Automated Ton Bag Handling System Based on Vision and Laser Localization

A ton bag is a packaging form used for transporting and storing bulk materials, characterized by its large capacity, strong durability, reusability, and safety in terms of environmental protection. Manually handling ton bags requires overcoming challenges such as heavy weight, difficulty in lifting, poor stability, and slow loading and unloading speeds. The efficiency of using manual forklifts to transfer ton bags in factories is low, with high energy consumption and significant pollution. To address this issue, this paper proposes an automated gantry system for loading and unloading ton bags, which combines laser radar and vision for detection and localization. First, the center of the ton bag is detected using vision, returning the coordinates of the ton bag's center. Next, a PLC controls the gripper to move directly above the ton bag. Finally, the laser scanning method is employed to determine the direction of the lifting straps, find their vertical orientation, and use the gripper to grasp the ton bag. Experimental results show that the automated gantry handling system based on vision and laser localization has significant advantages over traditional manual fork-lift systems.