視覺導航作為一種*導航方式，適應性廣、靈活性高，可顯著提升廠內物流效率，節省人力成本，未來發展前景廣闊。本文分析研究了視覺導航AGV的(de)(de)(de)(de)(de)圖(tu)像(xiang)識(shi)(shi)(shi)別(bie)(bie)與導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)原(yuan)理(li)，介(jie)(jie)紹(shao)(shao)了導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)系(xi)統(tong)(tong)(tong)組(zu)成(cheng)與控(kong)(kong)(kong)制(zhi)流(liu)程，總結(jie)了AGV應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)特點(dian)及(ji)其(qi)在(zai)(zai)(zai)電子(zi)電器制(zhi)造(zao)業(ye)廠內(nei)物(wu)流(liu)中的(de)(de)(de)(de)(de)應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)情況。在(zai)(zai)(zai)自動導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)車(che)（Automated Guided Vehicle, AGV）的(de)(de)(de)(de)(de)應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)中，廣泛(fan)使(shi)用(yong)(yong)(yong)(yong)(yong)的(de)(de)(de)(de)(de)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)技(ji)術主要有(you)(you)磁、電磁、激光等幾種。視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)方(fang)(fang)法(fa)由(you)于(yu)其(qi)本身*特點(dian)，近年來(lai)在(zai)(zai)(zai)我國AGV應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)中逐漸引(yin)起注意。視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)通過(guo)(guo)(guo)視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)傳(chuan)感(gan)(gan)(gan)器采集(ji)周圍(wei)環(huan)境中的(de)(de)(de)(de)(de)地理(li)信息，經過(guo)(guo)(guo)圖(tu)像(xiang)處理(li)和識(shi)(shi)(shi)別(bie)(bie)，生(sheng)成(cheng)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)指(zhi)令。與非視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)類傳(chuan)感(gan)(gan)(gan)器相(xiang)比，視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)傳(chuan)感(gan)(gan)(gan)器具有(you)(you)無噪聲、無有(you)(you)害(hai)影(ying)響、信息量大等特點(dian)。在(zai)(zai)(zai)實際應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)中,只(zhi)(zhi)需在(zai)(zai)(zai)路(lu)面(mian)上畫(hua)出(chu)路(lu)徑(jing)引(yin)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)線(xian)或者路(lu)標(biao)圖(tu)形, AGV就(jiu)可(ke)以(yi)通過(guo)(guo)(guo)視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)系(xi)統(tong)(tong)(tong)來(lai)控(kong)(kong)(kong)制(zhi)自身行(xing)走。