本文選題：AGV + QR　； 參考：《沈陽航空航天大學(xué)》2015年碩士論文

【摘要】：自動導(dǎo)引車以其靈活化、智能化等多種顯著優(yōu)勢廣泛地應(yīng)用于自動化立體倉庫、柔性裝配系統(tǒng)、商業(yè)服務(wù)行業(yè)的物流傳送系統(tǒng)等多種系統(tǒng)中。自動導(dǎo)引車的廣泛應(yīng)用不僅大幅減少了勞動力成本，提高了生產(chǎn)效率，還有效地保證了物料運(yùn)輸?shù)目煽啃浴?自動導(dǎo)引車集成了諸如信息采集與處理技術(shù)、導(dǎo)航技術(shù)、車載伺服驅(qū)動技術(shù)等多種核心技術(shù)。其中導(dǎo)航技術(shù)為核心技術(shù)之一，而精確定位又是實(shí)現(xiàn)導(dǎo)航技術(shù)的基礎(chǔ)。當(dāng)前，視覺導(dǎo)航技術(shù)以其理論上的最佳柔性成為研究熱點(diǎn)，同時(shí)衍生出了基于人工路標(biāo)的視覺定位問題。 本文結(jié)合熱點(diǎn)，研究通過設(shè)置QR Code人工路標(biāo)從而對自動導(dǎo)引車進(jìn)行精確定位的問題。本文主要研究內(nèi)容如下： QR Code識別部分。主要介紹了QR Code識別原理并對其進(jìn)行了簡單說明。其中重點(diǎn)對光照不均勻條件下的QR Code圖像二值化問題進(jìn)行了深入研究，并提出了相應(yīng)的QR Code圖像二值化算法。該算法可用于解決帶有不均勻光照影響的QR Code圖像的二值化問題。實(shí)驗(yàn)表明，本文所提出的局部二值化算法處理效果良好，時(shí)間開銷較小，可以滿足對實(shí)時(shí)性要求較高的嵌入式系統(tǒng)的應(yīng)用需求。 自動導(dǎo)引車位置估計(jì)部分。主要介紹了姿態(tài)表征、攝像機(jī)模型、總體設(shè)計(jì)等內(nèi)容。其中重點(diǎn)介紹了基于QR Code人工路標(biāo)的自動導(dǎo)引車定位算法以及基于里程表的航位推測算法，并將兩種算法相結(jié)合用于解決在室內(nèi)結(jié)構(gòu)化環(huán)境中的自動導(dǎo)引車精確定位問題。實(shí)驗(yàn)表明，，本文所提出的自動導(dǎo)引車定位算法魯棒性較好，位精度基本可以滿足實(shí)際應(yīng)用需求。
[Abstract]:Automatic guided vehicle (AV) is widely used in many kinds of systems such as automatic warehouse flexible assembly system and logistics transmission system of commercial service industry due to its many advantages such as flexibility intelligence and so on. The wide application of automatic guidance vehicle not only reduces the labor cost, improves the production efficiency, but also effectively guarantees the reliability of material transportation. Automatic guidance vehicle (AV) integrates many core technologies such as information collection and processing technology, navigation technology, vehicle servo drive technology and so on. Navigation technology is one of the core technologies, and accurate positioning is the basis of navigation technology. At present, visual navigation technology has become a research hotspot with its best flexibility in theory, and the problem of visual positioning based on artificial road signs has been derived at the same time. In this paper, the problem of accurate positioning of automatic guidance vehicle by setting QR Code manual signpost is studied. The main contents of this paper are as follows: QR Code recognition. The principle of QR Code recognition is introduced in this paper. The binarization problem of QR Code image under the condition of uneven illumination is studied in detail, and the corresponding binary algorithm of QR Code image is proposed. This algorithm can be used to solve the binary problem of QR Code images with uneven illumination. The experimental results show that the proposed local binarization algorithm has good processing effect and low time cost. It can meet the requirements of embedded systems with high real-time performance. Automatic guidance vehicle position estimation section. This paper mainly introduces attitude representation, camera model, overall design and so on. This paper mainly introduces the location algorithm of automatic guided vehicle based on QR Code manual signpost and the algorithm of homing based on odometer, and combines the two algorithms to solve the problem of precise location of automatic guide vehicle in the indoor structured environment. The experimental results show that the proposed algorithm is robust and can meet the requirements of practical applications.
【學(xué)位授予單位】：沈陽航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP23;TP391.44

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本文編號：2009833