This paper presents a visual control technology of AGV based on ultrasonic/ radio frequency (RF) for both ranging and positioning. First we install information nodes and set reference points. Reference direction at the running field. So that physical coordinates can be mapped to logical ones on the master computer. Second, distances between each AGV and nodes are detected and sent to the master computer. Actual coordinates are mapped to the control terminal of the master computer. Using these data and 3-D coordinates we can work out real - time coordinates for each AGV. Last, binding the path to each AGV on master computer to realize visual control. Experimental results show the actual trajectory consistent with the plan of route, basically reached the expected results.%提出一种基于超声波/射频测距定位技术的多AGV可视化监控技术,该方法首先在运行现场信安装信息节点和设定参考点、参考方向,将运行现场的物理坐标系投影到上位计算机的逻辑坐标系;然后,实时测出每辆AGV与各信息节点的距离并发送到上位机,上位机根据这些数据和已知信息节点的三维坐标计算出每辆AGV在现场的坐标,AGV的实际坐标投影到上位机的控制端；最后,在上位机上给每辆AGV的绑定运行路线,上位机根据AGV当前的位置和设定的路线计算AGV的运行方向、运行速度,实现AGV的可视化监视与控制；实验结果表明系统的AGV实际运行轨迹与规划路线基本吻合,达到了预期的效果.
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