Abstract：Aiming at the self-development requirement of the automatic doffer, a bar code scale measurement technique based on machine vision is designed to detect the position of the doffing vehicle in the track. The measurement method is based on the barcode scale which consists of a scale and barcode. In the experiment, the camera and the barcode scale are calibrated at the initial position of the camera. In the process of camera movement, the current corresponding barcode scale image is obtained, and the current barcode coordinates are calculated to get the displacement of the camera relating to the barcode scale. The results show that the measurement method has no error accumulation, and realizes the real-time monitoring of the vehicle during the walking process. When the frame frequency is 30 Hz, the object distance is 15 cm, the output image resolution is 640×480 pixels, and the running speed of the vehicle is less than 2 cm/s, the barcode coordinate measurement accuracy is less than 1 mm. When the speed of the vehicle is 2~6 cm/s, the coordinate measurement accuracy is 1~2 mm, when the speed of the vehicle is 6~10 cm/s, the coordinate measurement accuracy is 2~3.5 mm. The method can meet the requirement of positioning precision of a doffing cart under low-speed running conditions.
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2019, Vol. 40 
