Research On Visual Guidance AGV Control Method Combined With RFID Location

With the advent of Industry 4.0,modern manufacturing industry has put forward higher requirements for material transportation.Intelligent transportation has increasingly become the top priority of improving manufacturing efficiency.AGV system is widely used in modern manufacturing industry.Traditional AGV mainly relies on fixed magnetic wires to guide and transport materials,and its motion flexibility is poor,which is difficult to meet the needs of complex working conditions.In recent years,with the rapidly improvement of hardware performance,such as computers and sensors,more adaptive visual guidance technology has become a hot topic.Based on modern manufacturing workshop material transportation for the work scene,studied the vision guided AGV identification control and PID control system,summarized as follows:First,in the visual guidance recognition part,the algorithm process of extracting the navigation angle deviation and distance deviation of the AGV car relative to the road guidance identification line is designed.Mainly includes: the segmentation method of block image and Otsu image segmentation algorithm combining threshold,improve the road complex environment under the guidance of mark binarization segmentation;navigation parameter deviation image thinning algorithm,Hough line detection and fitting line extraction algorithm,improves the accuracy of parameters of navigation deviation;no projection distortion correction algorithm the camera calibration,simplifies the implementation process of AGV monocular vision navigation.Secondly,in the part of the path tracking control of visual navigation AGV,establish the kinematics model of two wheel differential drive type AGV car,and based on this model a mathematical model by the navigation angle deviation and distance deviation and AGV car speed up,the AGV vehicle path tracking control system state equation system;tracking PID controller design the AGV path based on particle swarm optimization,improve the system performance of PID controller.Thirdly,using the characteristics of strong stability and anti-interference of RFID,the global positioning of the AGV car and the precise point parking of the station and parking point are realized.Guide mark line laying RFID card on the road,through the vehicle position data information reader reads the card storage,to achieve the global positioning AGV.The RFID card is installed at the image identification of the workstation and the parking station.The RFID card is used in conjunction with the image recognition and photoelectric encoder to achieve precise stopping of the AGV cart.Finally,the AGV experimental platform was built and the path tracking experiment of the AGV car and the fixed point parking experiment were carried out,and the expected effect was achieved.The experimental results verify the feasibility of the navigation mode proposed in this paper and the accuracy of the extraction of visual guidance parameters.