自动导引车精确定位技术的研究

发布时间：2018-06-12 13:30

本文选题：AGV + QR　；参考：《沈阳航空航天大学》2015年硕士论文

【摘要】：自动导引车以其灵活化、智能化等多种显著优势广泛地应用于自动化立体仓库、柔性装配系统、商业服务行业的物流传送系统等多种系统中。自动导引车的广泛应用不仅大幅减少了劳动力成本，提高了生产效率，还有效地保证了物料运输的可靠性。自动导引车集成了诸如信息采集与处理技术、导航技术、车载伺服驱动技术等多种核心技术。其中导航技术为核心技术之一，而精确定位又是实现导航技术的基础。当前，视觉导航技术以其理论上的最佳柔性成为研究热点，同时衍生出了基于人工路标的视觉定位问题。本文结合热点，研究通过设置QR Code人工路标从而对自动导引车进行精确定位的问题。本文主要研究内容如下： QR Code识别部分。主要介绍了QR Code识别原理并对其进行了简单说明。其中重点对光照不均匀条件下的QR Code图像二值化问题进行了深入研究，并提出了相应的QR Code图像二值化算法。该算法可用于解决带有不均匀光照影响的QR Code图像的二值化问题。实验表明，本文所提出的局部二值化算法处理效果良好，时间开销较小，可以满足对实时性要求较高的嵌入式系统的应用需求。自动导引车位置估计部分。主要介绍了姿态表征、摄像机模型、总体设计等内容。其中重点介绍了基于QR Code人工路标的自动导引车定位算法以及基于里程表的航位推测算法，并将两种算法相结合用于解决在室内结构化环境中的自动导引车精确定位问题。实验表明，，本文所提出的自动导引车定位算法鲁棒性较好，位精度基本可以满足实际应用需求。
[Abstract]:Automatic guided vehicle (AV) is widely used in many kinds of systems such as automatic warehouse flexible assembly system and logistics transmission system of commercial service industry due to its many advantages such as flexibility intelligence and so on. The wide application of automatic guidance vehicle not only reduces the labor cost, improves the production efficiency, but also effectively guarantees the reliability of material transportation. Automatic guidance vehicle (AV) integrates many core technologies such as information collection and processing technology, navigation technology, vehicle servo drive technology and so on. Navigation technology is one of the core technologies, and accurate positioning is the basis of navigation technology. At present, visual navigation technology has become a research hotspot with its best flexibility in theory, and the problem of visual positioning based on artificial road signs has been derived at the same time. In this paper, the problem of accurate positioning of automatic guidance vehicle by setting QR Code manual signpost is studied. The main contents of this paper are as follows: QR Code recognition. The principle of QR Code recognition is introduced in this paper. The binarization problem of QR Code image under the condition of uneven illumination is studied in detail, and the corresponding binary algorithm of QR Code image is proposed. This algorithm can be used to solve the binary problem of QR Code images with uneven illumination. The experimental results show that the proposed local binarization algorithm has good processing effect and low time cost. It can meet the requirements of embedded systems with high real-time performance. Automatic guidance vehicle position estimation section. This paper mainly introduces attitude representation, camera model, overall design and so on. This paper mainly introduces the location algorithm of automatic guided vehicle based on QR Code manual signpost and the algorithm of homing based on odometer, and combines the two algorithms to solve the problem of precise location of automatic guide vehicle in the indoor structured environment. The experimental results show that the proposed algorithm is robust and can meet the requirements of practical applications.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23;TP391.44

【参考文献】