Design of Grasping System of Stacked Container Based on Machine Vision
Aimed at the low automation level of cold chain transportation,a set of stacking container grasping system based on machine vision was designed.Matlab calibration tool was used to complete the camera calibration to obtain the mathematical model of coordinate system transformation.Improved Canny edge detection algorithm was applied to extract the position information of stacked cargo boxes in the image.By PLC,the unloading robot was controlled to grasp stacked cargo boxes in cold chain containers according to the established procedures.The experimental results show that the image processing time is less than 2 ms,the grasping efficiency is up to 5 s/piece,and the grasping position error is less than 5 mm,well meeting the requirements of industrial production.
万方数据
维普
