Research On Control System And Track Tracking Method Of Visual Guidance AGV

In recent years,with the continuous development of Science and Technology and the continuous progress of Society,logistics transportation has been developing rapidly towards automation and intelligence.In this trend,Automated Guided Vehicle(AGV)has been developing greatly,gradually replaced manual handling,because of its stable,reliable,efficient and flexible features,in many industries development has been widely used.However,since AGV has been put into use,how to make AGV more precise control and adapt to the needs of various productions has become a hot issue in the current research.Traditional navigation methods,such as tape navigation,inertial navigation,laser navigation,and so on,are more or less unsatisfactory in terms of environmental requirements,cost,control effects,and so on.With the rapid development of machine vision and computer technology,AGV visual guidance technology has gradually become a popular research object.It is under this background premise that a set of AGV control system is designed,and the application value is demonstrated by the study of visual navigation process and tracking control method.The main research content of the paper is as follows:(1)The design of the control system of AGV is carried out.On the basis of the overall design of the system,the hardware design of the control system and the software design of the control system are carried out.Among them,the hardware design is mainly for the control system to achieve a good hardware platform,software design is mainly for the control system application design,to ensure that the hardware and software work together to achieve the corresponding functions.(2)The AGV visual guidance system is constructed,and the principle of AGV visual guidance path recognition is introduced in detail.First,the guide path image acquisition is carried out by the visual sensor,and then some pre-processing is carried out on the captured image,and finally the path recognition and the center line fitting of the color belt are fitted.(3)In view of the study of AGV track correction and tracking control,the fuzzy control principle is used.And an adaptive fuzzing controller is designed by analyzing its track deviation mode and correction process in detail,and its design process includes variable fuzzing,fuzzy control rule establishment and de-fuzzing treatment.The feasibility of using fuzzy control is verified by the path tracking experiment.(4)A visual navigation trolley test platform was set up.And integral experiment was carried out on AGV and the performance of each system module was tested;and a large number of statistical data were calculated and verified;and the problems found in the test were summarized and solutions were proposed.The experimental results show that the design scheme about control system of visual guidance AGV is feasible and has very good reference value.