Dual-arm harvesting robot system and control method thereof

A dual-arm harvesting robot system, comprising:

• a robot body, a collection device, a mobile device and a robot control device;
• wherein
• the robot body is mounted on the mobile device via a rotating and lifting waist-hip joint, and the collection device is provided on the mobile device;
• the mobile device is configured to carry the robot body and the collection device to move;
• a multi-degree-of-freedom mechanical right arm and a multi-degree-of-freedom mechanical left arm are provided on two sides of the robot body, a right-arm-end harvesting gripper is provided at a distal end of the multi-degree-of-freedom mechanical right arm, and a left-arm-end harvesting gripper is provided at a distal end of the multi-degree-of-freedom mechanical left arm;
• an image acquisition device is provided on a top of the robot body, a LiDAR device is provided on the mobile device, and both the image acquisition device and the LiDAR device are in data communication with the robot control device;
• and
• the robot control device is configured to control operations of the rotating and lifting waist-hip joint, the multi-degree-of-freedom mechanical right arm, the multi-degree-of-freedom mechanical left arm, the right-arm-end harvesting gripper, the left-arm-end harvesting gripper and the mobile device.