| 基于视觉的码头集装箱AGV导引系统 |
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| 引用本文： | 姜涌,曹杰,杜亚玲.基于视觉的码头集装箱AGV导引系统[J].南京航空航天大学学报,2006,38(5):628-633. |
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| 作者姓名： | 姜涌 曹杰 杜亚玲 |
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| 作者单位： | 1. 南京航空航天大学无人机研究院,南京,210016
2. 南京航空航天大学自动化学院,南京,210016 |
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| 摘 要： | 根据码头环境的特殊性,提出了一个应用在码头的集装箱装卸自动导引车(A u tom atic gu ided veh icle,AGV)系统。本系统是基于视觉导引的,采用先识别,后跟踪的方式。在识别时根据识别的标志线的特点,提出了改进的Sobe l算子和可调节参数的Hough变换的方法;在跟踪时,提出了一种用自适应模糊的负反馈来改善系统识别质量和频率稳定性的思想,并应用到了该系统中。文中还提出了一种简单有效的防止图像抖动的方式,使得传送给机车控制系统的参数更加平滑、稳定。实验证明,该系统可以满足AGV在码头工作环境中的全天候工作,并且保证AGV在8 m/s的速度下,系统的识别精度在5 cm以内。
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| 关 键 词： | 自动导引车(AGV) 视觉导引 自适应模糊 图像处理 |
| 文章编号： | 1005-2615(2006)05-0628-06 |
| 收稿时间： | 2005-08-30 |
| 修稿时间： | 2005-10-20 |
Container Shipping AGV System Guided by Vision in Ports |
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| Jiang Yong,Cao Jie,Du Yaling.Container Shipping AGV System Guided by Vision in Ports[J].Journal of Nanjing University of Aeronautics & Astronautics,2006,38(5):628-633. |
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| Authors: | Jiang Yong Cao Jie Du Yaling |
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| Abstract: | A container shipping automatic guided vehicle(AGV) system used in the port is proposed based on particularities of the port.The system is based on vision guidance,and then works in a way of identifying and tracking.At identifying,improved sobel operators and Hough transformation with adjustable parameters are provided.At tracking,an idea using adaptive fuzzy feedback for improving the system identification quality and frequency stability is used in the system.A new fast process about video image stabilization is presented to make parameters of the AGV control system stable.Experimental results show that the system realizes all-weather working of AGV in the port,and keeps the identifying error under 5 cm when the velocity of AGV is 8 m/s. |
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| Keywords: | automatic guided vehicle(AGV) vision guidance adaptive fuzzy image processing |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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