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

A picking robot and recognition method technology, applied in the field of picking robot target autonomous recognition system, can solve the problems of difficult target, recognition and grasping, etc., to achieve the effect of reducing possibility, accurate recognition and positioning, and increasing detection range

Active Publication Date: 2017-12-19
HENAN INST OF SCI & TECH
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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

Method used

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

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Embodiment Construction

[0036] An autonomous target recognition system for picking robots adapting to sudden changes in illuminance, including a fruit and vegetable picking robot. A controller, a camera and an illuminance sensor are installed on the fruit and vegetable picking robot, and a telescopic shading is installed on the upper end face, left end face and right end face of the camera respectively. hood, such as image 3 As shown, the hood includes an air duct 1, a solenoid valve 2, an airtight chamber 3 and a shading sheet 4, the air inlet of the airtight chamber 3 is communicated with the air duct 1, and the air duct 1 is connected to the external air source through the solenoid valve 2, The light shielding sheet 4 is installed in the airtight chamber 3 through the piston and slides in the airtight chamber 3, and the solenoid valve is connected with the output end of the controller. The function of installing the hood is to increase the adjustable lighting range of the application scene.

[0...

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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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G06K9/00G06K9/20
CPCG05B13/042G06V20/10G06V10/141G06V20/68
Inventor 蔡磊许睿刘艳昌孙乾坤余周赵立马鹏博
Owner HENAN INST OF SCI & TECH
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