本文關(guān)鍵詞： 禽蛋 機(jī)器視覺(jué) 分級(jí)分選 機(jī)器人　出處：《寧夏大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：中國(guó)是一個(gè)農(nóng)業(yè)大國(guó),禽蛋產(chǎn)業(yè)一直存在著廣闊的發(fā)展前景。隨著人們生活水平的提高,對(duì)禽蛋的品質(zhì)要求也越來(lái)越高,禽蛋個(gè)體適中、表面潔凈的禽蛋,往往是消費(fèi)者首選的對(duì)象。就我國(guó)而言,禽蛋分級(jí)大多采用人工分級(jí)的方式,這樣不僅成本高、效率低、人為因素影響大,而且食品的安全性也存在著威脅。國(guó)內(nèi)的一些分級(jí)設(shè)備的分級(jí)標(biāo)準(zhǔn)過(guò)于單一,國(guó)外的設(shè)備售價(jià)又較高。隨著科學(xué)技術(shù)的發(fā)展,越來(lái)越多的新技術(shù)應(yīng)用到實(shí)際生產(chǎn)環(huán)節(jié)中,為生產(chǎn)帶來(lái)了便利。本文探索利用機(jī)器視覺(jué)技術(shù),對(duì)禽蛋的大小、殼色、表面污染程度進(jìn)行檢測(cè)算法研究,利用傳送帶裝置、真空吸盤(pán),結(jié)合三角洲式并聯(lián)機(jī)械臂,實(shí)現(xiàn)對(duì)禽蛋的運(yùn)輸、抓取、分級(jí)任務(wù)。1.搭建圖像采集系統(tǒng),確立圖像采集相機(jī)、光源以及采集背景等,為獲取良好的禽蛋原始圖像奠定良好的基礎(chǔ)。2.上位機(jī)核心處理器采用BCM2837的64位ARMv8四核處理器,利用數(shù)字圖像處理技術(shù),對(duì)采集回的禽蛋圖像進(jìn)行預(yù)處理,其中對(duì)圖像灰度化、圖像增強(qiáng)、去噪、二值化等采取了多種處理方式,根據(jù)實(shí)際效果,選擇最佳處理方式。3.對(duì)選擇的禽蛋大小、殼色及污染程度三個(gè)指標(biāo)進(jìn)行算法研究,實(shí)現(xiàn)禽蛋相應(yīng)特征值的提取,并設(shè)立評(píng)估體系,對(duì)檢測(cè)算法性能進(jìn)行評(píng)估。4.下位機(jī)以ATmega2560核心處理器的單片機(jī),控制電磁閥實(shí)現(xiàn)真空吸盤(pán)抓取禽蛋、并聯(lián)機(jī)械臂對(duì)禽蛋搬運(yùn)分級(jí)動(dòng)作。實(shí)驗(yàn)結(jié)果表明,本文研究的一種禽蛋分級(jí)分選機(jī)器人,能夠較好的實(shí)現(xiàn)禽蛋的分級(jí)分選任務(wù),并且禽蛋的分級(jí)效果也較明顯。
[Abstract]:China is a large agricultural country, the poultry egg industry has a broad development prospects. With the improvement of people's living standards, the quality of eggs is higher and higher. As far as our country is concerned, poultry egg grading mostly adopts artificial grading, which is not only high cost, low efficiency, but also has great influence on human factors. There is also a threat to the safety of food. The classification standard of some domestic grading equipment is too single, and the price of foreign equipment is higher. With the development of science and technology. More and more new technologies are applied to the actual production, which bring convenience to production. This paper explores the use of machine vision technology to detect the size of eggs, shell color, surface pollution degree of detection algorithm. Using conveyor belt device, vacuum sucker, combined with delta parallel manipulator, to achieve the transport of eggs, grab, grading task. 1. Build an image acquisition system, establish an image acquisition camera. Light source and collecting background, which lay a good foundation for obtaining good original image of poultry eggs. The upper computer core processor uses BCM2837 64-bit ARMv8 quad-core processor. Using the digital image processing technology, the collected egg image is preprocessed. Among them, the image grayscale, image enhancement, denoising, binarization and so on are processed in a variety of ways, according to the actual results. Choose the best treatment method .3.Research the algorithm of the three indexes of egg size, shell color and pollution degree, realize the extraction of the corresponding characteristic value of poultry egg, and set up the evaluation system. Evaluation of the performance of the detection algorithm .4.The lower computer with ATmega2560 core processor of the single-chip microcomputer, control solenoid valve to realize the vacuum sucker to grab eggs. The experiment results show that a kind of egg grading robot studied in this paper can achieve the classification and sorting task of poultry eggs, and the classification effect of eggs is obvious.
【學(xué)位授予單位】：寧夏大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP391.41;TP242

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