Chestnut recognition and picking planning method, device and equipment and storage medium

The invention provides a Chinese chestnut recognition and picking planning method and device, equipment and a storage medium, and the method comprises the steps: obtaining a first Chinese chestnut recognition image through a first camera, carrying out the cutting and mask reconstruction of the first Chinese chestnut recognition image according to the small-target and easy-to-shield growth features of Chinese chestnuts, obtaining a second Chinese chestnut recognition image through a second camera, and carrying out the cutting and mask reconstruction of the second Chinese chestnut recognition image. The method comprises the following steps: extracting color components for maturity judgment according to growth characteristics of Chinese chestnuts which are similar to the environment in color and difficult to judge, planning a picking path of a picking machine by utilizing a multi-target path planning algorithm according to the growth characteristics of high growth positions and large quantity of the Chinese ches