Night identification method of apple harvesting robot

A technology for picking robots and identification methods, applied in the field of night identification of apple picking robots, to achieve the effect of reducing color rendering and reducing the influence of shadows

Active Publication Date: 2015-03-11
指南者品牌管理(苏州)有限公司
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Problems solved by technology

[0004] Aiming at the deficiencies in the prior art, the present invention provides a night recognition method for an apple picking robot, which solves the problems of selection and arrangement of light sources in the night recognition of an apple picking robot and the problems of shadows and reflections in nighttime images, making the apple picking robot Works fine at night

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  • Night identification method of apple harvesting robot
  • Night identification method of apple harvesting robot

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Embodiment Construction

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0033] Concrete steps of the present invention are:

[0034] 1. Image acquisition

[0035] The present invention adopts the color CCD camera to collect images, but the images collected under the condition of low illumination at night and without artificial light source lighting are difficult to recognize. Therefore, artificial light sources are used for lighting, and the auxiliary camera is used for image acquisition. Compared with other light sources, incandescent lamps have good color rendering, which can ensure that the captured images will not produce color deviations and are closer to the real environment, and the image color saturation is better, which is more conducive to subsequent image segmentation and recognition.

[0036] When a single incandescent lamp is u...

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Abstract

The invention provides a night identification method of an apple harvesting robot. The method includes the following steps that: image acquisition is performed under an artificial light source condition; color-based image segmentation is performed through adopting a R-G color difference segmentation method, and binaryzation is performed through adopting an OTSU algorithm; noises in images obtained in the second step are filtered out through filtering out small combination regions; approximate positions of apples in the images are positioned, and regions in original images, where the apples are located, are extracted; highlight light-reflection regions of the surfaces of the apples are extracted; and finally, the high highlight light-reflection regions and the images obtained in the third step are added together and are fused, so that final results can be obtained. With the night identification method of the apple harvesting robot adopted, problems existing in light source selection and layout as well as problems caused by shadows and light reflection in the night identification of the apple harvesting robot can be solved, and the apple harvesting robot can work normally at night.

Description

technical field [0001] The invention relates to the field of image recognition of fruit tree picking robots, in particular to a nighttime recognition method for apple picking robots. Background technique [0002] my country is a large apple producing country, and the labor force used for fruit picking accounts for more than 1 / 3 of the labor force used in the entire apple production process. Using apple picking robots for picking can not only reduce labor costs, but also reduce the damage rate and improve picking efficiency. In order to complete the intensive picking work as soon as possible during the apple ripening period, the fruit picking robot not only needs to be able to work normally during the day but also needs to have the ability to work at night. However, due to insufficient light at night, it is difficult for the vision system of the picking robot to obtain a clear image, making the robot unable to work normally. [0003] In 1997, Sun Ming et al. analyzed the hi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/46
CPCG06V20/20G06V10/60G06V10/462
Inventor 赵德安刘晓洋陈玉贾伟宽
Owner 指南者品牌管理(苏州)有限公司
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