Vision-Based Localization System For Fixture Auto-Exchange AGV Used In Horizontal Machining Center

At the time of traditional manufacturing industry turning to flexible manufacturing,AGV is the most common way to realize flexible material flow.However,the navigation system of AGV cannot provide enough precision under some special circumstances.As a result,another localization system is essential for AGV.On the other side,vision-based localization system has been widely used in modern manufacturing industry,among which monocular vision is one of the most common industrial vision systems.Therefore,vision-based localization system is the first choice for fixture auto-exchange AGV.This research aims at the problem of precise localization for fixture auto-exchange AGV,proposing a monocular vision localization algorithm basing on QR code.Through experimental verification,this algorithm is able to detect and localize the QR Code.Then a theoretical error model is built basing on the experiment.As for the problem that monocular vision system cannot measure the depth,a fast calibration and depth measurement algorithm basing on servo mechanism is proposed in this research,realizing the depth measurement basing on two-dimensional localization.Experimental results show that the precision and stability of algorithm are good,which means it can be taken into practice.At last,research in this article realizes the integration of algorithm,software and hardware and reaches a precision of ±0.134 mm,meeting the requirement of AGV.