Untitled

[tlz2106]

The convex-hull of boxes are identified whose centroid becomes the target coordinates for the gripper to move to. Boxes are then sorted from large to small, by calculated area. Footage from the camera attached to the head of the robot, when placed alongside footage of the robot, works representationally to demonstrate functionality and use.

[tlz2106]

1.     Boxes are placed at random on surface

2.     Computer vision detects boundaries of boxes

 3.     Box sizes are calculated and stored

4.     Box fitting algorithm

 5.     Robot moves to location of second largest box

6.     Moves second largest box into largest box

7.     Robot moves to location of third largest box

8.     Moves third largest box into second largest box

 9.     Continues until all boxes sorted

[tlz2106]

[tlz2106]

#tlz2106

[tlz2106]

[tlz2106]

[tlz2106]

[tlz2106]

[tlz2106]