Target autonomous recognition system and method for picking robot adapting to sudden changes in illumination

Abstract

The invention discloses a picking robot target autonomous recognition method adapted to sudden changes in illuminance, the steps are as follows: S1, calculate the optimum brightness V fit ; S2, the camera collects real-time images; S3, calculates the frame brightness V of the real-time image; S4, calculates the brightness compensation value b of the real-time image; S5, obtains the compensated image; S6, establishes the HSV model; S7, determines the target fruit. And a picking robot target autonomous recognition system adaptable to sudden changes in light intensity, including a fruit and vegetable picking robot, a controller, a camera and a light sensor are installed on the fruit and vegetable picking robot. The hood is equipped with LED lights under the camera or under the claws of the mechanical arm of the fruit and vegetable picking robot. The invention performs supplementary light processing on the image, so as to minimize the influence of light mutation and provide accurate image information for the visual system to recognize the fruit.

Description

technical field [0001] The invention belongs to the technical field of video image processing, and in particular relates to an autonomous target recognition system and method for a picking robot adapting to sudden changes in illuminance. Background technique [0002] In order to improve agricultural productivity, change agricultural production models, and liberate agricultural labor shortages, agricultural robots have emerged as the times require. Fruit and vegetable picking robots are one of the important types of agricultural robots. At present, 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 Accurate identification and positioning of ripe and outdated fruits and vegetables is the key to successful automatic picking. [0003] However, the robotic claw needs to switch between the light and the shade environment when picking, and this sudden change in light has a great impact on the determina...

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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