In order to reduce the influence of noise as far as possible and maintain the image edge information to ensure the dispensing robot manipulator can quickly and accurately grasp the bottle to complete the whole process of dispensing

the advantages of genetic algorithm is combined and Canny edge detection operator.This algorithm first use half pixel interpolation method to expand template 3×3 to template 5×5

then use image gradient variance as a criterion to do image block

then for each sub-block using quadratic optimization genetic algorithm to repeat iteration to find the best threshold value

finally using threshold value to extract the edge.The experimental results show that

compared with traditional algorithm

the effect of this algorithm is much better

can effectively reduce the false edge points probability

assure the mechanical hand grasping movements smoothly.