A Qualitative Analysis of a USB Camera for AGV Control

Sensors

Diogo Puppim de Oliveira¹  Wallace Pereira Neves dos Reis¹  Orides Morandin Junior¹ 

[1] TEAR - Laboratório de Estratégias de Automação e Robótica, Department of Computing, Federal University of São Carlos, São Carlos, SP 13565-905, Brazil;

关键词: automated guided vehicles;    USB camera;    control system;    position sensor;    image processing;    computer vision;   

DOI  :  10.3390/s19194111

来源: DOAJ

【 摘 要 】

The increasing use of Automated Guided Vehicles (AGV) in the industry points to a search for better techniques and technologies to adapt to market requirements. Proper position control and movement give an AGV greater movement accuracy and greater lateral oscillations stability and vibration. It leads to smaller corridors and leaner plants, to more relaxed shipment devices, and to greater safety in the transport of fragile loads, for instance. AGV control techniques are not new, but new sensors’ applications are possible, such as USB cameras. In this sense, it is necessary to ensure the sensor is adequate to control system requirements. This work addresses AGVs driven by passive floor demarcations. It presents a qualitative analysis of a USB camera as sensors for AGV control, not yet a common industrial application. We performed the experiments with a small AGV prototype on an eight-shaped lane, varying both camera parameters and AGV parameters, such as linear speed. The AGV uses a USB camera with different image processing settings—different morphological filters structuring elements shapes and sizes, and three different image resolutions—to analyze the factors that affect line detection and control processing. This paper’s main contribution is a qualitative and quantitative analysis for the different sensor configurations. In addition, it discusses the influence sources on camera image as a position sensor. Furthermore, the experiments confirm sensor pertinence for the proposed control system.

【 授权许可】

Unknown