| keep up with the rapid development of industry 4.0,artificial intelligence has become a new favorite in the era of industrial 4.0,Among them,the green smart factory and smart production are one of the core objectives of the industry 4.0.This topic is in this background,the full range of mobile AGV based on visual guiding(Automated Guided Vehicle)of the relevant technology,and design of intelligent robot motion in autonomous mobile workshop.Project research includes image acquisition and processing and omnidirectional movement and control of AGV.The main contents of this dissertation include:First of all,about the acquisition and processing of the image,installed the camera in the bottom of the AGV's body to grab the black tape on the ground.After grabed,teh image is grayed then the improved Canny algorithm is used to extract the edge,and then detects the straight line by using the Huff transform.Finally,the effective edge line is obtained through the straight line screening and the navigation deviation parameter is calculated.Secondly,about omnidirectional movement and control of AGV,this paper will study the kinematics of single Mecanum wheel,and then combined with the four driving wheels to establish the overall kinematics model.According to the image acquisition and processing to obtain the deviation distance and deviation angle as the input of motion control to control the AGV to follow the right path,and Two fuzzy controllers were used in the system according to the basic principle of fuzzy control input.Finally,on the hardware,image acquisition and processing select the embedded system with cotxet A9 kernel,the omnidirectional movement and control of AGV select embedded system(STM32F704)to control servo.On the software,select the visual development tools of QtCreator equipped with opencv2.4.7.Realize the motion control of omni-directional mobile of AGV based on visual navigation,tested and analyzed various algorithms proposed or adopted in this paper. |
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