Integrated development of the system of robot for detecting and grading eggs

Crack detection, internal quality detection and egg conveying during detection and grading are integrated into a joint robot. The detecting and grading automation and flexible conveying are fulfilled. Led by machine vision the robot heads towards the egg and sucks it up. Then the robot moves to the positions of crack detection and internal quality detection, respectively, where the crack eggs are detected based on acoustic frequency analysis while internal quality defects are based on color image processing. Then the robot moves to the corresponding position according to detected results and lays down the eggs at correct grade. This paper gives the component parts, integration principle, hardware configuration and main parameters of every subsystem. Experimental results indicate that the collocations of hardware in the robot system are appropriate, and that every part can be well-coordinated and run steadily.