Modeling and Analysis of Global Vision for Operating Multiple Free-Ranging AGVs on the Factory Floor

提供控制所需信息的系统 多个自由范围的自动引导车辆将被 基于固定式视觉摄像机的使用而开发的，或者 被称为“全球视野”，以扩大范围， 应用程序，他们是一个高性能和成本， 有效的交通替代方案。 这样的预期结果 系统包括：增加运输吞吐量，因为车辆可以 可以规划更快和全球有效的路径; 由于增加了碰撞检测和避免， 能力;降低车辆成本。 为了证明全球视野在技术上 对于车辆控制是可行的，并且与 其他可行的控制手段，以下任务将是 执行：（1）摄像机放置，其中将开发算法 以确定最小数量的摄像机及其在 设施;（2）对象跟踪，其中基于图像的差分方法 将被开发用于检测和跟踪移动物体;（3） 性能测量，其中实际的硬件和软件 实现将用于演示技术 一个典型的工厂车间的全球视野的可行性; (4)经济可行性，分析技术将 用来比较不同的控制自由放养的方法 运输车辆。

A system to provide the information necessary for the control of multiple free-ranging automatic guided vehicles will be developed based on the use of stationary visual cameras, or what is termed "global vision," in order to expand the range of applications for which they are a high-performance and cost- effective transport alternative. The expected results of such a system include: increased transport throughput because vehicles can operate faster and globally efficient paths can be planned; improved safety due to increased collision detection and avoidance capabilities; and reduced vehicle costs. In order to demonstrate that global vision is technically feasible for vehicle control and is cost-effective as compared to other feasible means of control, the following tasks will be performed: (1) camera placement, where algorithms will be developed to determine a minimal number of cameras and their positions in a facility; (2) object tracking, where difference image-based methods will be developed to detect and track moving objects; (3) performance measurement, where actual hardware and software implementations will be used to demonstrate the technical feasibility of global vision for a typical factory shop floor; and (4) economic feasibility, where analysis techniques will be developed to compare different methods of controlling free-ranging transport vehicles.