基于嵌入式控制系统的视觉导引自动小车设计  

Design of Visual Guided Automated Vehicle Based on Embedded System

作　　者：郭健[1] 孙青[1] 黄霞[1] 

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《测控技术》2012年第7期38-41,49,共5页Measurement & Control Technology

基　　金：江苏省科技支撑计划资助项目(BE2009160)

摘　　要：以嵌入式系统为核心控制器,设计了基于视觉导引的自动小车系统。采用模块化硬件设计,分别开发了运动控制、步进电机移载、视觉导引、自动充电、安全避障、无线通信等各种硬件模块。研究了基于视觉的路径特征提取与识别,设计了分区导引控制算法实现小车自动循迹前进。在Linux操作系统环境下开发了控制系统软件和远程监控软件,最后完成了系统测试与调试。The AGV （automated guided vehicle） with visual guide is designed based on embedded control system. Several hardware modules are designed, such as motion control, stepper motor transfer, visual guide, automatic charging, obstacle avoidance, wireless communication, etc. The feature extraction and recognition of the guided road based on visual are studied. District guidance control algorithm is designed. Software system is developed based on Linux, including the embedded control system software and remote monitoring software. Finally, the debug and test of the system are finished to achieve the desired performance.

关 键 词：嵌入式 自动导引车 视觉 控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]