Modeling method for picking target of fruit bunch picking robot

Abstract

Disclosed is a modeling method for a picking target of a fruit bunch picking robot, which relates to the technical field of general image data processing or generation. The modeling method includes: obtaining an image of a to-be-picked region of a picking robot, and extracting image features of each branch and fruit cluster in the image of the to-be-picked region through a multi-task perception network; determining a to-be-picked fruit cluster based on the image feature of the fruit cluster; inputting the image features of the branch and the fruit cluster into a subordinate decision model to determine a branch connected to the to-be-picked fruit cluster; and extracting key points of image features of the to-be-picked fruit cluster and the branch connected to the to-be-picked fruit cluster, and modeling the to-be-picked fruit cluster and the branch connected to the to-be-picked fruit cluster.

Dependencies are inferred from the claim text.