Summary of the invention
In order to overcome the shortcomings of prior art, the present invention provide a kind of automatic guided vehicle walking calibrating installation and
Calibration method, by incude testing agency real-time induction mode it is more accurate calculate automatic guided vehicle walking when
The deviation between planning path is waited, and path alternative is stronger, calibrates convenience and high-efficiency, can effectively solve background technique
The problem of proposition.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of walking calibrating installation of automatic guided vehicle, including the induction testing agency being mounted on automatic guided vehicle
With for moving the deflecting roller group turned to, automatic adjusting mechanism, and automatic guided vehicle bottom are installed in the deflecting roller group
It is provided with pre-buried electrified cable, the induction testing agency and automatic adjusting mechanism pass through control system control；
The deflecting roller group includes steering shaft, and the steering shaft is connected with steering cross bar, institute by rack and pinion steering gear
It states and turns to cross bar both ends and pass through knuckle arm respectively and be connected with left steering wheel hub, right turn wheel hub, pass through torsion in the steering shaft
Square sensor is connected with adjusting shaft, and the induction testing agency includes be movably arranged on automatic guided vehicle bottom end two sides two
A activity detection block is connected with electric pushrod by micropositioning stage on the activity detection block, and the electric pushrod outer end is by swashing
Light-seeking seat is mounted on automatic guided vehicle bottom, and the automatic adjusting mechanism includes being mounted on the driven gear adjusted in shaft
Disk.
Further, the micropositioning stage includes the activity box connecting with electric pushrod, and the activity box upper surface is equipped with
Several rolling steel balls are simultaneously contacted with automatic guided vehicle bottom, and the activity box side is equipped with several electric threaded shafts, institute
Some electric threaded shaft ends are by concentrating plate to connect with activity detection block.
Further, several sliding metal wheels are installed on the activity detection block, and automatic guided vehicle bottom is set
Several and the matched sliding groove of sliding metal wheel are equipped with, the sliding groove inner wall is provided with electromagnetism iron plate.
Further, thick coil group and thin coil group be installed, the thick coil group and thin inside the activity detection block
Coil group, the thick coil group and thin coil group are staggered using intersection construction, and thick coil group and thin coil group outer end are equal
It is connected with moving screw, the moving screw is fixedly connected with activity detection block, and both ends are mounted on inside activity detection block
Metallic shield frame.
Further, the automatic adjusting mechanism further includes several driving spindles being mounted on automatic guided vehicle,
And at uniform planetary distribution between all driving spindles, driving tooth wheel disc, the driving are mounted in the driving spindle
Main shaft by servo motor drive, and adjacent driving tooth wheel disc diameter it is linear be incrementally distributed, and each lead
The indicator light of different colours is mounted on movable tooth wheel disc.
Further, the control system includes electrical signal detection module, Path error detection module and is manually entered mould
Block, the electrical signal detection module, Path error detection module and manual input module output end are connected with central processing jointly
Module, and central processing module output end is connected with motor-drive circuit, information feedback module and the path for calibration and compares
Module.
Further, the electrical signal detection module includes several current sensors for being used for sensed current signal, and
Path error detection module includes the real time panoramic camera being mounted on automatic guided vehicle, and manual input module includes indigo plant
Tooth signal receiver and signal loader.
The present invention also provides a kind of walking calibration methods of automatic guided vehicle, include the following steps:
S100, planning setting is carried out to the path of automatic guided vehicle；
S200, comparative analysis planning path and real-time route；
S300, it is calibrated according to comparative situation, and with planning path real time contrast until completing to calibrate.
Further, in the step S100, the planning process in path are as follows:
The location information of pre-buried electrified cable inside S101, input materials warehouse；
S102, the path position data for selecting automatic guided vehicle；
The position and planning path position of S103, the pre-buried electrified cable of comparison, are calculated the Path error of different sections of highway
Track.
