Autonomous picking robot target identification system adapting to light intensity change and method thereof

Abstract

The invention discloses an autonomous picking robot target identification system adapting to light intensity change and a method thereof. The method comprises steps that S1, fittest brightness Vfit is calculated; S2, a real-time image is acquired by a camera; S3, frame brightness V of the real-time image is calculated; S4, a brightness compensation value of the real-time image is calculated; S5, a compensation image is acquired; S6, a HSV model is established; and S7, a target fruit is determined. The autonomous picking robot target identification system adapting to light intensity change comprises a fruit and vegetable picking robot, wherein the fruit and vegetable picking robot is equipped with a controller, a camera and a light intensity sensor, an upper end surface, a left end surface and a right end surface of the camera are respectively equipped with a telescoping shielding cover, and an LED illumination lamp is mounted below the camera or below a paw of an arm of the fruit and vegetable picking robot. The method and the system are advantaged in that light supplement processing on images is carried out, influence of light intensity change is reduced to a lowest degree, and the accurate image information is provided for a visual system for fruit identification.

Description

technical field [0001] The invention belongs to the technical field of video image processing, and in particular relates to a picking robot target autonomous identification system and method thereof adapting to sudden changes in illumination. Background technique [0002] In order to improve agricultural productivity, change the mode of agricultural production, and liberate the shortage of agricultural labor, agricultural robots came into being. Fruit and vegetable picking robots are one of the important types of agricultural robots, and many countries have established research projects. The vision system is an important part of the fruit and vegetable picking robot. Accurate identification and positioning of mature and outdated is the key to the successful realization of automatic picking. [0003] However, the manipulator claws need to switch between light and shade when picking, and this sudden change in light has a great impact on the determination of the target, so that...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims to solve the technical problem that the existing fruit and vegetable picking robot is difficult to identify and grasp the target under the condition of light mutation, so as to provide an adaptation that can reduce the impact of light mutation on the target recognition of the fruit and vegetable picking robot. Automatic Target Recognition System and Method for Fruit and Vegetable Picking Robot with Sudden Illumination

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