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ID:37382176
大小:15.38 MB
页数:93页
时间:2019-05-23
《基于RFID的AGV视觉导引系统研究》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、浙江大学信息科学与工程学院硕士学位论文基于RFID的AGV视觉导引系统研究姓名:郦光府申请学位级别:硕士专业:检测技术与自动化装置指导教师:张光新;侯迪波20080501浙江大学硕士学位论文AbstractIntherecentyears,AutomatedGuidedVehicleshavebeenbecomingthemostimportanttechnologyoftheautomationinindustriallogistics.Compared、而t11thetraditionalnavigationmethods,visualnavigationhastheadvantage
2、sofinformative,high-levelintelligent,andthegoodflexibility.SoitbecomesthemainstudyfocusofAGVTheresearchworkofthispaperreliesonthenewtypeofvisualnavigationvehicleplatform,whichisdevelopedindependentlybytheInstituteofAutomatedInstrumentationEngineeringinZhejiangUniversity.Inthispaper,wemainlyfocuson
3、thehardwareandsoftwarearchitecture,imageprocesssystem,radiofrequencyidentificationsystem,controlstrategiesofpathsfollowing,AGVswirelessschedulingsystem,andotherrelatedissues.(1).Mechanicaldesignofvehicle.Itincludestheconfigurationandhardwareselectionofdrivesystem,navigationsystemandcontrolsystemof
4、AGV.Designthespecificsteeringstructure,whichmakesproperadjustmentofthesteeringwheels,toachievethegoalofdrivingsmoothlyandavoidingdeviation.Anddesigntheanglesensorofsteeringwheelsindependently,torealizethereal—timecollectionofthedynamicinformation.(2).Imageprocessing.Toimprovetheadaptabilitytothero
5、adenvironment,thispaperattemptstouseavarietyofimage—processingtechniques.Themainmethodsdiscussedinthispaperinclude:thethresholddeterminationofroadimagebinarization,imagede—noisingbyhorizontalscanningmethodandsmallconnectivecomponentdismantlingmethod,Houghtransformationtofitstraightlines,theroadima
6、ges’distortionrectificationbasedonCrossratiotheoremandSOon.(3).Pathtrackingcontr01.ThepreviewkinematicsmodelofAGVisestablishedtoforecastthedrivingtrendsofvehiclebymeansofanalyzinginputvariablessuchasangleofsteeringwheel,androadinformation.Takingthehumandrivingexperiencesasareference,thecontrolalgo
7、rithmsbasedonexpeasystemaleestablished.Atthesametime,intelligentcontrolalgorithmssuchastheinitial—ii—浙江大学硕士学位论文steeringwheeladjustment,automaticpathlostsearching,andbranchpathcontrol,arealsointroducedtohelpAGVtoc
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