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

将开发一个系统，以提供控制多个自由移动自动引导车辆所需的信息，该系统将基于固定视觉摄像机的使用，或称为“全球视野”，以扩大应用范围，使其成为高性能和成本效益的运输替代方案。这种系统的预期结果包括：增加运输吞吐量，因为车辆可以更快地运行，并且可以规划全球有效的路径；由于增加了碰撞检测和避免能力，提高了安全性；降低了车辆成本。为了证明全球视觉技术在车辆控制上是可行的，并且与其他可行的控制手段相比具有成本效益，将执行以下任务：(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中的位置；(2)目标跟踪，将开发基于差分图像的方法来检测和跟踪运动目标；(3)绩效评估，将使用实际的硬件和软件实施来证明全球视野在典型工厂车间的技术可行性；(4)经济可行性，其中将开发分析技术来比较控制自由放养运输车辆的不同方法。

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.