本文關(guān)鍵詞： 禽蛋 機器視覺 分級分選 機器人　出處：《寧夏大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：中國是一個農(nóng)業(yè)大國,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,對禽蛋的品質(zhì)要求也越來越高,禽蛋個體適中、表面潔凈的禽蛋,往往是消費者首選的對象。就我國而言,禽蛋分級大多采用人工分級的方式,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。國內(nèi)的一些分級設(shè)備的分級標(biāo)準過于單一,國外的設(shè)備售價又較高。隨著科學(xué)技術(shù)的發(fā)展,越來越多的新技術(shù)應(yīng)用到實際生產(chǎn)環(huán)節(jié)中,為生產(chǎn)帶來了便利。本文探索利用機器視覺技術(shù),對禽蛋的大小、殼色、表面污染程度進行檢測算法研究,利用傳送帶裝置、真空吸盤,結(jié)合三角洲式并聯(lián)機械臂,實現(xiàn)對禽蛋的運輸、抓取、分級任務(wù)。1.搭建圖像采集系統(tǒng),確立圖像采集相機、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),對采集回的禽蛋圖像進行預(yù)處理,其中對圖像灰度化、圖像增強、去噪、二值化等采取了多種處理方式,根據(jù)實際效果,選擇最佳處理方式。3.對選擇的禽蛋大小、殼色及污染程度三個指標(biāo)進行算法研究,實現(xiàn)禽蛋相應(yīng)特征值的提取,并設(shè)立評估體系,對檢測算法性能進行評估。4.下位機以ATmega2560核心處理器的單片機,控制電磁閥實現(xiàn)真空吸盤抓取禽蛋、并聯(lián)機械臂對禽蛋搬運分級動作。實驗結(jié)果表明,本文研究的一種禽蛋分級分選機器人,能夠較好的實現(xiàn)禽蛋的分級分選任務(wù),并且禽蛋的分級效果也較明顯。
[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)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41;TP242

【參考文獻】

相關(guān)期刊論文 前10條

1 劉文麗;楊國為;李長紅;;基于RGB顏色模型及圖像二值化的紅暈印鑒提取[J];青島大學(xué)學(xué)報(工程技術(shù)版);2016年04期

2 張永安;;基于樹莓派的智能家居系統(tǒng)[J];電子世界;2016年15期

3 馮志輝;;使用樹莓派實現(xiàn)網(wǎng)絡(luò)監(jiān)控系統(tǒng)[J];電子技術(shù)與軟件工程;2015年05期

4 莫勝撼;喻寧娜;戴建樹;;迭代法在焊縫圖像閾值分割中的應(yīng)用[J];電焊機;2015年02期

5 彭nο，

本文編號：1489489