Further, specific calibration process in the step S300 are as follows:
Real-time route information and planning path the information comparison that will test obtain the size of deviation and angle between the two information
Degree；
Automatic guided vehicle is adjusted according to the size and angle of deviation, realizes and turns to progress path adjusting；
When planning path and real-time route are overlapped or deviation range is less than a certain range, automatic guided vehicle is protected
Hold current state traveling.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention, can using that can carry out induction detection to automatic guided vehicle with the induction testing agency of activity adjustment
To adapt to different path plannings, and detection accuracy is high, greatly improves the path planning range of entire automatic guided vehicle,
Practicability is stronger, while the mode of double check can greatly improve detection accuracy；
(2) present invention carries out steering adjusting to automatic guided vehicle in the way of adjusting indirectly, according to different steerings
The different regulative mode of angle Selection is adjusted, while improving steering precision, it is quick not only to can be convenient automatic guided vehicle
It is mobile to carry, and by accurately moving, improve the working efficiency of automatic guided vehicle.
Detailed description of the invention
Fig. 1 is automatic guided vehicle schematic diagram of internal structure of the invention；
Fig. 2 is control system operation principle schematic diagram of the invention；
Fig. 3 is activity detection block structure schematic diagram of the invention；
Fig. 4 is induction testing agency structural schematic diagram of the invention；
Fig. 5 is automatic adjusting mechanism structural schematic diagram of the invention；
Fig. 6 is walking calibration method workflow schematic diagram of the invention.
Figure label:
1- incudes testing agency；2- deflecting roller group；The pre-buried electrified cable of 3-；4- control system；5- automatic adjusting mechanism；
101- activity detection block；102- micropositioning stage；103- electric pushrod；104- laser positioning seat；105- rolling steel ball；
106- electric threaded shaft；107- concentrates plate；108- sliding metal wheel；109- sliding groove；110- electromagnetism iron plate；The thick coil group of 111-；
The thin coil group of 112-；113- moving screw；114- activity box；115- metallic shield frame；
201- steering shaft；202- rack and pinion steering gear；203- turns to cross bar；204- knuckle arm；205- left steering wheel
Hub；206- right turn wheel hub；207- torque sensor；208- adjusts shaft；
401- electrical signal detection module；402- Path error detection module；403- manual input module；404- central processing
Module；405- motor-drive circuit；406- information feedback module；The path 407- contrast module；408- current sensor；409- is real
When full-view camera；410- Bluetooth signal receiver；411- signal loader；
501- driven tooth wheel disc；502- driving spindle；503- driving tooth wheel disc；504- servo motor；505- indicator light.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 5, the present invention provides a kind of walking calibrating installations of automatic guided vehicle, including are mounted on
Testing agency 1 and the deflecting roller group 2 for mobile steering are incuded on automatic guided vehicle, are equipped in the deflecting roller group 2
Automatic adjusting mechanism 5, and automatic guided vehicle bottom is provided with pre-buried electrified cable 3, the induction testing agency 1 and automatic tune
Section mechanism 5 is controlled by control system 4；
In the present solution, realizing the steering work of automatic guided vehicle, using deflecting roller group 2 convenient for when mobile
Adjustment direction of travel in time realizes real time calibration, and the steering of deflecting roller group 2 adjusts and realizes control by automatic adjusting mechanism 5,
Automatic adjusting mechanism 5 under the action of, it is ensured that the automatic guided vehicle in moving process is more accurate, and adjustment process move
Dynamic control, at the same by have the induction testing agency 1 of induction detection function come real-time detection current path and planning path it
Between deviation, improve detection accuracy by way of two-way separate-blas estimation, effectively reduce because detection inaccuracy and generate school
Quasi- error, greatly improves the calibration accuracy of automatic guided vehicle, not only can be convenient automatic guided vehicle and quickly moves
It is dynamic to carry, and by accurately moving, it can play a good protective effect to automatic guided vehicle, while improving automatic
The working efficiency of guide trolleys.
