Agv On Sopc-based Visual Servo Control System

Automatic Guided Vehicle (AGV) is a typical application of autonomous mobile robot technology, and a key equipment for the automatic material handling system and flexible manufacturing system, which are used more and more widely. In the guiding technology of AGV, Vision-guided approach is of the more researching value and development potential. The existing AGV vision image processing is completed with the PC by using image acquisition cards, which could not realize the true meaning autonomous control. The hardware devices mainly applying in the controller and drives are single-chip microcomputers and ARM embedded system, it is difficult to meet the requirements of the visition intelligent control.In this paper, the large-scale, high-density FPGA and Altrea's SOPC (Programmable System on Chip) is used to realize embedded solutions for the vision servo control system of AGV, and the vision autonomous research tests of AGV system are done employing the RP6 test vehicle and Cyclone EP1C6Q240C8 chip development board.First of all, the thesis have studied the image feature extraction techniques and algorithms of the vision servo control AGV system, and discussed several methods of image segmentation, for the characteristics of vision-guiding AGV. The HSI color model based on the threshold of segmentation has been selected, and the method to obtain the edge of the centerline extraction and deviation has been discussed. Secondly, by the image detection system, the volumes of the locations deviation and angle deviation of AGV can be detected, and the fuzzy control strategy has been also used. According to the demands of the vision control of AGV, it realized fuzzy controller using FPGA specific programs, and by the QuartusⅡ5.0, the fuzzy controller design has been successfully realized, and the functional simulation of fuzzy control has been completed in Modelsim6.0. Finally, it completed some the design of servo control system of AGV drive system. For the characteristics of RP6 experimental car, it completed the design of the necessary digital logic modules, and according to the principle of AGV difference, it desgned the speed controller of AGV. Based on above design, the SOPC Builder was used to create the hardware of AGV drive vision servo control system, the NiosⅡIDE was applied to complete the Software program design of AGV driver, and the Modelsim6.0 Software was employed to complete the functional simulation analysis of designed software-driven system.