相(xiang)對于(yu)埋設導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)線(xian)/磁條、安裝磁釘等方(fang)(fang)法(fa)而(er)言(yan), 視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)進(jin)一(yi)步增強(qiang)了系(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)(de)靈活性, 并(bing)且降低了安裝使(shi)用(yong)(yong)(yong)(yong)(yong)成(cheng)本，同時(shi)視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)識(shi)(shi)(shi)別(bie)(bie)也可(ke)以(yi)避免出(chu)現(xian)如慣性導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)等虛擬路(lu)徑(jing)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)方(fang)(fang)法(fa)存在(zai)(zai)(zai)的(de)(de)(de)(de)(de)誤差(cha)積累問(wen)題（在(zai)(zai)(zai)部分(fen)應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)中，視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)可(ke)以(yi)作(zuo)為慣性導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)的(de)(de)(de)(de)(de)誤差(cha)校正方(fang)(fang)法(fa)）。相(xiang)對于(yu)激光導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)方(fang)(fang)法(fa)，視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)的(de)(de)(de)(de)(de)優勢(shi)在(zai)(zai)(zai)于(yu)其(qi)低廉的(de)(de)(de)(de)(de)系(xi)統(tong)(tong)(tong)硬件(jian)成(cheng)本以(yi)及(ji)識(shi)(shi)(shi)別(bie)(bie)功能(neng)的(de)(de)(de)(de)(de)擴展能(neng)力(li)——只(zhi)(zhi)要軟件(jian)和模式識(shi)(shi)(shi)別(bie)(bie)功能(neng)足夠(gou)智能(neng)，自動導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)引(yin)車(che)就(jiu)可(ke)以(yi)實現(xian)多種導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)和定位(wei)功能(neng)。本文將對視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)的(de)(de)(de)(de)(de)原(yuan)理(li)以(yi)及(ji)系(xi)統(tong)(tong)(tong)組(zu)成(cheng)進(jin)行(xing)分(fen)析介(jie)(jie)紹(shao)(shao)，研究(jiu)其(qi)導(dao)(dao)(dao)(dao)(dao)(dao)(dao)(dao)航(hang)控(kong)(kong)(kong)制(zhi)流(liu)程，并(bing)介(jie)(jie)紹(shao)(shao)了視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)識(shi)(shi)(shi)別(bie)(bie)AGV系(xi)統(tong)(tong)(tong)在(zai)(zai)(zai)電子(zi)、家電、電氣(qi)等制(zhi)造(zao)業(ye)工(gong)廠內(nei)自動化物(wu)流(liu)系(xi)統(tong)(tong)(tong)中的(de)(de)(de)(de)(de)應(ying)(ying)用(yong)(yong)(yong)(yong)(yong)。視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)識(shi)(shi)(shi)別(bie)(bie)系(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)(de)組(zu)成(cheng)視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)識(shi)(shi)(shi)別(bie)(bie)AGV的(de)(de)(de)(de)(de)關鍵技(ji)術是計(ji)算機視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)技(ji)術，即利用(yong)(yong)(yong)(yong)(yong)視(shi)(shi)(shi)覺(jue)(jue)(jue)(jue)(jue)(jue)傳(chuan)感(gan)(gan)(gan)器獲取AGV前方(fang)(fang)/下方(fang)(fang)的(de)(de)(de)(de)(de)路(lu)面(mian)環(huan)境信息，經過(guo)(guo)(guo)控(kong)(kong)(kong)制(zhi)系(xi)統(tong)(tong)(tong)的(de)(de)(de)(de)(de)識(shi)(shi)(shi)別(bie)(bie)和解析，生(sheng)成(cheng)控(kong)(kong)(kong)制(zhi)指(zhi)令，從而(er)使(shi)AGV小車(che)沿規劃的(de)(de)(de)(de)(de)路(lu)徑(jing)行(xing)駛。

