Research On Intelligent Distribution Unit Navigation System Based On Machine Vision

With the emergence of the concept of industry 4.0,Intelligent manufacturing is to become the development trend of manufacturing industry in the future,which requires factories,production and logistics to achieve intelligent.And where intelligent logistics is one of the core objectives of the Intelligent Manufacturing.In this development trend,this paper proposes to develop an intelligent distribution unit based on AGV(Automated Guided Vehicle),which is used in the process of material distribution in intelligent factories.With the development of image processing technology and computer vision technology in recent years,as well as the progress of highly integrated and low-power embedded processors,the visual navigation method based on embedded system Linux has very broad research and application prospects.The research of intelligent distribution unit system based on machine vision mainly involves two aspects: image acquisition and processing and controller design.In the aspect of image acquisition and processing,this paper establishes a typical image acquisition system and discusses the installation location of the airborne camera and the setting of the path marking line.For the acquired image,after the gray scale and binarization processing,the morphological processing is used to extract the edges,and then the trajectory edge lines are mapped into the straight lines in the world coordinate system by using the inverse perspective transformation.Finally,the Hough transform is used to obtain the linear equation of the edge line and the navigation deviation parameter is extracted.In the aspect of controller design,the kinematic model of the intelligent distribution unit is established based on the deviation between the control center feature of the intelligent distribution unit and the expected characteristic of the guidance trajectory in the image collected by the vehicle vision sensor,then the modified synovial variable structure control method is adopted,and the parameters of the controller are optimized by the function optimization algorithm based on genetic algorithm and nonlinear programming.Finally,two improved simulation experiments are carried out on MATLAB / Simulink,which are improved sliding mode variable structure control simulation and parameter optimization.Through the analysis of the relevant experimental results and data,the feasibility of the navigation method and the validity of the navigation algorithm are verified by comparison.