多目视觉定位协同引导自动运输车研究-计算机工程与应用.PDF

260 2018 ，54（11） Computer Engineering and Applications 计算机工程与应用 多目视觉定位协同引导自动运输车研究 用 1 2 2 2 2 曾群生 ，苏成悦 ，程天明 ，张洪钊 ，黄佩铎 应 1 2 2 2 2 ZENG Qunsheng , SU Chengyue , CHENG Tianming , ZHANG Hongzhao , HUANG Peiduo 与 1. 广东工业大学 计算机学院，广州 510006 程 2. 广东工业大学 物理与光电工程学院，广州 510006 g r 1.School of Computer, Guangdong University of Technology, Guangzhou 510006, China 工 o 2.School of Physics Optoelectronic Engineering, Guangdong University of Technology, Guangzhou 510006, China . 机 j a ZENG Qunsheng, SU Chengyue, CHENG Tianming, et al. Research on multi- vision cooperatively locating and 算 e c guiding automatic transporter. Computer Engineering and Applications, 2018, 54 （11）：260-264. 计 w. Abstract ：Aiming at the narrow positioning range and poor flexibility of AGV, a solution is proposed and verified experi- w mentally. 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 w 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 transpor