A method and system for positioning turnover boxes of articles in the political and legal system

Abstract

The present invention provides a method and system for positioning turnover boxes of articles in the political and legal system, which relates to the field of machine vision technology. The method comprises the following steps: setting color marking points on the eight vertices of the turnover box; a mobile robot receives pickup address information and navigates to a pickup point near an attachment of the turnover box; an image acquisition camera of the mobile robot acquires a front image, converts the RGB image into an HSV image, and determines the basic position of the turnover box; determines the position of the color marking points on the turnover box; calculates the distance between two color marking points, and identifies the long side and the short side of the turnover box; the mobile robot moves in a direction perpendicular to the short side of the turnover box to achieve alignment with the position of the turnover box; converts the RGB image into a YUV image, identifies the edge of the turnover box, and calculates the distance between the mobile robot and the edge of the turnover box; the mobile robot stops after continuing to move the distance between the mobile robot and the edge of the turnover box, and grabs the turnover box. The algorithm of the method is simple and can accurately position the turnover box.

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