基于轮廓扫描的自动导引车定位与导引

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1、⺅༛ᆖս䇪᮷ะӄ䖤ᔉᢡᨅⲺ㠠ࣞሲᕋ䖜ᇐփфሲᕋGUIDANCEANDLOCALIZATIONFORAUTOMATICGUIDEDVEHICLEBASEDONCONTOURSCANNINGᵾ⌭⽾૾ቊ┞ᐛѐཝᆜ2015ᒤ12ᴸഭ޵മҖ࠶㊫ਧ˖TP242.6ᆖṑԓ⸱˖10213ഭ䱵മҖ࠶㊫ਧ˖621ᇶ㓗˖ޜᔰᐕᆖ⺅༛ᆖս䇪᮷ะӄ䖤ᔉᢡᨅⲺ㠠ࣞሲᕋ䖜ᇐփфሲᕋ⺋༡⹊ガ⭕˖ᵾ⌭⽾ሲᐾ˖ᵡᲃ㭺ᮉᦸ⭩䈭ᆜփ˖ᐕᆖ⺅༛ᆜ〇˖᧗ࡦ、ᆖоᐕ〻ᡶ൞ঋփ˖␡⹄ウ⭏䲒ㆊ䗟ᰛᵕ˖2015ᒤ12ᴸᦾҾᆜփঋփ˖૸ቄ┘ᐕъབྷᆖClassifiedIndex˖TP242.6U.D.C˖621Dis

2、sertationfortheMaster’sDegreeinEngineeringGUIDANCEANDLOCALIZATIONFORAUTOMATICGUIDEDVEHICLEBASEDONCONTOURSCANNINGCandidateφLiZeyiSupervisorφProf.ZhuXiaoruiAcademicDegreeAppliedforφMaster’sDegreeinEngineeringSpecialityφControlScienceandEngineeringAffiliationφShenzhenGraduateSchoolDateof

3、DefenceφDecember,2015Degree-Conferring-InstitutionφHarbinInstituteofTechnology૸ቄ┘ᐕъབྷᆖᐕᆖ⺅༛ᆖս䇪᮷᪎㾷㠚ࣘሬᕅ䖖˄AGV˅ᱟа⿽ᆹ㻵Ҷ⭥⻱ǃ⻱ᶑǃ㿶㿹ᡆ◰ㅹ䇮༷ᶕ䘋㹼ሬᕅˈ㜭ཏ⋯ᤷᇊ䐟ᖴ㠚ࣘ㹼傦Ⲵ䘀䗃䖖䖶DŽ㠚ަ䰞ц䎧ቡԕᲪ㜭ॆǃ⚥⍫ᙗ儈ǃᡀᵜվㅹՈ࣯ᒯ⌋ᓄ⭘Ҿ⢙⍱ъǃԃۘъ઼ࡦ䙐ъˈᨀ儈Ҷ⭏ӗ᭸⦷ᒦ䱽վҶ⭏ӗ䗷〻ѝᡰ㣡䍩ⲴӪ࣋ᡀᵜDŽሩҾAGVᶕ䈤ˈᴰޣ䭞Ⲵᢰᵟቡ൘Ҿሩ䖖փⲴሬᕅDŽⴞࡽഭ޵ᐲ൪кѫ㾱⍱㹼Ⲵሬᕅᯩᔿᴹ⻱ᶑሬᕅ઼◰ሬᕅDŽ⻱ᶑሬᕅ䴰㾱൘ൠ䶒䬪䇮⻱ᶑ䐟ᖴˈ㘼◰һ㾱䴰䜭ᔿᯩ

4、ᕅሬ⿽є䘉DŽᶯሴ৽◰᭮ᆹതઘᖴ䐟傦㹼VGA൘㾱䴰ᕅሬᆹ㻵䐟ᖴḷ䇶DŽ㘼ᯠරⲴ㿶㿹ሬᕅᢰᵟⴞࡽ䘈༴Ҿᇎ傼ᇔ⹄ウ䱦⇥ˈቊᵚབྷ㿴⁑ᣅޕᐲ൪৺ᓄ⭘DŽѪҶ䀓ߣⴞࡽഭ޵ᐲ൪кAGVሬᕅᯩᔿᆈ൘Ⲵ㕪䲧ˈᵜ᮷䪸ሩAGV൘༽ᵲ⭏ӗ⧟ຳлⲴሬᕅ䰞仈ˈ䟷⭘◰䴧䗮ሩઘത⧟ຳᢛ᧿ˈᗇࡠAGVս㖞ਈॆؑ᚟ᒦ৽侸㔉AGVˈӾ㘼䘋㹼ሬᕅˈᒦ䘋㹼ҶާփⲴᇎ傼઼࠶᷀DŽ⹄ウ޵ᇩᾲᤜྲл˖䖞ᔃᢛ᧿ᮠᦞⲴ༴⨶৺৽侸˖ᵜ᮷䟷⭘ICP˄䘝ԓᴰ䘁⛩˅㇇⌅ሩ◰䴧䗮Ⲵ䖞ᔃᢛ᧿ᮠᦞ䘋㹼༴⨶ˈᗇࡠޣҾAGVⲴս㖞ਈॆؑ᚟DŽަѝवᤜICP㇇⌅䪸ሩҾ༽ᵲ൪ᡰ⛩Ӂ३䝽Ⲵ࠶᷀৺ᇊࡦˈަ؍ᤱ䖳ᘛⲴ䘀㇇䙏ᓖ৺䖳儈Ⲵ३䝽㋮ᓖˈᒦ䘋㹼ᇎ

