关键词: 全局视觉定位, 自动运输车, 多目协同, 双反馈闭环

Abstract: Aiming at the narrow positioning range and poor flexibility of AGV, a solution is proposed and verified experimentally. A red single ball is used as a marker of the AGV car body, and a plurality of cameras are constructed based on the global vision positioning to guide the autotransport vehicle. Red color single ball recognition, multi - visual field space expansion and coordinate position mapping are realized by using OpenCV and QT platform, and the real - time coordinate information is transmitted to lower - level AGV through WiFi. Automatic transport vehicles to calculate the transport path, and the use of time-sharing dual feedback closed-loop algorithm to solve the problem of blocking the transport process markers. The experimental results show that the positioning scheme based on the red single-ball marker has the advantages of large positioning range and strong applicability.

Key words: global vision positioning, automatic transport vehicle, multi-visual coordination, double feedback closed loop