視覺(jue)導航系(xi)(xi)(xi)統主要(yao)由(you)(you)圖(tu)(tu)(tu)像(xiang)信(xin)(xin)(xin)號采(cai)集(ji)裝置、圖(tu)(tu)(tu)像(xiang)信(xin)(xin)(xin)號處(chu)(chu)理(li)(li)裝置和圖(tu)(tu)(tu)像(xiang)識(shi)(shi)別(bie)及運(yun)(yun)(yun)動(dong)(dong)控制(zhi)單元等組(zu)(zu)成(cheng)，其中(zhong)圖(tu)(tu)(tu)像(xiang)采(cai)集(ji)裝置由(you)(you)數(shu)(shu)字攝像(xiang)頭(tou)完成(cheng)，圖(tu)(tu)(tu)像(xiang)信(xin)(xin)(xin)號處(chu)(chu)理(li)(li)由(you)(you)圖(tu)(tu)(tu)像(xiang)采(cai)集(ji)卡完成(cheng)，圖(tu)(tu)(tu)像(xiang)識(shi)(shi)別(bie)和運(yun)(yun)(yun)動(dong)(dong)控制(zhi)由(you)(you)主控板上(shang)的(de)MCU完成(cheng)，運(yun)(yun)(yun)動(dong)(dong)執行器(qi)(qi)為AGV車(che)體上(shang)差(cha)速(su)驅(qu)(qu)動(dong)(dong)伺服(fu)電機(ji)。AGV車(che)體系(xi)(xi)(xi)統還包括紅(hong)外/激光安全傳(chuan)感(gan)(gan)器(qi)(qi)、電機(ji)測速(su)旋轉編(bian)碼器(qi)(qi)、補光照明等元件。安全傳(chuan)感(gan)(gan)器(qi)(qi)用于車(che)體前方障礙物的(de)預(yu)警，電機(ji)測速(su)編(bian)碼器(qi)(qi)用電機(ji)速(su)度與位置的(de)伺服(fu)控制(zhi)，補光照明系(xi)(xi)(xi)統用于增強車(che)體下方的(de)路(lu)徑上(shang)的(de)光照強度，以便使AGV準確(que)識(shi)(shi)別(bie)路(lu)徑標(biao)識(shi)(shi)。系(xi)(xi)(xi)統邏輯組(zu)(zu)成(cheng)如圖(tu)(tu)(tu)1所示。數(shu)(shu)字攝像(xiang)頭(tou)信(xin)(xin)(xin)號通過圖(tu)(tu)(tu)像(xiang)采(cai)集(ji)卡直接(jie)(jie)送(song)入主控系(xi)(xi)(xi)統板，安全傳(chuan)感(gan)(gan)器(qi)(qi)、電機(ji)驅(qu)(qu)動(dong)(dong)控制(zhi)器(qi)(qi)和輔助(zhu)照明直接(jie)(jie)與主控板連接(jie)(jie)，電機(ji)由(you)(you)驅(qu)(qu)動(dong)(dong)器(qi)(qi)驅(qu)(qu)動(dong)(dong)，旋轉編(bian)碼器(qi)(qi)與電機(ji)主軸(zhou)之(zhi)間由(you)(you)機(ji)械連接(jie)(jie)，編(bian)碼器(qi)(qi)反饋信(xin)(xin)(xin)號送(song)入驅(qu)(qu)動(dong)(dong)器(qi)(qi)。導航系(xi)(xi)(xi)統的(de)工作(zuo)(zuo)流(liu)程導航系(xi)(xi)(xi)統總體控制(zhi)軟件系(xi)(xi)(xi)統由(you)(you)數(shu)(shu)字圖(tu)(tu)(tu)像(xiang)預(yu)處(chu)(chu)理(li)(li)、圖(tu)(tu)(tu)形(xing)模(mo)(mo)(mo)(mo)式識(shi)(shi)別(bie)和路(lu)徑跟蹤等模(mo)(mo)(mo)(mo)塊(kuai)(kuai)組(zu)(zu)成(cheng)。數(shu)(shu)字圖(tu)(tu)(tu)像(xiang)預(yu)處(chu)(chu)理(li)(li)模(mo)(mo)(mo)(mo)塊(kuai)(kuai)主要(yao)進行原始圖(tu)(tu)(tu)像(xiang)的(de)灰(hui)度圖(tu)(tu)(tu)生成(cheng)、濾(lv)波、圖(tu)(tu)(tu)像(xiang)增強等作(zuo)(zuo)業，使圖(tu)(tu)(tu)像(xiang)在(zai)保留關鍵信(xin)(xin)(xin)息的(de)基礎上(shang)更加易(yi)于識(shi)(shi)別(bie)處(chu)(chu)理(li)(li)。