The deflecting roller group 2 includes steering shaft 201, and the steering shaft 201 is connected with by rack and pinion steering gear 202 to be turned
To cross bar 203,203 both ends of steering cross bar pass through knuckle arm 204 respectively and are connected with left steering wheel hub 205, right turn wheel
Hub 206 is connected in the steering shaft 201 by torque sensor 207 and adjusts shaft 208, the working principle of the deflecting roller group 2
Identical as the principle of motor turning, under the rotary action for adjusting shaft 208, driving torque, which acts through, is transmitted to steering shaft
On 201, turning force is transferred to by rack and pinion steering gear 202 and turns to cross bar 203, Zhi Houtong by steering shaft 201 later
Crossing knuckle arm 204 drives left steering wheel hub 205, the right turn wheel hub 206 of two sides to be turned to, by changing left steering wheel hub
205, the angle of right turn wheel hub 206 carries out steering adjusting to the movement of automatic guided vehicle, convenient for trolley in different requirements
Lower work.
The induction testing agency 1 includes two activity detection blocks for being movably arranged on automatic guided vehicle bottom end two sides
101, electric pushrod 103 is connected with by micropositioning stage 102 on the activity detection block 101,103 outer end of electric pushrod passes through
Laser positioning seat 104 is mounted on automatic guided vehicle bottom, and being detected by induction testing agency 1, automatic guided vehicle is mobile
When information, by changing the position of activity detection block 101, when detection, it can directly detect more accurate
Data avoid detection weak output signal that from should influencing the production of the accuracy of testing result.
The micropositioning stage 102 includes the activity box 104 connecting with electric pushrod 103,104 upper surface of the activity box installation
There are several rolling steel balls 105 and contacted with automatic guided vehicle bottom, it is electronic that 104 side of activity box is equipped with several
Lead screw 106, all 106 ends of electric threaded shaft pass through electric pushrod by concentrating plate 107 to connect with activity detection block 101
103, which carry out rough position, is adjusted, and under the action of multiple electric threaded shaft 106, the change that entire micropositioning stage 102 can be subtle is living
The position of dynamic detection block 101, allows activity detection block 101 to be easily moved to accurate location, facilitates operation.
Meanwhile micropositioning stage 102 is when in use, activity box 104 is moved under the action of passing through multiple rolling steel balls 106
It is dynamic, reduce mobile frictional force.
Several sliding metal wheels 108 are installed, and automatic guided vehicle bottom is provided on the activity detection block 101
Several and the matched sliding groove 109 of sliding metal wheel 108,109 inner wall of sliding groove is provided with electromagnetism iron plate 110, in electricity
Under the action of dynamic push rod 103, activity detection block 101 is moved freely inside sliding groove 109 by sliding metal wheel 108, is passed through
The position for changing activity detection block 101, allows activity detection block 101 to carry out induction detection in different positions, automatic
When guide trolleys movement shifts, the precision of induction detection can be improved.
When actual use, pre-buried electrified cable 3 be in energized state generation electromagnetic field, and two activity detection blocks
101 are distributed in the two sides of pre-buried electrified cable 3, and by adjusting the position of activity detection block 101, line route is being previously set
Under the premise of, the position of two activity detection blocks 101 is moved to the position closer to pre-buried electrified cable 3, so that movable
Current signal when detection of detection block 101 is stronger, so that detection accuracy is improved, relative to traditional fixed test side
The case where formula, which can effectively change for automatic guided vehicle setting path, greatly improve detection knot
The accuracy of fruit.
