Application of improved Canny algorithm in vision image processing of palletizing robot
                                                                           WANG Guohu1, XUE Jinxue2
(1.School of Mechatronics Engineering, Zhengzhou University of Industrial Technology, Xinzheng 451152, China;2.School of Mechatronics Engineering, Henan University of Science & Technology, Luoyang 471003, China)

Abstract: In order to solve the problems of the visual image processing of palletizing robot was easily infected by insufficient illumination and noise interference,the principle of visual image detection of palletizing robot vision system was investigated. Compared with the detection performance of edge detection algorithm, an improved Canny algorithm was proposed. The denoising effect and edge positioning accuracy were improved by improving the calculation method of gradient amplitude, and the adaptive setting threshold was used to detect the edge of the image. The test results of the edge detection algorithm were tested and analyzed by experiment. The results indicate that the improved Canny algorithm can effectively overcome the influence of illumination, noise and other factors, and avoid the broken edge and false edges in the edge detection process. The detection result is superior to the traditional Canny algorithm and several other edge detection methods.

Key words: edge detection; dual threshold; improved Canny algorithm; adaptive