摘要
为了提高导引柔性,降低维护成本,将二维码技术应用到视觉导引AGV定位导航中。首先分析差速转向AGV运动学模型。将包含有坐标信息的二维码间隔一定距离粘贴到对应位置,车载工业相机捕捉到二维码图像后,返回二维码包含的AGV位置坐标并提取二维码特征点在图像坐标系中的坐标,通过坐标转换得到AGV位置偏差和角度偏差,进而对AGV两轮速度进行调整以实现纠偏,实验证明:基于二维码图像标签定位导航的视觉导引AGV定位精确,运行灵活稳定,可应用到作业现场。
In order to improve the flexibility of navigation and reduce maintenance cost, two-dimensional code technology is ap-plied to vision guided AGV positioning navigation. Firstly, the kinematic model of differential steering AGV is analyzed. Affixedthe two-dimensional code contains coordinate information to the corresponding position at a certain distance, vehicle industrialeamera to capture the two-dimensional code image, coordinate AGV coordinates return two-dimensional code contains two-dimen-sional code and extract the feature points in the image coordinate system, AGV position deviation and angle deviation obtained bycoordinate transformation, and the two AGV the speed of adjustment to achieve rectification, prove that AGV car experiment： two-dimensional code label image positioning and navigation based on vision guided AGV precise positioning, flexible and stable oper-ation, can be applied to tile work site.
出处
《物流科技》
2017年第10期40-42,共3页
Logistics Sci-Tech
关键词
二维码技术
视觉导引
差速转向AGV
定位导航
two-dimensional bar code technology
vision guidance
differential steering AGV
positioning navigation