Thick coil group 111 and thin coil group 112, thick 111 He of coil group are installed inside the activity detection block 101
Thin coil group 112, the thick coil group 111 and thin coil group 112 are staggered using intersection construction, and 111 He of thick coil group
Thin 112 outer end of coil group is respectively connected with moving screw 113, and the moving screw 113 is fixedly connected with activity detection block 101, and
101 inside both ends of activity detection block are mounted on metallic shield frame 115, and when being detected, pre-buried electrified cable 3 is powered
The electromagnetic signal generated later under the action of thick coil group 111 and thin coil group 112 inside activity detection block 101, generates
Electromagnetic induction phenomenon is sentenced to form electric current in thick coil group 111 and thin coil group 112 by detecting the size of electric current
Break the magnetic signal strength of pre-buried electrified cable 3, to judge between automatic guided vehicle current location and pre-buried conductive track 3
Position difference, to complete positioning work to automatic guided vehicle.
The thick coil group 111 and thin coil group 112 concurrently set can have both been used simultaneously to improve detection accuracy, can also be with
Exclusive use is detected, and in such a way that the two be combined with each other, can effectively improve detection accuracy, and thick coil group 111
It is adjusted respectively by corresponding moving screw 113 with thin coil group 112, so that thick coil group 111 and thin coil group 112 were both
It can be detected jointly with independent detection, current resistor individually be reduced by thick coil group 111 when detection, to reduce
The interference effect of resistance, and when detect jointly, it is big by the electric current for analyzing thick coil group 111 and thin coil group 112 simultaneously
It is small, the accuracy of testing result can be effectively improved, single detection is avoided to influence result.
The automatic adjusting mechanism 5 includes being mounted on the driven tooth wheel disc 501 adjusted in shaft 208, the automatic adjustment
Mechanism 5 further includes several driving spindles 502 being mounted on automatic guided vehicle, and Cheng Jun between all driving spindles 502
Even planetary distribution, driving tooth wheel disc 503 is mounted in the driving spindle 502, and the driving spindle 502 passes through servo electricity
Machine 504 drives, and adjacent driving tooth wheel disc 503 diameter it is linear be incrementally distributed, and each driving tooth wheel disc
It is mounted on the indicator light 505 of different colours on 503, when automatic guided vehicle needs to turn to, is turned by changing to adjust
Axis 208 can be realized, and automatic adjusting mechanism 5 carries out steering adjusting to automatic guided vehicle by way of adjusting indirectly, behaviour
Facilitate, is easy to implement automatic processing.
When automatic guided vehicle, which needs to turn to, to be adjusted, driven actively by any one driving spindle 502 first
Fluted disc 503 rotates, and driven tooth wheel disc 501 is driven to rotate by the engagement of gear, adjusts turning for shaft 208 to realize
Movement is used, and after adjusting shaft 208 and rotating, is acted on by a series of by a left side for torque force transfer to automatic guided vehicle
On steering wheel hub 205, right turn wheel hub 206, realizes and turn to adjusting work.
And when selecting different driving spindles 502, the angular dimension turned to as needed selects the driving of suitable size
Main shaft 502 and driving tooth wheel disc 503 drive as power, thus it is more accurate when adjusting to driven tooth wheel disc 501, it can
The accuracy adjusted is turned to improve automatic guided vehicle.
As shown in Fig. 2, the control system 4 includes electrical signal detection module 401, Path error detection module 402 and hand
Dynamic input module 403, the electrical signal detection module 401, Path error detection module 402 and manual input module 403 export
End is connected with central processing module 404 jointly, and 404 output end of central processing module is connected with motor-drive circuit 405, information
Feedback module 406 and path contrast module 407 for calibration.
The electrical signal detection module 401 is used for current sensors 408 of sensed current signal, and path including several
Separate-blas estimation module 402 includes the real time panoramic camera 409 that is mounted on automatic guided vehicle, and manual input module 403
Including Bluetooth signal receiver 410 and signal loader 411.
Electrical signal detection module 401 detects the electricity inside activity detection block 101 by multiple current sensors 408 first
Signal is flowed, the signal of detection mainly includes the current signal from thick coil group 111 and thin coil group 112, and Path error is examined
The situation that module 402 mainly intuitively detects current path by the style of shooting of real time panoramic camera 409 is surveyed, is prevented
Biggish deviation, the current signal and vision signal of detection are by being transferred to central processing module 404 after enhanced processing, in
After the processing effect for entreating processing module 404, in conjunction with the vision signal of shooting and the current signal of detection, accurately to judge to work as
The position of preceding automatic guided vehicle facilitates and carries out calibration process work according to the path of setting.
