基于以太网的视觉导引AGV路径控制方法

A Path Control Method of Visual Guided AGV Based on Ethernet

介绍了一种室内视觉导引AGV的路径控制方法。该方法以以太网为媒介,将主控台服务器、Android手机、AGV小车、工作台组成一个局域网,其中工作台分布在工厂中,是AGV小车的潜在目的地址,主控台服务器负责整个系统的调度和规划,AGV小车通过车载摄像头识别包含位姿信息的标签实现定位和运行,Android手机可以实时更改运行中小车的运行路径,工作台也可以根据需要向主控台服务器发送叫车请求。不同于其他传统AGV路径控制方法,该方法更加灵活方便,路径改变的成本更低。

This paper introduces an indoor visual guided AGV path control method.The method combined control server,Android mobile phones,AGV cars and work benches together within a LAN by the meida of Etherneta.The potential destinations are those work benches distributed in the factory,the control server is responsible for scheduling and planning of the whole system,the AGV cars can locate itself by lables which contain certain infomations which can be recognized by in-vehicle camera.Android mobile phones can smoothly change the path of the AGV cars.