Design for System of Intelligent Robot

Detecting and Grading Eggs

WANG Shucai  WEN Youxian  SU Gongbing

(College of Engineering and Technology, Huazhong Agricultural University, Wuhan 430070)

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 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.

Key words: Eggs  Detecting  Grading  Intelligent robot

CLC No: TP242.6

国家星火计划(2001EH760026)和湖北省重点新产品计划(2005BDS043)资助项目. Received 20070217, received in revised form 20070826