圖(tu)(tu)(tu)形(xing)模(mo)(mo)(mo)(mo)式識(shi)(shi)別(bie)模(mo)(mo)(mo)(mo)塊(kuai)(kuai)主要(yao)完成(cheng)對(dui)(dui)(dui)預(yu)處(chu)(chu)理(li)(li)后的(de)二值圖(tu)(tu)(tu)像(xiang)與預(yu)設的(de)圖(tu)(tu)(tu)形(xing)模(mo)(mo)(mo)(mo)版(ban)的(de)對(dui)(dui)(dui)比，根據關鍵位置的(de)比較(jiao)，識(shi)(shi)別(bie)出該圖(tu)(tu)(tu)形(xing)。導航控制(zhi)模(mo)(mo)(mo)(mo)塊(kuai)(kuai)根據識(shi)(shi)別(bie)出的(de)圖(tu)(tu)(tu)形(xing)信(xin)(xin)(xin)息，生成(cheng)對(dui)(dui)(dui)AGV車(che)體的(de)處(chu)(chu)理(li)(li)指令。

導航(hang)(hang)軟件控(kong)制流(liu)程如圖2，首(shou)先數字(zi)攝像(xiang)(xiang)頭CCD采集地面的(de)路(lu)標(biao)圖像(xiang)(xiang)，形(xing)(xing)成(cheng)彩色空間的(de)數字(zi)圖像(xiang)(xiang)信(xin)號(hao)，再由圖像(xiang)(xiang)采集卡進行預處理，形(xing)(xing)成(cheng)計算機可(ke)識(shi)(shi)別的(de)二(er)值圖形(xing)(xing)；之后(hou)送入(ru)主(zhu)控(kong)系統進行路(lu)徑識(shi)(shi)別，系統由此確定AGV當(dang)前的(de)位(wei)置(zhi)等地理信(xin)息；系統將(jiang)當(dang)前位(wei)置(zhi)與(yu)AGV的(de)目標(biao)位(wei)置(zhi)進行比較(jiao)，從而生成(cheng)運動控(kong)制指令(ling)，并送入(ru)行走(zou)機構的(de)驅(qu)動系統；經過驅(qu)動器解析(xi)后(hou)生成(cheng)驅(qu)動信(xin)號(hao)并驅(qu)動行走(zou)系統驅(qu)動電機，實現AGV的(de)導航(hang)(hang)控(kong)制。

AGV圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)識別(bie)導(dao)(dao)航(hang)算(suan)法流(liu)程(cheng)如(ru)圖(tu)(tu)3，視覺系(xi)統(tong)的(de)原始輸(shu)入圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)經數字攝像(xiang)(xiang)(xiang)(xiang)頭采集，形(xing)成(cheng)(cheng)特定彩(cai)色(se)空(kong)間中(zhong)(zhong)的(de)圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)原始信(xin)號，并(bing)通過數據總線傳輸(shu)到數字圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)處理器中(zhong)(zhong)。首先去除圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)信(xin)號中(zhong)(zhong)的(de)噪聲點，采用自適應閾值(zhi)濾波方法。對于路徑識別(bie)來說，彩(cai)色(se)圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)的(de)信(xin)息是冗余(yu)的(de)，為了(le)節(jie)省(sheng)CPU運(yun)算(suan)時間，將(jiang)彩(cai)色(se)空(kong)間圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)轉化為二(er)值(zhi)圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)。通過數學形(xing)態濾波算(suan)法將(jiang)二(er)值(zhi)圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)中(zhong)(zhong)的(de)點狀和碎(sui)屑狀噪聲去除，得(de)到路徑識別(bie)結果。從識別(bie)出的(de)圖(tu)(tu)像(xiang)(xiang)(xiang)(xiang)中(zhong)(zhong)可以提取出AGV當(dang)前(qian)的(de)地理位置信(xin)息，加上(shang)地面RFID標簽中(zhong)(zhong)存(cun)儲的(de)工位和任務信(xin)息，主控(kong)系(xi)統(tong)生(sheng)成(cheng)(cheng)導(dao)(dao)航(hang)控(kong)制指令，送入驅動系(xi)統(tong)執行(xing)。

