摘要
Tundish-covering flux bags can be depalletized and moved in the steel casting region using industrial robots and monocular vision simultaneously.An industrial robot mounted with a flexible vacuum sucker was used as the executor.For a structured bag model,a visual scheme based on the support vector machine and the histogram of oriented gradients was adopted.The computer was trained using a number of sample bag images that relied on the feature recognition algorithm.Finally,the automatic stacking and moving of the flux bags were realized.
Tundish-covering flux bags can be depalletized and moved in the steel casting region using industrial robots and monocular vision simultaneously. An industrial robot mounted with a flexible vacuum sucker was used as the executor. For a structured bag model,a visual scheme based on the support vector machine and the histogram of oriented gradients was adopted. The computer was trained using a number of sample bag images that relied on the feature recognition algorithm. Finally,the automatic stacking and moving of the flux bags were realized.
基金
supported by National Key R&D Program of China( No. 2017YFB1303600)
