In automatic loading and unloading system

machine vision technology play an important role for its fast and accurate nature. Aiming at function requirements of loading and unloading systems

a monocular vision bar loading and unloading system is designed and built up. And through the Halcon

complete calibration of camera and manipulator. Research on three-dimensional gesture algorithm for space bar in theory

and using binomial filtering

Fourier transform

Minkowski add1 and Minkowski sub1 in image processing in order to determine threedimensional gesture of the space bar. Software interface is developed by VS2015 C # programming mixed with Halcon and verify that the method is feasible.