Abstract: In order to meet the requirements of automatic docking and centroid measurement of a cylinder section workpiece under explosion-proof environment, the multifunctional rail guided vehicle (RGV) equipment is designed. The equipment adopts the vision measurement data to guide the attitude adjustment and docking of the equipment. The centroid measurement function, mechanical mechanism and measurement principle of the equipment are described. The explosion-proof function of the equipment can meet the requirements of its use in special environment, ensure human safety, and facilitate the realization of automation. Through practical application, the equipment has stable performance, high degree of automation and multiple functions, which can meet the requirements of use.