屋外用視覚誘導方式を用いた無人搬送車の誘導走行

抄録

In this paper, an outdoor type visual guidance system by using an image recognition method is proposed for an outdoor AGV to travel stably. The outdoor type visual guidance system uses a ITV camera in order to obtain reflective images of three typed guiding marks adhered to the traveling line surface which is illuminated by a natrium light. The camera with the high speed shutter device is able to obtain a visual image in 1ms. Factors which affect detecting image characteristics are examined through the computer simulation. Traveling information can be detected within from 20ms to 50ms recognition time.
In outdoor traveling experiment, the developed outdoor AGV was verified to travel smoothly on a straight line at 60m/min with as little as±25mm amplitude deviation which is less than the guiding marks width and with 10sec. period hunting motion.