CAJ | 학술논문

介绍了自主研发的Mecanum 全向运动视觉导引AGV。该AGV采用视觉导引方式，利用CCD摄像机采集地面路径信息，对采集的每一帧图像做畸变校正及光照补偿后进行阈值分割，采用场扫描法扫描路径，获得当前路径相对视野的角度偏差与距离偏差；主控制器调整Mecanum轮速度，使车体沿导引线行进。采用Mecanum轮驱动的AGV具备全向运动能力。实验表明，研制的全向运动视觉导引AGV能够实现可靠的导引。
개소료자주연발적Mecanum 전향운동시각도인AGV。해AGV채용시각도인방식，이용CCD섭상궤채집지면로경신식，대채집적매일정도상주기변교정급광조보상후진행역치분할，채용장소묘법소묘로경，획득당전로경상대시야적각도편차여거리편차；주공제기조정Mecanum륜속도，사차체연도인선행진。채용Mecanum륜구동적AGV구비전향운동능력。실험표명，연제적전향운동시각도인AGV능구실현가고적도인。
It introduces an omnidirectional vision -guided AGV based on Mecanum wheel .The AGV uses the vi-sion guidance technology to capture the path information on the ground by a CCD camera .It makes the threshold segmentation to adopt for each frame of image after distortion correction and illumination compensation , uses the field scanning method to obtain the angular deviation and distance deviation between the path and vehicle .Main controller adjusts the speed of Mecanum wheels to meet the AGV following the guide path .AGV has the omnidi-rectional ability based on Mecanum wheel .Experiment shows that the omnidirectional vision -guided AGV can work reliably .