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Research on the Steering and Recognition System of Logistics AGV

Author: LiuHuan
Tutor: ShangQingQing
School: Nanjing Forestry University
Course: Mechanical Design and Theory
Keywords: logistics AGV fuzzy control image segmentation
CLC: TP391.41
Type: Master's thesis
Year: 2012
Downloads: 190
Quote: 1
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Abstract


In logistics system, transporting and transferring happen with an extremely high frequency,and they cost most of the expense. People all over the world are looking for some mechanicalequipment and intelligent technology to reduce the transporting costs, make transporting moreefficiency. Besides all kinds of automatic transportation System, automatic guided vehicle,AGV has flexibility and fully meets the demands of carrying complicated materiel.This paper focuses on how to improve AGV’s accuracy, stability and real-time capability.The main contents are listed as follows:(1): On the basis of analysis of logistics AGV’ working principle, considering of theworking surroundings, the four wheels framework of logistics AGV had been fixed, rear-wheeldrive and front-wheel steering, set up a hardware model of logistics AGV.(2) The principles of kinematics of space mechanism are applied to the analysis of thespecial motion of strut-link type suspension. The optimization function of the splitting point ofAckerman Steering Linkage is confirmed. The optimal position of Splitting Point is found out,then the swinging angle between wheel and pin is the least.(3)In image processing part, using pretreatment, image segmentation, noise cancellation,edge detection to get angle deviation α and distance deviation e. This paper put forward to anew idea that image segmentation based on HSI threshold and take an experiment. According tothe results, HSI color space are much better, it is more suitable to use in a complicated roadcondition. This paper put forward to another new idea that using kirsch arithmetic operatorsduring edge detection and take an experiment. According to the results, after processing withkirsch arithmetic operators the image is more smooth and clear.(4)For logistics AGV is a nonlinear and multivariable controlled object, modeling will be avery complicated task, incorrect modeling would lead to unsteady and improper index, socommon control strategy do not have satisfied results. This paper utilizes fuzzy logic controlstrategy, after analyzing the fuzzy control rule, using MATLAB fuzzy toolbox designedoptimized trajectory tracking fuzzy controller, In the end this paper proposed a design proposalof control program based on LabVIEW, had solved the practical problem.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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