Central processing module 404 is after judging information, according to the degree of current automatic guided vehicle offset path, selection
Most suitable motor is driven, to issue action command to motor-drive circuit 405, controls corresponding servo motor 504
The steering of driving, Lai Shixian automatic guided vehicle adjusts work, while after adjustment, on the one hand passing through information feedback module
Path signal after calibration is output to path comparison by the information feedback after calibration to exterior terminal, another aspect by 406
Module 407 carries out analysis comparison, guarantees that path is in accurate state after the calibration.
As shown in fig. 6, including the following steps: the present invention also provides a kind of walking calibration method of automatic guided vehicle
S100, planning setting is carried out to the path of automatic guided vehicle；
In the step S100, the planning process in path are as follows:
The location information of pre-buried electrified cable inside S101, input materials warehouse；
S102, the path position data for selecting automatic guided vehicle；
The position and planning path position of S103, the pre-buried electrified cable of comparison, are calculated the Path error of different sections of highway
Track.
It compares using between the track of the pre-buried electrified cable of store interior and the path of planning, is led automatically to obtain
Draw trolley in the Path error track of different directions, and since the position of pre-buried electrified cable is for stationary state, comparison two
The equation of locus of the different straightway deviations in path can be obtained in deviation between person.
S200, comparative analysis planning path and real-time route, by comparing current real-time route and planning path, according to
The size of deviation, the reasonable speed of travel for adjusting automatic guided vehicle, further expansion of guarding against deviations.
S300, it is calibrated according to comparative situation, and with planning path real time contrast until completing to calibrate.
Specific calibration process in the step S300 are as follows:
Real-time route information and planning path the information comparison that will test obtain the size of deviation and angle between the two information
Degree, according to the size of the size of offset distance and misalignment angle, determines calibration information, convenient for targetedly taking corresponding calibration
Measure.
Automatic guided vehicle is adjusted according to the size and angle of deviation, realizes and turns to progress path adjusting, according to inclined
Gap from size and the size of misalignment angle automatic guided vehicle is adjusted, when adjusting, while calibrating
At later, calibration result is detected；
When planning path and real-time route are overlapped or deviation range is less than a certain range, automatic guided vehicle is protected
Current state traveling is held, by path after comparison calibration and planning path, when being less than a certain range, that is, adjustable
It completes, detection and real time calibration is carried out to the entire moving process of automatic guided vehicle, improve the accuracy of walking.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of walking calibrating installation of automatic guided vehicle, it is characterised in that: including the sense being mounted on automatic guided vehicle
Testing agency (1) and the deflecting roller group (2) for mobile steering are answered, automatic adjusting mechanism is installed on the deflecting roller group (2)
(5), and automatic guided vehicle bottom is provided with pre-buried electrified cable (3), the induction testing agency (1) and automatic adjusting mechanism
(5) it is controlled by control system (4)；
The deflecting roller group (2) includes steering shaft (201), and the steering shaft (201) is connected by rack and pinion steering gear (202)
Have steering cross bar (203), steering cross bar (203) both ends pass through knuckle arm (204) respectively and are connected with left steering wheel hub
(205), right turn wheel hub (206) are connected with adjusting shaft by torque sensor (207) on the steering shaft (201)
(208), induction testing agency (1) includes two activity detection blocks for being movably arranged on automatic guided vehicle bottom end two sides
(101), electric pushrod (103), the electric pushrod are connected with by micropositioning stage (102) on the activity detection block (101)
(103) outer end is mounted on automatic guided vehicle bottom by laser positioning seat (104), and the automatic adjusting mechanism (5) includes peace
Mounted in the driven tooth wheel disc (501) adjusted on shaft (208).
