通过CCD采集图像位置信息，获取图像——>图像灰度化——>图像滤波——>二值化——>边缘检测——>寻找轮廓——>计算轮廓矩——>计算质心及方向，获得物体质心的位置与角度信息。(Images captured by the CCD sampling image location information, -- - > > image grayscale change - > image filtering -- - > > edge detection, binary search for contour moment - - > >Look for contour -- > computing contour moment -- > calculates the center of mass and direction, and obtains the position and Angle information of the object's center of mass.)