如圖(tu)4所(suo)示(shi)，為攝像(xiang)(xiang)頭(tou)采集(ji)的(de)(de)(de)原始圖(tu)像(xiang)(xiang)信號和(he)經過計(ji)算機(ji)識別后的(de)(de)(de)數(shu)字(zi)圖(tu)像(xiang)(xiang)信號。數(shu)字(zi)圖(tu)像(xiang)(xiang)識別的(de)(de)(de)精度可以(yi)達到(dao)1mm以(yi)內(nei)，顯(xian)著高(gao)于常用磁(ci)/電磁(ci)傳感器(qi)(qi)的(de)(de)(de)識別分辨(bian)率(lv)。從圖(tu)4中可看(kan)出(chu)，視覺(jue)導航系統能(neng)夠(gou)(gou)識別出(chu)路(lu)徑標識及(ji)其輪廓，從而(er)能(neng)夠(gou)(gou)用于車(che)輛的(de)(de)(de)控(kong)制。視覺(jue)導航AGV的(de)(de)(de)典型應用1.電子制造業(ye)(ye)在手機(ji)制造等行(xing)業(ye)(ye)中，產品的(de)(de)(de)裝配(pei)(pei)(pei)工(gong)(gong)(gong)藝需要大量的(de)(de)(de)人(ren)(ren)(ren)工(gong)(gong)(gong)。常規的(de)(de)(de)裝配(pei)(pei)(pei)往(wang)往(wang)采用人(ren)(ren)(ren)工(gong)(gong)(gong)流水線的(de)(de)(de)方式進行(xing)，隨(sui)著人(ren)(ren)(ren)力成本的(de)(de)(de)迅速提升(sheng)以(yi)及(ji)對(dui)勞動條件改(gai)善(shan)的(de)(de)(de)要求日益(yi)強烈，用機(ji)器(qi)(qi)人(ren)(ren)(ren)代替人(ren)(ren)(ren)工(gong)(gong)(gong)進行(xing)枯燥繁瑣(suo)的(de)(de)(de)裝配(pei)(pei)(pei)作業(ye)(ye)成為行(xing)業(ye)(ye)的(de)(de)(de)一(yi)(yi)個(ge)發展趨勢。手機(ji)裝配(pei)(pei)(pei)的(de)(de)(de)工(gong)(gong)(gong)位點數(shu)量多，如果每個(ge)工(gong)(gong)(gong)位都配(pei)(pei)(pei)置一(yi)(yi)臺裝配(pei)(pei)(pei)機(ji)器(qi)(qi)人(ren)(ren)(ren)，則設備(bei)一(yi)(yi)次性(xing)投入的(de)(de)(de)數(shu)量將(jiang)非常大。而(er)如果能(neng)夠(gou)(gou)將(jiang)關節機(ji)器(qi)(qi)人(ren)(ren)(ren)與移動AGV結合，使(shi)得一(yi)(yi)臺機(ji)器(qi)(qi)人(ren)(ren)(ren)能(neng)夠(gou)(gou)同時完成多個(ge)工(gong)(gong)(gong)位點之間的(de)(de)(de)作業(ye)(ye)，則將(jiang)顯(xian)著減少一(yi)(yi)次性(xing)投入，并且今后機(ji)器(qi)(qi)人(ren)(ren)(ren)的(de)(de)(de)作業(ye)(ye)設定(ding)也可以(yi)隨(sui)著工(gong)(gong)(gong)藝的(de)(de)(de)調整而(er)隨(sui)時改(gai)變，使(shi)生產線的(de)(de)(de)柔性(xing)化程度大大提升(sheng)。

圖(tu)5為搭(da)載關節(jie)機器人(ren)(ren)(ren)的(de)視(shi)(shi)覺(jue)(jue)導(dao)航AGV平臺，圖(tu)6是一(yi)臺搭(da)載了(le)關節(jie)機器人(ren)(ren)(ren)的(de)視(shi)(shi)覺(jue)(jue)導(dao)航AGV。在(zai)視(shi)(shi)覺(jue)(jue)識別導(dao)航AGV上搭(da)載關節(jie)機器人(ren)(ren)(ren)，可(ke)以*替代人(ren)(ren)(ren)工作業，完成(cheng)生產(chan)裝配工作及CNC的(de)自動生產(chan)工作，工作精度達到(dao)1mm，工廠人(ren)(ren)(ren)工與生產(chan)成(cheng)本得(de)到(dao)大幅降低，同時產(chan)品品質也得(de)到(dao)穩定和提升。表1顯示(shi)了(le)在(zai)采用視(shi)(shi)覺(jue)(jue)識別AGV系統后(hou)，工廠的(de)運(yun)營(ying)成(cheng)本下降了(le)。

2.家電行業

