基于全局视觉的无轨AGV系统研究与设计

2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC) Pub Date : 2020-07-01 DOI:10.1109/ICEIEC49280.2020.9152225

Qingqing Wang, Jiahai Liang, Zhiqiang Rao

{"title":"基于全局视觉的无轨AGV系统研究与设计","authors":"Qingqing Wang, Jiahai Liang, Zhiqiang Rao","doi":"10.1109/ICEIEC49280.2020.9152225","DOIUrl":null,"url":null,"abstract":"To solve the problems of poor flexibility and relatively high cost of railed AGVs, a trackless AGV system based on global view is proposed. The system consists of the algorithm of AGV detection and recognition in the global vision and operation control. Through projective transformation of real-time video, a global map is generated. In order to ensure the real-time identification and positioning of AGV, an algorithm combining the inter-frame difference method and local dynamic tracking is proposed. With an omni-directional AGV with three Mecanums, the above method is verified. Experimental results show that AGV can complete real-time positioning and guidance in the trackless map, and the average positioning accuracy is less than 5cm.","PeriodicalId":352285,"journal":{"name":"2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Research and Design of Trackless AGV System Based on Global Vision\",\"authors\":\"Qingqing Wang, Jiahai Liang, Zhiqiang Rao\",\"doi\":\"10.1109/ICEIEC49280.2020.9152225\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"To solve the problems of poor flexibility and relatively high cost of railed AGVs, a trackless AGV system based on global view is proposed. The system consists of the algorithm of AGV detection and recognition in the global vision and operation control. Through projective transformation of real-time video, a global map is generated. In order to ensure the real-time identification and positioning of AGV, an algorithm combining the inter-frame difference method and local dynamic tracking is proposed. With an omni-directional AGV with three Mecanums, the above method is verified. Experimental results show that AGV can complete real-time positioning and guidance in the trackless map, and the average positioning accuracy is less than 5cm.\",\"PeriodicalId\":352285,\"journal\":{\"name\":\"2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC)\",\"volume\":\"28 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICEIEC49280.2020.9152225\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICEIEC49280.2020.9152225","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

摘要

针对轨道AGV灵活性差、成本较高的问题，提出了一种基于全局视图的无轨AGV系统。该系统由全局视觉中的AGV检测与识别算法和运行控制算法组成。通过对实时视频进行投影变换，生成全球地图。为了保证AGV的实时识别和定位，提出了一种将帧间差分法与局部动态跟踪相结合的算法。以一种全向三机构AGV为例，对上述方法进行了验证。实验结果表明，AGV能够在无轨地图中完成实时定位和制导，平均定位精度小于5cm。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Research and Design of Trackless AGV System Based on Global Vision

To solve the problems of poor flexibility and relatively high cost of railed AGVs, a trackless AGV system based on global view is proposed. The system consists of the algorithm of AGV detection and recognition in the global vision and operation control. Through projective transformation of real-time video, a global map is generated. In order to ensure the real-time identification and positioning of AGV, an algorithm combining the inter-frame difference method and local dynamic tracking is proposed. With an omni-directional AGV with three Mecanums, the above method is verified. Experimental results show that AGV can complete real-time positioning and guidance in the trackless map, and the average positioning accuracy is less than 5cm.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2020 IEEE 10th International Conference on Electronics Information and Emergency Communication (ICEIEC)

自引率

0.00%

发文量