Design And Implementation Of Automatic Guided Vehicle Based On Vision Navigation

With the rise in the price of labor,Chinese manufacturing "demographic dividend" is disappearing,and promote the traditional industry with modernization and automation equipment,promote the technology dividend alternative demographic dividend,in recent years become China's manufacturing industry,logistics and transport industry to achieve sustained growth inevitable choice for long.Automatic guided vehicle(Automated Guided Vehicle,referred to as AGV)is the main equipment for the production of material handling,material handling system can meet the production requirements,is an important part of the whole industrial automation and logistics automation.According to the current research of automatic guided vehicle system as the research object,in view of the present our country because of the late start,most of the existing products,the traditional magnetic stripe,laser inertial navigation,is deficient in miniaturization,low cost and reliability,difficulty of product promotion,the design of automatic guided vehicle system QR code visual landmarks based on the navigation.The main contents include four parts:1,the overall scheme design of automatic guided vehicle system;2,the design and implementation of automatic guided vehicle system platform;3,system positioning and path tracking function realization and system software design;4,build the system test platform to test the system function.First of all,in view of the shortcomings of the current AGV system combined with the present situation of the application of our country and promote the use of the main application scenarios,the reference of foreign advanced system,this paper uses automatic guided vehicle navigation system scheme based on QR codes,this scheme has the advantages of low cost,high flexibility and high reliability advantages compared with the traditional scheme such as electromagnetic and laser.Then,according to the actual needs of the system of the automatic guided vehicle system platform design,automatic guided vehicle comprises a main controller,hardware selection and image acquisition equipment,motor,motor controller system and complete the connection.Kinematic analysis of the two wheeled differential automatic guided vehicle.Summed up the motion control method and dead reckoning method.Then,the system location and path tracking function are realized.It mainly includes the precise positioning function based on QR code and the dynamic path following control function.In order to realize the function of the system,the QR code scanner with high recognition efficiency and success rate is developed independently.Through the establishment of visual model and camera calibration to achieve precise positioning system,and positioning and dead reckoning with enhanced stability and robust localization,realize the function of positioning system.According to the characteristics of the system dynamic path,the path tracking control scheme of the system is designed to realize the path tracking function of the system.The path tracking is divided into the steering point steering and the straight line path correction.Through the design of steering scheme and the linear path correction based on fuzzy control,the stable path tracking of the car in the dynamic path is achieved.The system software is compiled.Software includes localization algorithm and path tracking algorithm.The software has the functions of setting the path,setting parameters,displaying the running track,displaying the running state,manual control,automatic tracking and so on.Finally,the system test platform is set up,and the reasonable test scheme is designed.Through the system test,the feasibility of the system is verified,and the basic performance index of the system is mastered.In this paper,the design of the automatic guided vehicle system basically achieved the desired function.The car navigation technology compared with the traditional magnetic and laser navigation stripe has the advantages of low cost,high flexibility and high reliability advantages.This paper presents the design and implementation of the experimental prototype car for the future development of practical application of a new type of automatic guided vehicle navigation system to create a good experimental platform.