家電行業是人(ren)力密集(ji)型制造業，其零部(bu)(bu)件的(de)生(sheng)(sheng)產(chan)(chan)和整機的(de)裝配過程需(xu)要(yao)大量人(ren)力，而其中(zhong)物料(liao)的(de)輸送(song)占(zhan)了相當大的(de)比(bi)例。某空調生(sheng)(sheng)產(chan)(chan)企業在產(chan)(chan)品(pin)組(zu)裝生(sheng)(sheng)產(chan)(chan)線上采(cai)用柔性化搬(ban)運(yun)系(xi)統代替人(ren)力和固定式(shi)(shi)輸送(song)線搬(ban)運(yun)。由于車間地面部(bu)(bu)分區(qu)域有(you)鋼(gang)板鋪設，因此無法采(cai)用磁導航。視覺導航AGV可以*該生(sheng)(sheng)產(chan)(chan)線的(de)搬(ban)運(yun)需(xu)求(qiu)。該系(xi)統包括62 個生(sheng)(sheng)產(chan)(chan)單元、14 臺自(zi)動移載(zai)式(shi)(shi)AGV 及(ji)中(zhong)央(yang)智能(neng)調度系(xi)統。

項目(mu)(mu)所用(yong)自(zi)動(dong)(dong)移載(zai)式AGV在其(qi)車(che)(che)體上部(bu)安(an)裝(zhuang)有動(dong)(dong)力輥筒(tong)，生(sheng)(sheng)產(chan)線上完(wan)工(gong)(gong)的(de)(de)成品(pin)、半成品(pin)直接(jie)通(tong)過傳(chuan)(chuan)(chuan)輸(shu)(shu)(shu)(shu)帶(dai)或者固定的(de)(de)軌道(dao)傳(chuan)(chuan)(chuan)輸(shu)(shu)(shu)(shu)線轉移到AGV上，實現無(wu)人對(dui)接(jie)以及無(wu)人搬(ban)運(yun)(yun)。在運(yun)(yun)輸(shu)(shu)(shu)(shu)通(tong)道(dao)上鋪設了雙向導航(hang)色帶(dai)，并在每個停靠點鋪設RFID芯片。在AGV車(che)(che)載(zai)輥筒(tong)上架(jia)設2～3套對(dui)射光電(dian)(dian)(dian)(dian)(dian)開關。輸(shu)(shu)(shu)(shu)送(song)機(ji)(ji)(ji)上裝(zhuang)設2套對(dui)射光電(dian)(dian)(dian)(dian)(dian)開關，一(yi)(yi)套檢(jian)測(ce)傳(chuan)(chuan)(chuan)感(gan)器。AGV與(yu)輸(shu)(shu)(shu)(shu)送(song)機(ji)(ji)(ji)對(dui)接(jie)時(shi)，控制輸(shu)(shu)(shu)(shu)送(song)機(ji)(ji)(ji)和AGV輥筒(tong)傳(chuan)(chuan)(chuan)動(dong)(dong)。輸(shu)(shu)(shu)(shu)送(song)機(ji)(ji)(ji)通(tong)過檢(jian)測(ce)傳(chuan)(chuan)(chuan)感(gan)器檢(jian)測(ce)輸(shu)(shu)(shu)(shu)送(song)機(ji)(ji)(ji)是(shi)(shi)否有料(liao)箱。各個生(sheng)(sheng)產(chan)單元均根據生(sheng)(sheng)產(chan)情況，隨機(ji)(ji)(ji)地(di)通(tong)過調(diao)度系統，呼(hu)叫AGV 到對(dui)應產(chan)線運(yun)(yun)載(zai)物(wu)(wu)料(liao)，進行(xing)(xing)實時(shi)、全(quan)自(zi)動(dong)(dong)的(de)(de)物(wu)(wu)料(liao)配送(song)。該項目(mu)(mu)于(yu)2013年實施，目(mu)(mu)前系統運(yun)(yun)行(xing)(xing)正常(chang)。 3.電(dian)(dian)(dian)(dian)(dian)氣(qi)生(sheng)(sheng)產(chan)業在電(dian)(dian)(dian)(dian)(dian)氣(qi)設備生(sheng)(sheng)產(chan)中，部(bu)件往往質量(liang)較(jiao)大(da)，如(ru)電(dian)(dian)(dian)(dian)(dian)梯行(xing)(xing)業使用(yong)的(de)(de)驅動(dong)(dong)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)通(tong)常(chang)為大(da)扭矩(ju)特種電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)。該電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)生(sheng)(sheng)產(chan)過程中電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)殼和轉子部(bu)件需要在車(che)(che)間內進行(xing)(xing)搬(ban)運(yun)(yun)，以往采(cai)(cai)(cai)用(yong)人工(gong)(gong)駕駛叉車(che)(che)運(yun)(yun)輸(shu)(shu)(shu)(shu)。