5、傼傼䇱DŽAGVⲴᇊս˖ᵜ᮷䟷⭘㡚䘩᧘㇇Ⲵᯩ⌅ᗇࡠAGVⲴսုؑ᚟ˈᒦᢺ䖞ᔃᢛ᧿ᗇࡠⲴ৽侸ᮠᦞ⭘Ҿሩ㡚䘩᧘㇇㍟〟䈟ᐞⲴṑ↓DŽᵜ᮷ሩ䖞ᔃᢛ᧿䘉а৽侸᡻⇥䘋㹼䈟ᐞ࠶᷀ᒦ༴⨶ˈᒦ䟷⭘亴ᆈപᇊս㖞ᢛ᧿⛩ӁⲴᯩᔿ⎸䲔䖞ᔃᢛ᧿ѝӗ⭏Ⲵ㍟〟䈟ᐞDŽAGVⲴሬᕅ˖ᵜ᮷ᔪ・AGVⲴ䘀ࣘᆖ⁑රˈ❦ਾሩAGV䘋㹼䖘䘩䐏䑚䗷〻࠶᷀ˈ൘䖘䘩䐏䑚䗷〻ѝ䟷⭘᧗ࡦᖻሩAGV䘋㹼᧗ࡦˈᴰਾሩ᧗ࡦᖻ䘋㹼ԯⵏᇎ傼ˈ࠶᷀᧗ࡦᖻѝⲴ᧗ࡦ৲ᮠⲴ֌⭘ˈᒦ䘹ᤙਸ䘲Ⲵ᧗ࡦ৲ᮠDŽሩሬᕅᯩᔿ൘ᇎ䱵⭏ӗᐕ֌⧟ຳл䘋㹼ᇎ傼઼࠶᷀˖ᵜ᮷൘ⴤ㓯䐟ᖴкሩ亴ᆈപᇊս㖞䖞ᔃ⛩Ӂ䳶Ⲵᮠ䟿৺ս㖞ǃAGV䎧࿻սု䈟ᐞ৺AGVᇎ䱵䘀㹼䙏ᓖሩሬ

6、ᕅ᭸᷌Ⲵᖡ૽䘋㹼ᇎ傼࠶᷀ˈᗇࡠਸ䘲ⲴሬᕅᯩṸˈᒦ൘༽ᵲ㓴ਸ䐟ᖴкሩ↔ሬᕅᯩᔿ䘋㹼ᇎ傼傼䇱DŽᇎ傼傼䇱Ҷ↔ሬᕅᯩᔿᙍ䐟Ⲵਟ㹼ᙗ৺ሬᕅᯩᔿ൘ᇎ䱵ᓄ⭘䗷〻ѝਟ䶐ᙗˈѪᯠⲴਟᓄ⭘Ҿᇎ䱵ⲴAGVሬᕅᯩᔿ⹄ウᨀ׋ҶаᇊⲴُ䢤DŽީ䭤䈃φ㠚ࣘሬᕅ䖖˗◰䴧䗮˗⛩Ӂ३䝽˗㡚䘩᧘㇇˗䖘䘩䐏䑚I૸ቄ┘ᐕъབྷᆖᐕᆖ⺅༛ᆖս䇪᮷AbstractAutomaticguidedvehicle(AGV)isakindofvehicleinstalledelectromagnetic,magnetic,visionorlaserequipmentforguiding.Itcandrivealongth

7、especifiedpathbyitselfandoftenusedintransportation.Withitsadvantagesofintelligent,flexibilityandcheapness,ithasbeenwidelyusedinlogistics,warehousingandmanufacturing.AGVimprovedtheproductionefficiencyandreducedcostsinproduction.ForAGV,themostimportanttechnologyislocalizationandguidance

8、ofthe