基于视觉导引全向行驶的智能AGV系统设计

自动导引小车(Automatic Guided Vehicle,AGV)依照导引可以沿路线自动行驶,导引和控制是AGV的关键技术,决定着其性能的优劣。对基于机器视觉AGV路径跟踪技术进行了研究,采用廉价摄像头(Webcam)作为视觉引导传感器,在路线变更点粘贴自主设计的简明路标,行驶中Webcam实时侦查地面路标,利用数字图像处理识别路标,根据路标坐标纠正AGV位姿;搭配两组麦克纳姆轮用于灵活全方向的行驶,实现平移、斜行、旋转及其组合等运动方式,非常适合路径奇特、作业通道狭窄的场合。设计的AGV在生产现场已经适用,相比磁条AGV,减少了输送时间,节约了维护成本,有望在生产线中进一步推广使用。

Research on Intelligent AGV System Based on Visual Guided and Omnidirectional Running

In this paper,the AGV path tracking technology based on machine vision is studied,cheap webcam is used as a visual guidance sensor,self-designed simple road signs are pasted on the route change point.In the process of moving,Webcam detects the road sign in real time,used digital image processing technology to identify the meaning of the road sign,and corrects the AGV pose according to the road sign coordinate.This design is equipped with two sets of Mecanum wheels to realize omnidirectional moving,realizing the movement modes of translation,oblique line,rotation and their combination,which is very suitable for peculiar paths and narrow operation channels.The AGV designed in this paper has been applied in the production field.Compared with the magnetic stripe AGV,it reduces the delivery time and greatly saves the maintenance cost.