基于机械臂的食物储藏室热缺陷检测系统  

Design of thermal defect detection system for food storage room based on robotic arm

作　　者：马志艳[1,2] 李翱翔 段宇飞 李江华 MA Zhi-yan;LI Ao-xiang;DUAN Yu-fei;LI Jiang-hua(Hubei University of Technology,Wuhan,Hubei 430068,China;Hubei Agricultural Machinery Engineering Research and Design Institute,Wuhan,Hubei 430068,China)

机构地区：[1]湖北工业大学,湖北武汉430068 [2]湖北省农业机械工程研究设计院,湖北武汉430068

出　　处：《食品与机械》2022年第6期106-111,240,共7页Food and Machinery

基　　金：“十三五”国家重点研发计划子课题(编号:2018YFD0701002-03)。

摘　　要：目的:提高食物储藏室围护结构的缺陷检测效率。方法:提出了一种基于机械臂搭载热红外相机履带式行走机构为一体的检测机构,根据围护结构的面积规划采集路径,采用改进Ostu图像分割方法对采集的热红外图像进行分析并输出其“缺陷”部位的大小及位置坐标。结果:“缺陷”的检测率和误检率分别为92%和6.6%。结论:检测机构能完整扫描并采集食物储藏室围护结构热红外图像,图像分割法能较为清楚地表述出热源的大小,符合机械视觉检测的实际应用要求。Objective:To improve the defect detection efficiency of the enclosure structure of food storage devices.Methods:A robotic arm inspection trolley based on host computer control was proposed.The acquisition path was planned according to the area of the enclosure structure.The improved Ostu image segmentation method was used to analyze the acquired thermal infrared images and output the"defect"parts.Size and position coordinates,and finally verify the effectiveness of the detection through the defect detection rate and false detection rate.Results:The detection mechanism can completely scan and collect thermal infrared images of the enclosure structure of food storage and transportation devices.The image segmentation method can clearly describe the size of the heat source.The detection rate and false detection rate of"defects"were 92%and 6.6%,respectively.Conclusion:The detection mechanism can completely scan and collect the thermal infrared image of the food storage room envelope,and the image segmentation method can clearly describe the size of the heat source,which meets the practical application requirements of mechanical vision detection.

关 键 词：图像分割 机械臂 围护结构缺陷 机械视觉 

分 类 号：TS203[轻工技术与工程—食品科学] TP241[轻工技术与工程—食品科学与工程] TP391.41[自动化与计算机技术—检测技术与自动化装置]