Design of foreign object recognition and positioning system for sorting robot of coal mine belt conveyor

Machine vision has a certain theoretical basis in target detection and recognition for sorting robot of coal mine belt conveyor. But current target recognition of sorting robot of coal mine belt conveyor is mainly aimed at coal-gangue recognition. There are few kinds of research on the recognition of foreign object targets causing conveyor belt penetration and tearing, and also few kinds of research on the precise positioning of target foreign object. In order to solve the above problems, a foreign object recognition and positioning system based on machine vision for sorting robots of coal mine belt conveyor is designed. The system can recognize and position different types and shapes of foreign objects on the conveyor belt. The image information of the foreign objects on the conveyor belt in real-time is obtained by adopting binocular vision, and the image is preprocessed. Image information is enhanced based on the Canny operator. The gray stretching method is used to improve image edge information to highli