Design Of Automatic Wood Grabbing System For Pallet Manufacturing Based On Machine Vision

As the representative of standardized logistics equipment,the demand of pallets is increasing with the rapid development of logistics industry,which leads to the increase of pallet demand.Nowadays,loading the wooden pallet manually occupies the core factor,which is not only inefficient,but also the harsh noise of the nail gun endangers the health of the loading workers during pallet production.Therefore,this paper designs an automatic grabbing system for the pallet manufacturing wood based on machine vision technology,so as to improve the production efficiency of wooden pallets and protect the loading workers,and the system uses the board recognition algorithm to realizes the automatic feeding of pallet manufacturing.The specific research contents are as follows:（1）We design a preprocessing algorithm for the pallet manufacturing wood image.With the comparison of various preprocessing algorithms,we select the weighted average gray method,bilateral filtering noise reduction,histogram averaging image enhancement and local threshold segmentation to complete the image preprocessing,which reduces the amount of data in the image and accelerates the operation of subsequent algorithms.（2）We propose a feature extraction algorithm.Through analyzing the common feature and feature extraction methods,we select the improved Z-S algorithm to extract the wood skeleton.Then,aiming to the complexity of wood distribution,we propose a vertex location and matching algorithm to identify and associate the two skeleton endpoints on the same board,and thus obtain the feature information of the target.（3）We present a position location and type recognition algorithm for palletized planks.After applying Zhang’s calibration method to compute the calibration information,we take the matched skeleton endpoint information in combination with the depth information collected by the depth camera,and design a recognition algorithm to obtain the actual position information of the wood,the up-down relationship of the overlapping wood and the type information of the wood.Finally,we repeat experiments to show the effectiveness of the algorithm.（4）We design an automatic grabbing system for pallet lumber.Considering that the functional requirements and the engineering practice,we design a system according to the principle of modular,in which introducing the hardware structure of the grabbing system and determining the hardware selection.Afterward,we program the feeding operation and driving control diagram of the system.The human-computer interaction interface of the feeding system is designed to verify the feasibility of the system.