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            <title xml:lang="en">Research on Non-destructive Comprehensive                                    Detection and Grading of Poultry Eggs Based on Intelligent                                    Robot</title>
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                <title xml:lang="en">Research on Non-destructive Comprehensive                                    Detection and Grading of Poultry Eggs Based on Intelligent                                    Robot</title>
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                  <date type="end">2009-10-17</date>
                  <settlement>Beijing</settlement>
                  <country key="CN">China</country>
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                <editor>Daoliang Li; Chunjiang Zhao</editor>
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                  <biblScope unit="serie">Computer and Computing Technologies in Agriculture                                    III</biblScope>
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              <p>This study presents a light-duty automation system                            for the automatization of detecting and grading poultry eggs, namely                            SIRDGE, short for System of Intelligent Robot Detecting and Grading                            Eggs. This system combines crack detection, inner quality detection and                            eggs conveying in detecting and grading, which are all performed by a                            joint-robot to fully automate egg detection and gradation. The hardware                            components and software structure of the system are presented. Necessary                            explanation of the main hardware and the software is made, which                            includes video image capturing and camera calibration, image processing                            and feature extraction, motion control and route planning of the robot,                            MCU control for the vacuum sucker, knocking sound processing and crack                            detection, color image processing and inner quality detection, etc.                            Property testing of SIRDGE has been done in the research.</p>
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