Food sorting method and system and computer readable storage medium

Abstract

The invention provides a food sorting method and system and a computer readable storage medium. The food sorting method comprises the steps that images and depth information of food in a storage areaare acquired; inputting the image into a pre-training machine learning model, wherein the pre-training machine learning model outputs category information, contour information and confidence of food in the image; determining a target food in the image according to a sorting instruction, the depth information, the category information and the confidence coefficient; and grabbing the target food according to the depth information and the contour information of the target food. According to the method, the mechanical arm is guided to grab based on the depth information, the food on the topmost layer is preferentially grabbed from the stacked food, the problem that the food is grabbed disorderly is solved, and orderly grabbing of the stacked food is achieved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a food sorting method, system and computer-readable storage medium. Background technique [0002] With the rise of the wave of artificial intelligence, robotic arms are playing an increasingly important role in various industries. For the robotic arm, grasping is an essential skill for the robotic arm to enter the real world, such as sorting objects in the logistics industry, completing the assembly of parts on the industrial production line, and sorting fried chicken in the fast food industry Wait. In the process of the robotic arm completing the grasping task, the shape of the object to be grasped, the posture of the object to be grasped, and the quality of the object are required. [0003] At present, in the fast food industry, due to the small size and large sales volume of solid food (such as wing center and wing root), different categories of food are often placed...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the technical problem of grabbing food out of order in the prior art, the invention provides a food sorting method, which guides the robotic arm to grab based on the depth information, and grabs the topmost food in the stacked food first, which solves the problem of The problem of grabbing food in disorder has realized the orderly grabbing of stacked food

Images