基于嵌入式Linux的AGV视觉导航研究

基于嵌入式Linux的AGV视觉导航研究  http://www.lw23.com/lunwen_58812/

论文作者
论文导师 马彩文,论文学位 硕士,论文专业 控制理论与控制工程
论文单位 中国科学院研究生院（西安光学精密机械研究所）,点击次数 92,论文页数 69页File Size4669K
2007-05-01论文网 http://www.lw23.com/lunwen_58812/
AGV ;; ARM;; Embeded Linux;; Image sampling;; Image processing ;; Least squares
AGV(Automated Guided Vehicle)是一种陆地自主运动机器人，能够在具有一定地形特征的环境中顺利到达期望目的地或沿期望路径自主行驶。采用AGV的目的是为了避免人类在危险环境下受伤，使人类从单调的工作中解脱出来。目前AGV已经被广泛应用在制造业、医药、航天和军事等领域。其功能的实现涉及许多关键领域，包括传感器技术、数据融合、图像处理和轨迹规划以及先进控制算法等。本课题以嵌入式Linux应用于AGV的视觉导航为背景，采用时下非常流行的ARM9处理器和嵌入式Linux操作系统，从AGV视觉导航的控制需求入手，利用video-4-Linux采集视频，并通过使用Sobel算子图像处理法、直线Hough变换法、动态二值化后直线Hough变换法、最小二乘法等来提取这些边缘信息，实现了一种基于嵌入式Linux的AGV视觉导航方案。此外，还研究了这种AGV视觉导航系统的实时性，并通过3种方法来提高视觉导航的精度和导航速度。本文最后通过对传统系统设计和嵌入式系统设计的比对，总结出了采用嵌入式系统进行系统开发的流程以及所具有的优势。论文的主要工作包括：AGV系统的控制需求分析，在嵌入式Linux系统上AGV视觉导航的设计：嵌入式系统交叉编译环境的建立、嵌入式Linux系统的移植、内核编译、驱动程序加载、文件系统制作、Linux视频采集设计、图像算法比较、路径信息提取和实时性分析。本文的研究结果对于以后开发基于嵌入式Linux的视觉导航方向研究工作具有较好的指导意义。
AGV(Automated Guided Vehicle) is a kind of auto-mobiled robot on the ground,it could reach the destination by following the trace that we signed in some complex landform atmosphere with no difficulties, The reason we chose to use an AGV system is to avoiding harmful injuries in some kind of dangerous situation, to free labor form monoton works, by now, AGVs are widely toke part in manufacturing, medicine, spaceflight and military.and to implement the function of these AGVs needs many subject"s background,et.sensor technology,data fusion, Image processing and contrail plan,modern control arithmetic. This thesis we take a look at an AGV system design by using the most popular ARM9 processor and embedded Linux operation,researched an auto vision-guided method about embedded Linux AGV system ,and implement the video-4-linux image sampling into Linux-AGV vision guided system.then, We analysis the Sobel Method ,Hough Method transformation,and Binary Digitalisation Method&Hough Metohd transformation,to analysis the route imformation from the image we got.and also we analysis 3 kind of methods to enhance the speed and precision of the system, also analysis the real-time efficiency of this vision-guided system on the other hand .In the end ,we desigd and realized an method about vision-guided based on embedded Linux AGV system .and at the end of this thesis ,We concluded the advantages using embedded system conception into the system design. The main work of this thesis included: form the cross-chain environment,transplant the embedded linux operation,compile the kernel,load the diryer software,design of the image sampling and processing,compare all those methods together,analysis the imformations about the route,and make the filysystem,and so on ,for the further researchers in this embedded Linux vision-guided work,this thesis could be helpful and instructive.