Method and device for planning trajectory of compliant collection of bunched fruit

A device for planning a trajectory of compliant collection of a bunched fruit, comprising:

• a processing module configured to determine a target spatial point set on a collection path of a to-be-collected bunched fruit, wherein the target spatial point set comprises a start spatial point, an end spatial point, and at least one intermediate spatial point;
• a segmentation module configured to segment, based on the target spatial point set, a reference trajectory for collecting a bunched fruit to obtain a plurality of segments of a segmented trajectory and a reference trajectory segment corresponding to each segment of the segmented trajectory, wherein the reference trajectory is determined based on a plurality of groups of manual demonstration trajectory information of collecting the bunched fruit;
• and
• a generation module configured to perform, based on each segment of the segmented trajectory, imitative learning on the reference trajectory segment corresponding to each segment of the segmented trajectory to determine an optimal learning trajectory corresponding to each segment of the segmented trajectory, and concatenate the optimal learning trajectory corresponding to each segment of the segmented trajectory to generate an optimal collection trajectory of the to-be-collected bunched fruit.