Automatic sorting system for household refuse
An automatic sorting system, a technology for domestic waste, applied in sorting and other directions, can solve the problems of difficulty in meeting the requirements of use, low efficiency, complex and harsh environment for the general category of domestic waste, etc.
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[0082] Below, at first several coordinate systems involved in the present invention are described:
[0083] ●Image coordinate system
[0084] The image coordinate system describes the position coordinates of a single pixel in the entire image. The origin of the coordinate system is set at the pixel point in the upper left corner of the image. The coordinates are (0, 0). The horizontal axis of the image coordinate system is the horizontal direction. The maximum value is 1600. The vertical axis is the vertical direction, and the maximum value is 1200, that is, the image width is 1600×1200.
[0085] ●Conveyor belt plane coordinate system
[0086] The origin of the plane coordinate system of the conveyor belt is a fixed point O on the edge of the conveyor belt C , X C Axis is the direction of motion along the conveyor belt, Y C at the plane of the conveyor belt and with X C axis vertical.
[0087] ●N manipulator coordinate systems
[0088] The manipulator coordinate system ...
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