基于QR码的视觉导航AGV系统
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摘要
鉴于视觉导航系统具有高精度的优点,设计了基于快速响应代码(QR Code)二维码的视觉导航自动导引车(AGV)系统。完成了AGV系统的结构设计、视觉导航原理及控制策略,确定了AGV系统的各项关键参数。实验研究表明:在导航运行过程中,AGV的站点位置修正后可控制在±12 mm以内,AGV的航向角修正后误差可控制在±1°以内,且AGV能够沿着已有的轨迹地图稳定可靠运行。
In view of high precision of visual navigation system,a visual navigation automated guided vehicle(AGV)system based on quick response(QR)code is proposed. Structural design,visual navigation and the control strategy of AGV system are completed,and the key parameters of AGV system are confirmed. The experimental research shows that in the process of the navigation,the site location error and the course angle error of AGV can be controlled within ± 12 mm and ± 1°respectively after revision. Besides,AGV can run stably and reliably along an existing trajectory map navigation.
In view of high precision of visual navigation system,a visual navigation automated guided vehicle(AGV)system based on quick response(QR)code is proposed. Structural design,visual navigation and the control strategy of AGV system are completed,and the key parameters of AGV system are confirmed. The experimental research shows that in the process of the navigation,the site location error and the course angle error of AGV can be controlled within ± 12 mm and ± 1°respectively after revision. Besides,AGV can run stably and reliably along an existing trajectory map navigation.
引文
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[16]向凤红,孔庆平,毛剑琳,等.基于Zig Bee的低功耗无线传感器网络改进协议[J].传感器与微系统,2017,36(3):33-35.
[2]陈洪波. AGV在物流行业中的发展前景与市场应用[J].机器人技术与应用,2015(6):39-40.
[3] Beliveau Y J,Fithian J E,Deisenroth M P. Autonomous vehicle navigation with real-time 3D laser based positioning for construction[J]. Automation in Construction,1996,5(4):261-272.
[4] Figueroa F,Mahajan A. A robust navigation system for autonomous vehicles using ultrasonics[J]. Control Engineering Practice,1994,2(1):49-59.
[5]李强,胡泽,葛亮,等.利用电磁导航的AGV设计[J].现代电子技术,2012,35(12):79-81.
[6]周驰东.磁导航自动导向小车(AGV)关键技术与应用研究[D].南京:南京航空航天大学,2012.
[7] Lee S Y,Yang H W. Navigation of automated guided vehicles using magnet spot guidance method[J]. Robotics&Computer Integrated Manufacturing,2012,28(3):425-436.
[8]赵旭,雷师节,邬杨波,等.基于电涡流效应的AGV导引传感器设计[J].传感器与微系统,2016,35(12):85-88.
[9] Lu S,Xu C,Zhong R Y,et al. A RFID-enabled positioning system in automated guided vehicle for smart factories[J]. Journal of Manufacturing Systems,2017,44:179-190.
[10]朱从民,黄玉美,上官望义,等. AGV多传感器导航系统研究[J].仪器仪表学报,2008,29(11):2419-2423.
[11] Jung K,Kim J,Kim J. Intelligent autonomous systems[M]. Berlin Heidelberg:Springer,2013:807-816.
[12] Andersen N,Henriksen L,Ravn O. Design of navigation and control for an AGV[J]. IFAC Proceedings Volumes,1995,28(11):175-180.
[13]王荣本,储江伟,冯炎,等.一种视觉导航的实用型AGV设计[J].机械工程学报,2002,38(11):135-138.
[14] I8)nigo R M,Alley D. Algorithms for path planning,navigation and guidance of an AGV[J]. Robotics&Autonomous Systems,1991,7(4):309-326.
[15] Rocha L F,Moreira A P,Azevedo A. Flexible internal logistics based on AGV system’s:A case study[J]. IFAC Proceedings Volumes,2010,43(17):248-255.
[16]向凤红,孔庆平,毛剑琳,等.基于Zig Bee的低功耗无线传感器网络改进协议[J].传感器与微系统,2017,36(3):33-35.