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Intelligent robot color sensor based chrominance analysis method, device and system

A color sensor, intelligent robot technology, applied in image analysis, instruments, image data processing, etc., can solve problems such as difficulty in distinguishing similar colors, inability to recognize more colors, and inability to achieve good results at the same time

Inactive Publication Date: 2015-05-13
SHANGHAI XPARTNER ROBOTICS +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The purpose of the present invention is to propose a chromaticity analysis method, device and system based on an intelligent robot color sensor, which can distinguish and track the lines of various colors on the field, can greatly improve the resolution of the sensor for subtle colors, and solve the problem of traditional photoelectric integration. The ground grayscale sensor cannot recognize more colors, it is difficult to distinguish similar colors, and it cannot achieve good results at the same time when identifying whether the dark color is the main color or the light color is the main color. color needs

Method used

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  • Intelligent robot color sensor based chrominance analysis method, device and system

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Embodiment 1

[0065] figure 1 It is a flowchart of a chromaticity analysis method based on the color sensor 4 of an intelligent robot provided in the specific embodiment of the present invention. Such as figure 1 As shown, a kind of chromaticity analysis method based on intelligent robot color sensor 4 of the present invention comprises:

[0066] Reading the original measurement data of the standard three primary colors acquired by the color sensor 4;

[0067] According to the original measurement data, use the three primary color standard color cards to calibrate to obtain a conversion matrix;

[0068] According to the conversion matrix, the original measurement data of the three primary colors acquired by the color sensor 4 are transformed into the data of the standard RGB color space and into the CIE XYZ tristimulus value color space for chromaticity analysis and comparison.

[0069] This technical solution adopts the color sensor 4 of the three primary color filters. Through the chro...

Embodiment 2

[0086] The device embodiment and the method embodiment described in the present invention belong to the same technical concept, and for the content not described in detail in the device embodiment, please refer to the method embodiment.

[0087] figure 2 It is a structural schematic diagram of a chromaticity analysis device based on an intelligent robot color sensor 4 provided by a specific embodiment of the present invention. Such as figure 2 As shown, a kind of chromaticity analysis device based on intelligent robot color sensor 4 of the present invention comprises:

[0088] The color component reading unit 1 is used to read the original measurement data of the standard three primary colors acquired by the color sensor 4;

[0089] A color component calibration unit 2, configured to perform calibration using the three primary color standard color cards according to the original measurement data to obtain a conversion matrix;

[0090] The color space conversion unit 3 is ...

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Abstract

The invention relates to an intelligent robot color sensor based chrominance analysis method, device and system. The intelligent robot color sensor based chrominance analysis method comprises the steps of reading original measurement data of standard three-primary colors obtained a color sensor, utilizing a three-primary color standard color card to perform calibration according to the original measurement data so as to obtain a transformation matrix, converting the original measurement data of the three-primary colors obtained the color sensor into data of a standard RGB color space and into a CIE XYZ tri-stimulus value color space and further performing chrominance comparison analysis. By means of the chrominance analysis method, the color category recognition and color accuracy performance are improved greatly, lines of various colors on a tracing site can be distinguished, the minor color resolution ratio can be greatly improved, the problem that a traditional photoelectric integral type ground gray sensor cannot recognize more colors and difficultly distinguishes similar colors is solved so as to meet the demand for more colors in line patrol application of an intelligent robot.

Description

technical field [0001] The invention relates to the technical field of intelligent line patrol robots, in particular to a chromaticity analysis method, device and system based on an intelligent robot color sensor. Background technique [0002] At present, in the application of intelligent robot line inspection, the ground grayscale sensor is widely used to distinguish the black and white lines on the field. The principle is mainly to use the method of photoelectric integration, which belongs to the photometry method. At present, most ground grayscale sensors can only distinguish a few (3-5) colors, but cannot distinguish very similar colors such as dark green and light green. [0003] In order to be able to recognize more colors, make full use of site resources, and increase the flexibility of line inspection, a high-resolution, low-cost, simple and practical color sensor is urgently needed to complete more complex line inspection tasks. Contents of the invention [0004]...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T7/40
Inventor 庞作伟鲁春阳
Owner SHANGHAI XPARTNER ROBOTICS
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