Design And Implementation Of AGV Positioning System Based On Monocular Vision

With the development of intelligent logistics and other industries,Automated Guided Vehicles(AGV),as an important tool for automated material transportation,have wide application prospects.In order to meet production needs,AGV needs to achieve more accurate automatic positioning and efficient guidance.This paper mainly focuses on the AGV positioning method based on monocular vision,and designs a set of AGV positioning system that can work under the complex working conditions of the factory and realizes the real-time position information of the AGV according to the pictures collected by the monocular camera.This paper mainly uses the Pn P method based on monocular vision for positioning measurement to achieve AGV positioning function.At first,studying the principle of Pn P algorithm and its solution method.Comparing P3 P,DLT and EPn P solution,considering the accuracy,efficiency and actual working conditions and other issues,finally selecting the appropriate solution.Secondly,completing the overall design of the AGV positioning system.Including the structure and hardware design of navigation box and optical target box.The navigation box includes industrial cameras and high-precision turntables and other measurement equipment,and its internal equipment constitutes a rotation measurement system.According to the positioning principle,determining the type,number and arrangement of light sources.Designing the control circuit of the optical target box.According to the explosion-proof requirements,the two parts shall be treated accordingly.Obtaining the initial coordinate parameters according to the positioning principle.The light target picture collected by image preprocessing determines the coordinates of the light target point center under the pixel coordinate system in the image.The coordinates of the center of the light target point in the world coordinate system are obtained by a coordinate measuring machine and a laser tracker.According to Zhang Zhengyou's calibration method,fitting the rotation center of the high-precision turntable with the camera installed,and obtaining the rotation radius.Through this distance and the rotation matrix and translation vector obtained by the solution of Pn P problem,the rotation center of the turntable in the world coordinate system is obtained.Finally,determining the positioning error by the overall positioning system experiments.