A Study Of Autonomous Robot Detecting And Grading Eggs

Whether for the export of fresh eggs or for egg processing, it is necessary to clean out, antisepticise, detect and grade eggs. At present, most processing plants in China are still employing manual eyes in fulfilling these tasks; as a result, there is a remarkable gap between China and developed countries both in processing quality and in efficiency. In the US, mechanical operation is applied to the collection, preservation, grading and packing of eggs, which is highly automatized and less costly.The principles of the system are as follows. First, a scene video camera captures the image of the massive members of eggs. Through image processing, the character extraction of the central coordinate, the major axis direction, etc. of each egg is used to obtain motion angles of the robot joints by coordinate transformation and kinematic inverse computation of the data. A robot end-effector then moves to the center of the egg, coordinates its pose, transmits signals to SCM controller of the suction cup, starts the suction circuit, and then adsorbs the egg. According to the motion planning, the robot carries the egg to the top of the knocking device. The eggshell is knocked and the sound is collected by a microphone and sent to DSP for processing and diagnosing eggs' dilapidation, and the signals of the result are sent to a robot motion controller. If it is cracked, the egg will be put in the eggcrate for cracked eggs. Otherwise, the manipulator will carry the egg to the place between the light room and color camera. The interior color image of the egg is captured and processed. The depth of greenness of eggs is judged and graded by the formula of connection between Haugh, which reflects the depth of greenness of eggs, and HIS of color in yolk. According to the grading information the robot motion controller controls the manipulator to put the eggs in corresponding eggcrate.In this paper, the ratio between one rank moments in image and total area...