机器视觉导引的室内自动运输车定位系统

林剑冰; 苏成悦; 郑俊波; 余孝源

doi:10.13433/j.cnki.1003-8728.2015.1107

机器视觉导引的室内自动运输车定位系统

doi: 10.13433/j.cnki.1003-8728.2015.1107

1.
广东工业大学物理与光电工程学院, 广州 510006

基金项目:

2013年广东省信息产业发展专项现代信息服务业项目(2150510)资助

详细信息

作者简介:
林剑冰(1990-),硕士研究生,研究方向为机器视觉、应用电子技术,517852280@qq.com

通讯作者:
苏成悦,教授,博士,scy.gdut@163.com

计量
- 文章访问数: 169
- HTML全文浏览量: 29
- PDF下载量: 6
- 被引次数: 0
出版历程
- 收稿日期: 2013-11-26
- 刊出日期: 2015-11-05

Indoor Location System of Automated Vehicles Based on Machine Vision

1.
School of Physics and Optoelectronic Engineering, Guangdong University of Technology, Guangzhou 510006, China

摘要

摘要: 为解决传统室内定位方式定位精度低的问题,提出采用定距双球作为定位标志物,设计并实现了一个基于单目视觉的室内自动运输车定位系统。由OpenCV2.4.4和VS2010的平台完成了对定距双球的识别、位置定位及姿态测量的上位机设计,再通过nRF24L01芯片与STM8S105主控制芯片完成自动运输车的通信及控制的硬件设计。测试结果表明:定距双球标志物的引入,使得该系统不仅硬件结构简单、成本低、能同时实现位置和方向定位,且稳定性好,精度高,可完成复杂环境下的定位。一般情况下位置定位的相对误差保持在1.5%以内,在距离系统3 m范围的短距离定位的绝对误差小于1 cm,适用于工业上室内运输车对定位精度要求较高的场合。
- 室内定位 /
- 单目视觉 /
- 标志物 /
- Open CV /
- STM8S105
Abstract: A location system of indoor robot based on the monocular camera is presented, in which the double balls of constant distance is used as labels in this system. Firstly, the software design is developed via Open Source Computer Vision Library 2.4.4(OpenCV2.4.4) and Visual Studio 2010(VS2010) platform, including the identification of double balls of constant distance and the measurement of location and direction. Then, the hardware design about the communication and control of indoor robot is finished by using nRF24L01 chip and STM8S105 chip. The experimental results show that the application of double balls of constant distance has the advantages in low cost, simple structure, stability and high location accuracy, and the positioning of location and direction is simultaneously accomplished. Generally the relative error of positioning is about 1.5%, and the absolute error of a short distance positioning in the range of 3 m is less than 1 cm. It is suitable for the occasion for high requirement of location accuracy about indoor robot in industry.
- computer software /
- computer vision /
- control /
- design of experiments /
- design

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参考文献(17)

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