由(you)于(yu)物(wu)(wu)料(liao)運(yun)(yun)輸(shu)(shu)(shu)(shu)頻率高，空間狹(xia)窄，不僅人力運(yun)(yun)輸(shu)(shu)(shu)(shu)投入大(da)，而(er)且(qie)有一(yi)(yi)定的(de)(de)安(an)全(quan)隱患。采(cai)(cai)(cai)用(yong)AGV替(ti)代人工(gong)(gong)搬(ban)運(yun)(yun)可以減少人力投入，而(er)且(qie)AGV搬(ban)運(yun)(yun)比(bi)人工(gong)(gong)運(yun)(yun)輸(shu)(shu)(shu)(shu)更加平穩，安(an)全(quan)性(xing)好。由(you)于(yu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)部(bu)件重量(liang)大(da)，在交(jiao)通(tong)路口若(ruo)鋪設鋼(gang)板以保護地(di)面下方的(de)(de)管(guan)(guan)線，導致無(wu)法(fa)采(cai)(cai)(cai)用(yong)磁導航(hang)式AGV。此外(wai)，重載(zai)車(che)(che)輛對(dui)導航(hang)磁條(tiao)(tiao)(tiao)的(de)(de)反復碾壓極易導致磁條(tiao)(tiao)(tiao)損壞，也是(shi)(shi)這類場所難以采(cai)(cai)(cai)用(yong)磁條(tiao)(tiao)(tiao)導航(hang)的(de)(de)原因。在經過綜合分(fen)析(xi)成本(ben)和性(xing)能后，該項目(mu)(mu)采(cai)(cai)(cai)用(yong)視覺(jue)識(shi)別(bie)導航(hang)AGV，如(ru)圖(tu)8。系統設有兩條(tiao)(tiao)(tiao)線路，一(yi)(yi)條(tiao)(tiao)(tiao)采(cai)(cai)(cai)用(yong)潛入牽引式AGV，用(yong)于(yu)運(yun)(yun)輸(shu)(shu)(shu)(shu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)外(wai)殼，AGV荷載(zai)2T；另一(yi)(yi)條(tiao)(tiao)(tiao)用(yong)于(yu)運(yun)(yun)輸(shu)(shu)(shu)(shu)電(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)轉子，采(cai)(cai)(cai)用(yong)自(zi)動(dong)(dong)移載(zai)式，荷載(zai)2T。兩條(tiao)(tiao)(tiao)線路的(de)(de)交(jiao)叉口采(cai)(cai)(cai)用(yong)調(diao)度系統進行(xing)(xing)交(jiao)通(tong)管(guan)(guan)制，并與(yu)其(qi)它人工(gong)(gong)駕駛叉車(che)(che)共用(yong)路口。

總結隨(sui)著《中(zhong)國制(zhi)(zhi)造(zao)(zao)(zao)2025》計劃的提出，智能物流作為(wei)制(zhi)(zhi)造(zao)(zao)(zao)業(ye)(ye)升級的核心(xin)之一(yi)，正越(yue)來越(yue)引起傳統制(zhi)(zhi)造(zao)(zao)(zao)業(ye)(ye)的重視。在經濟步入“寒冬”的大背景下，大量(liang)傳統制(zhi)(zhi)造(zao)(zao)(zao)業(ye)(ye)企業(ye)(ye)開始謀(mou)劃轉變(bian)。通過引入AGV系(xi)(xi)統提升廠內(nei)物流效率、降(jiang)(jiang)低(di)運營(ying)成(cheng)本，已經成(cheng)為(wei)制(zhi)(zhi)造(zao)(zao)(zao)業(ye)(ye)升級的趨(qu)勢(shi)之一(yi)。視覺識別導航(hang)(hang)方法，由于其對(dui)地面適應(ying)性廣、地理標(biao)簽(qian)耐重載、導航(hang)(hang)精度高、硬件(jian)成(cheng)本低(di)等優點，已經在電(dian)子制(zhi)(zhi)造(zao)(zao)(zao)、家電(dian)生產(chan)、電(dian)氣制(zhi)(zhi)造(zao)(zao)(zao)等工業(ye)(ye)領域得到成(cheng)功應(ying)用。由于視覺導航(hang)(hang)技(ji)術有一(yi)定的技(ji)術難度，因此目前國內(nei)的應(ying)用數量(liang)少。隨(sui)著視覺導航(hang)(hang)系(xi)(xi)統硬件(jian)成(cheng)本逐漸下降(jiang)(jiang)，以及導航(hang)(hang)技(ji)術的不斷發展，這類AGV系(xi)(xi)統將進一(yi)步擴展在制(zhi)(zhi)造(zao)(zao)(zao)業(ye)(ye)廠內(nei)物流系(xi)(xi)統中(zhong)的應(ying)用。