Design and realization of open wagon hook removal object recognition and positioning system based on machine vision

At present, the operation safety risk is huge due to manual operation of hook removal from open wagons . Each type of wagon hook part and mechanical structure has certain differences attributable to the high number of open car models. And Coal unloading operation time needs to be set according to the railroad scheduling time, and hook removal action is performed outdoors. So realization of automatic hook removal faces the difficulty of accurately identifying and locating the hook removal object under complex lighting conditions. In this paper, according to the visual image feature of large Gaussian statistical difference between the hook part image and the background pixel of railroad track, UWB wireless positioning module is used to follow the traction position of tractor, laser probe recognizes the position of the edge of wagon, and visual camera obtains the image of the object to be picked, and then obtains the contour of the object to be picked through adaptive Gaussian background image removal algorithm, and then further obtains the location information and type information of the object to be picked.