Parallel arm intelligent silkworm cocoon sorting robot and silkworm cocoon sorting method

Abstract

The invention relates to a parallel arm intelligent silkworm cocoon sorting robot and a silkworm cocoon sorting method. The parallel arm intelligent silkworm cocoon sorting robot comprises a main control system, an image collecting device, a silkworm cocoon conveying system and a parallel arm sorting manipulator, and the collecting end of the image collecting device faces silkworm cocoons conveyed by the silkworm cocoon conveying system; and the execution tail end of the parallel arm sorting manipulator is located above the silkworm cocoon conveying system, and the image collecting device and the parallel arm sorting manipulator are both electrically connected with the control system. According to the parallel arm intelligent silkworm cocoon sorting robot, the parallel arm sorting manipulator is adopted, a negative pressure type suction cup is adopted, accurate silkworm cocoon grabbing is achieved, and secondary damage to silkworm cocoons is avoided; silkworm cocoon images are acquired through an upper camera and a lower camera, so that the recognition accuracy is improved; through a constructed silkworm cocoon classification CNN model based on deep learning, accurate and efficient identification and classification of the silkworm cocoons are realized; and the control system converts the position coordinates of the silkworm cocoons and drives the parallel arm manipulator to act to grab the silkworm cocoons, so that efficient and automatic sorting of the silkworm cocoons is realized.

Description

technical field [0001] The invention relates to the technical fields of intelligent equipment for sericulture facilities and agricultural robots, and in particular relates to a parallel-arm intelligent silkworm cocoon sorting robot and a silkworm cocoon sorting method. Background technique [0002] The use of raw cocoons for silk reeling is an important link in the sericulture industry chain, and the quality of silk reeling is the key to determining the quality of silk and finished products. Due to many differences in silkworm species, individual development and sericulture environment and other factors, the quality of raw cocoons is uneven, and silk reeling from lower cocoons will affect silk quality, increase the number of threads falling, increase reeling folds, and even fail to reel silk. [0003] At present, the cocoon classification and removal work in my country adopts manual cocoon selection. The accuracy of cocoon selection is easily affected by subjective factors s...

AI Technical Summary

Problems solved by technology

[0003] At present, the cocoon classification and removal work in my country adopts manual cocoon selection. The accuracy of cocoon selection is easily affected by subjective factors such as the technical level and mental state of the personnel, and has the disadvantages of high labor intensity and high misselection rate.

Moreover, with the acceleration of urbanization in our country, problems such as shortage of rural labor force and high labor cost have become increasingly prominent, and high-cost pure manual labor has restricted the healthy development of the modern sericulture industry.

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