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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

林剑冰, 苏成悦, 郑俊波, 余孝源. 机器视觉导引的室内自动运输车定位系统[J]. 机械科学与技术, 2015, 34(11): 1675-1681. doi: 10.13433/j.cnki.1003-8728.2015.1107
引用本文: 林剑冰, 苏成悦, 郑俊波, 余孝源. 机器视觉导引的室内自动运输车定位系统[J]. 机械科学与技术, 2015, 34(11): 1675-1681. doi: 10.13433/j.cnki.1003-8728.2015.1107
Lin Jianbing, Su Chengyue, Zheng Junbo, Yu Xiaoyuan. Indoor Location System of Automated Vehicles Based on Machine Vision[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1675-1681. doi: 10.13433/j.cnki.1003-8728.2015.1107
Citation: Lin Jianbing, Su Chengyue, Zheng Junbo, Yu Xiaoyuan. Indoor Location System of Automated Vehicles Based on Machine Vision[J]. Mechanical Science and Technology for Aerospace Engineering, 2015, 34(11): 1675-1681. 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
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

Indoor Location System of Automated Vehicles Based on Machine Vision

  • 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。
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出版历程
  • 收稿日期:  2013-11-26
  • 刊出日期:  2015-11-05

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