The Egg Sorting Robot Based On Machine Vision

China is a big agricultural country,the industry of egg has been a vast development prospects.However,with the improvement of people's living standards,the quality requirements of the eggs are also getting higher and higher.Individual eggs,moderate,clean surface of the eggs will be preferred by consumers.The sales of such eggs are higher and sales are faster.In terms of our country,the number of eggs is very big,eggs of grading most use of artificial grading.This is not only high cost,low efficiency,human factors,but also the safety of food there is a threat.Some domestic grading equipment grading standards are too single,foreign equipment prices are higher.With the development of science and technology,more and more new technology applied to the actual production process,for the production has brought convenience.This paper explores the use of machine vision technology to study the size of eggs,shell color,surface pollution detection algorithm,use of conveyor belt device,vacuum suction cup,combined with delta-type parallel arm,to achieve the transport of eggs,crawling and grading tasks.1.Set up the image acquisition system,establish the image acquisition camera,light source and collection background,etc.,in order to obtain a good egg primitive image to lay a good foundation.2.The host computer core processor uses BCM2837 64-bit ARMv8 quad-core processor,the digital image processing technology is used to preprocess the image of the collected eggs,and the image gray scale,image enhancement,denoising and binarization are adopted.According to the actual effect,it will be dealt with the best ways.3.Based on the three indexes of egg size,shell color and pollution degree,the extraction of the corresponding eigenvalues of eggs and the establishment of evaluation system were carried out to evaluate the performance of the detection algorithm.4.The next bit machine is ATmega2560 core processor microcontroller,control the solenoid valve to achieve a vacuum sucker to grab eggs,parallel arm to the egg transport grading action.The experimental results show that the avian grading sorting robot can better achieve the sorting and sorting task of eggs,and the classification effect of eggs is obvious.