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1、蘭州交通大學(xué)碩士學(xué)位論文AbstractWiththedevelopmentofmodemindustrialautomation,versatileautomatictridimensionalstorehousehasdominatedvariousindustrialfields．Asbeingthelinkandtheterminalthatadjuststheflexiblelogisticsystem_,AutomaticGuideVehicle(AGV)representsaniconicsymbolofmodemcontinuou
2、slogistictransportation．Inordertoenhancetheaccuracy，timeliness，andadaptationofvisualguidingAGVs，toachievemo∞agileguidingandefficientpathplanasthefinalresult,thethesisfocusontheconzi．nm鑼ofadjacentframes，analyzedandstudiedthenavigationlines，marksandobstaclesintheproject．Bysmdym
3、gthecurrentdevelopmentof媧＼sinothercountries，ar謝yzingandcomparingtheoperationalprincipleofvariousguiding／navigationsystemamong石G鴨thethesisstatedsuperioritiesandflawsofthevisualguidingAGVsystem,hencegaveaclearviewofwhatneededtobesolvedfrom也ethesis．瀝theestablishmentofmathematica
4、lmo&lingonvideocamerasystem,whichincludedthesettingofcoordinatedsystemandanalysisoflanemodule；duringtheimagepretreatment,andbinaryproeessingofgrayscaleimagebasedsequentialimages：andexaminedthemarginofnavigationmarklines，acquiredthedynamicdataofthepathenvironmentduringAGV’Sope
5、ration．InordertoincreasetheaccuracywhileAGVWastrackingtheroute，studiedthetestingmethodofcentrallineofguidemark,andfoundthatconventionalHoughtransformalgorithmtookmuchlongertimewhileextractingtheguidecentralline．Consequently,studiedtheHoughtransfornlalgorithmthatbasedonpretrea
6、tment．，andextractedthecentralguidingline．Astheresultshowed,thatimprovedHoughtransformalgorithmenhancedthetimelinessofentiresystem,provedvalidityofimprovedalgorithm．OnaccountoflackinginenoughdatafromthesimplexnavigationlinesthatinpracticaloperationsofavisualguidingAGV,andforth
7、epurposeofimprovement,enrichthepathinformationandenhancetheintelligenceofthesystem,thereweretwosortsofsimplifiedguidingmarksthatdesignedforthesystemidentifying，theywere：controlmarksanddi百talmarks．Thesetwosortsofmarkswerebothtreatedbyimageprojectionthatprojectedtotheinterested
8、area,thenidentifiedthemarksaccordingtotheirOWllstructuraleigenveetor
