禽蛋检测与分级智能机器人系统的设计.pdfVIP

维普资讯 学兔兔 第44卷第2期 机 械 工 程 学 报 v01．44 No．2 2008年 2月 CHINESE JOURNAL 0F MECHANICAL ENGINEERING Feb． 2008 禽蛋检测与分级智能机器人系统的设计木 王树才 文友先 苏工兵 (华中农业大学工程技术学院 武汉 430070) 摘要：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(Systemofintelligent robot detecting and grading eggs，SIRDGE)。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 动控制和轨薄规划 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。 关键词：禽蛋 检测 分级 智能机器人 中图分类号：TP242．6 Design for System of Intelligent Robot Detecting and Grading Eggs WANG Shucai WENYouxian SU Gongbing (College ofEngineering and Technology,Huazhong Agricultural University,Wuhan 43O070) Abstract：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 quali哆detection and eggs conve y- ing to be combined．All these tasks ale done by a joints robot and the whole process of detecting and grading is automatic．The frameworks and work course ofthe system ale presented．Necessary explanation ofthe ma in hardware and the SOfl3；Vale is made， which includes how to capture image by scene video camera and the cam era calibration，algorithm for processing images and distill— ing eigenvaluefromthem,motioncontrollingandtrajectory planning ofthe robotwhen detectingandgrading eggs，single chipmi— cyoco program for controlling the suction cup，processing the sounds by tapping egg shell and the crack egg detection，color i