禽蛋检测与分级智能机器人系统的设计

为了实现禽蛋检测与分级的自动化,建立一种轻型自动化系统,即禽蛋检测与分级智能机器人系统(System of intelligentrobot detecting and grading eggs,SmDGE).SIRDGE将禽蛋的破损检测、内部品质检测以及检测和分级时的搬运工作联系起来,统一由一个关节型机器人来完成,能实现禽蛋检测和分级的全程自动化.介绍该系统的组成结构和工作原理,对系统关键的硬件设备和软件实现过程作了必要的说明,包括场景图像的采集和摄像机的标定,图像处理和特征值的提取,机器人运动控制和轨迹规划,真空吸盘的单片机控制,敲击声音的处理与破损检测,彩色图像处理与内部品质检测等内容,并对SIRDGE系统进行性能测试,测试结果证明,SIRDGE能够实现禽蛋检测和分级的全程自动化.

Design for System of Intelligent Robot Detecting and Grading Eggs

A kind of light-duty automation system is presented for the automation of detecting and grading eggs, namely system of intelligent robot detecting and grading eggs(SIRDGE). This system enables crack detection, inner quality detection and eggs conveying to be combined. All these tasks are done by a joints robot and the whole process of detecting and grading is automatic. The frameworks and work course of the system are presented. Necessary explanation of the main hardware and the software is made, which includes how to capture image by scene video camera and the camera calibration, algorithm for processing images and distilling eigenvalue from them, motion controlling and trajectory planning of the robot when detecting and grading eggs, single chip micyoco program for controlling the suction cup, processing the sounds by tapping egg shell and the crack egg detection, color image processing and inner quality of eggs detection, etc. Some tests are done and the test parameters are given.