2. a kind of walking calibrating installation of automatic guided vehicle according to claim 1, it is characterised in that: the micropositioning stage
It (102) include the activity box (104) being connect with electric pushrod (103), activity box (104) upper surface is equipped with several rollings
Dynamic steel ball (105) are simultaneously contacted with automatic guided vehicle bottom, and activity box (104) side is equipped with several electric threaded shafts
(106), all electric threaded shafts (106) end is by concentrating plate (107) to connect with activity detection block (101).
3. a kind of walking calibrating installation of automatic guided vehicle according to claim 1, it is characterised in that: the activity inspection
It surveys on block (101) and several sliding metal wheels (108) is installed, and automatic guided vehicle bottom is provided with several and sliding gold
Belong to wheel (108) matched sliding groove (109), sliding groove (109) inner wall is provided with electromagnetism iron plate (110).
4. a kind of walking calibrating installation of automatic guided vehicle according to claim 1, it is characterised in that: the activity inspection
It surveys inside block (101) and thick coil group (111) and thin coil group (112), the thick coil group (111) and thin coil group is installed
(112), the thick coil group (111) and thin coil group (112) are staggered using intersection construction, and thick coil group (111) and
Thin coil group (112) outer end is respectively connected with moving screw (113), and the moving screw (113) and activity detection block (101) are fixed
Connection, and the internal both ends of activity detection block (101) are mounted on metallic shield frame (115).
5. a kind of walking calibrating installation of automatic guided vehicle according to claim 1, it is characterised in that: the automatic tune
Section mechanism (5) further includes several driving spindles (502) being mounted on automatic guided vehicle, and all driving spindles (502)
Between at uniform planetary distribution, be mounted on driving tooth wheel disc (503), the driving spindle on the driving spindle (502)
(502) by servo motor (504) drive, and adjacent driving tooth wheel disc (503) diameter it is linear be incrementally distributed,
And the indicator light (505) of different colours is mounted on each driving tooth wheel disc (503).
6. a kind of walking calibrating installation of automatic guided vehicle according to claim 1, it is characterised in that: the control system
System (4) includes electrical signal detection module (401), Path error detection module (402) and manual input module (403), the electricity
During signal detection module (401), Path error detection module (402) and manual input module (403) output end are connected with jointly
It entreats processing module (404), and central processing module (404) output end is connected with motor-drive circuit (405), information feedback module
(406) and for calibration path contrast module (407).
7. a kind of walking calibrating installation of automatic guided vehicle according to claim 6, it is characterised in that: the electric signal
Detection module (401) includes current sensors (408) that several are used for sensed current signal, and Path error detection module
It (402) include the real time panoramic camera (409) being mounted on automatic guided vehicle, and manual input module (403) includes indigo plant
Tooth signal receiver (410) and signal loader (411).
8. a kind of walking calibration method of automatic guided vehicle, characterized by the following steps:
S100, planning setting is carried out to the path of automatic guided vehicle；
S200, comparative analysis planning path and real-time route；
S300, it is calibrated according to comparative situation, and with planning path real time contrast until completing to calibrate.
9. a kind of walking calibration method of automatic guided vehicle according to claim 8, it is characterised in that: the step
In S100, the planning process in path are as follows:
The location information of pre-buried electrified cable inside S101, input materials warehouse；
S102, the path position data for selecting automatic guided vehicle；
The position and planning path position of S103, the pre-buried electrified cable of comparison, are calculated the Path error track of different sections of highway.
10. a kind of walking calibration method of automatic guided vehicle according to claim 8, it is characterised in that: the step
Specific calibration process in S300 are as follows:
Real-time route information and planning path the information comparison that will test, obtain the size and angle of deviation between the two information；
Automatic guided vehicle is adjusted according to the size and angle of deviation, realizes and turns to progress path adjusting；
When planning path and real-time route are overlapped or deviation range is less than a certain range, automatic guided vehicle holding is worked as
Preceding state traveling.
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