Box carrying manipulator based on monocular vision

The invention relates to a box carrying manipulator based on monocular vision, which comprises a computer, a three-axis manipulator, a monocular camera and an ultrasonic sensor, the monocular camera and the ultrasonic sensor are mounted above a carrying site and connected with the computer, and the box carrying manipulator is executed according to the following steps: S1, the monocular camera overlooks and collects images of boxes in the site; s2, the computer processes and recognizes the image, collected by the monocular camera, of the box, and a box suitable for carrying is obtained; s3, the computer determines a plane centroid coordinate of the to-be-carried box according to the image of the box; s4, the computer controls the three-axis carrying manipulator to reach the position over the plane mass center of the to-be-carried box; s5, the ultrasonic sensor measures the distance of the top surface of the to-be-carried box, and the computer calculates the descending distance of the manipulator; s6, the three