Picking device and picking method

Abstract

The present invention discloses a picking device and a picking method. The picking device includes a mechanical arm and a picking unit. The picking unit includes a mounting frame installed at the movable end of the mechanical arm, a pushing assembly fixed on the side wall of the mounting frame, a picking claw fixed on the end of the mounting frame away from the mechanical arm for picking a target object, and a camera fixed on the mounting frame; the pushing assembly includes a radial driving mechanism and a baffle fixed on the power output end of the radial driving mechanism for pushing away obstructions. The picking method includes S1, collecting images; S2, segmenting the target object and the obstruction; S3, judging the number of obstructions and the coverage angle; S4, executing picking. The present invention can accurately pick the target object without causing damage to surrounding obstructions such as branches and leaves, and is suitable for the cultivation of honeysuckle and for the automated picking of honeysuckle.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural production devices, and relates to a picking device and a picking method, specifically a picking device and a picking method that can accurately pick target objects without causing damage to surrounding obstructions such as branches and leaves. Background Art

[0002] Honeysuckle is widely used in the medical field because of its medicinal effects such as clearing heat and detoxifying. However, honeysuckle grows on trees and is not easy to pick. In order to improve the picking efficiency, people have gradually begun to try to use automated picking equipment to replace manpower in the picking process of honeysuckle.

[0003] At present, the automated picking of honeysuckle is usually carried out by picking hands, and the existing picking hands often have the problem of accidentally damaging the honeysuckle seedlings and leaves during the picking process. Especially when the seedlings and leaves are close to the flowers, the picking hands are often difficult to avoid them, and they are easily picked together with the mature flowers, thereby damaging the honeysuckle trees and affecting the subsequent yield. Summary of the invention

[0004] In order to solve the above-mentioned deficiencies in the prior art, the present invention aims to provide a picking device and a picking method, so as to achieve the purpose of accurately picking the target object without damaging surrounding obstructions such as branches and leaves.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A picking device, comprising a mechanical arm and a picking unit, wherein the picking unit comprises a mounting frame mounted on a movable end of the mechanical arm, a pushing assembly fixed on a side wall of the mounting frame, a picking claw fixed on an end of the mounting frame away from the mechanical arm for picking a target object, and a camera fixed on the mounting frame;

[0007] The pushing component comprises a radial driving mechanism and a baffle fixed on the power output end of the radial driving mechanism and used for pushing away the shielding object.

[0008] As a limitation of the present invention, the pushing assembly further comprises an axial driving mechanism fixedly mounted on the mounting frame, and the radial driving mechanism is fixedly mounted on the power output end of the axial driving mechanism.

[0009] As a further limitation of the present invention, a plurality of pushing assemblies are disposed around the side wall of the mounting frame.

[0010] As another limitation of the present invention, a telescopic mechanism is fixedly arranged between the picking claw and the mounting frame, and the picking claw is fixedly arranged on the power output end of the telescopic mechanism.

[0011] As a further limitation of the present invention, an air jet hole is provided on the telescopic mechanism, and an air pump with an air outlet end connected to the air jet hole is fixedly provided in the mounting frame.

[0012] As a further limitation of the present invention, the camera is an RGB-D camera.

[0013] The present invention also discloses a picking method, which specifically comprises the following steps:

[0014] S1. Image acquisition: Use a camera to capture the location of the target and generate an image;

[0015] S2, target and occluder segmentation: identify the target and occluder through the algorithm and segment their contours;

[0016] S3, determining the number of obstructions and coverage angles: using an algorithm to identify the number of obstructions and the coverage angles of the obstructions to the target object;

[0017] S4, executing picking: executing corresponding picking methods to perform picking according to the acquired information of the target object and the obstruction.

[0018] As a limitation of the present invention, the coverage angle in step S3 is determined as follows:

[0019] First, establish a rectangular coordinate system with the center point of the target object as the origin, then determine the two limit points of the outline of the occluder on the X-axis of the coordinate system, calculate the absolute distance between the two limit points and the origin respectively, and make the first auxiliary circle with the maximum distance value as the radius and the origin of the coordinate system as the origin. The angle between the two limit points and the coordinate origin is the coverage range angle.

[0020] As a further limitation of the present invention, the picking method described in step S4 includes:

[0021] (1) Unobstructed picking: If the number of obstructions is zero, the picking device directly performs the picking action;

[0022] (2) Single-blocking picking: If the number of blocking objects is one, the picking device performs a single-blocking picking action, specifically: determining the blocking center line of the blocking object through the coordinate system and the positions of the two extreme points, as well as determining the baffle to be used and the distance the baffle needs to extend, and rotating the picking unit so that the center line of the baffle that is to push away the blocking object is aligned with the center line of the blocking object, and then picking can be performed;

[0023] (3) Multi-obstruction picking: If the number of obstructions is greater than one, the picking device performs a multi-obstruction picking action. The multi-obstruction picking is performed on the basis of the single-obstruction picking. Specifically, each obstruction is regarded as a single obstruction and picked in accordance with the single-obstruction picking method. However, the picking unit does not rotate during the multi-obstruction picking process.

[0024] As a further limitation of the present invention, picking method (2) also includes the following picking methods:

[0025] (1) Small-range single-blocking picking: If the angle of the range covered by the obstruction is not greater than 90°, the picking device performs small-range single-blocking picking, specifically: the obstruction center line of the obstruction is determined by the coordinate system and the positions of the two extreme points, and a second auxiliary circle is made based on the origin of the coordinate system and the boundary enclosed by the baffle. The distance that the baffle needs to extend can be calculated by the first auxiliary circle, the second auxiliary circle and the obstruction center line, and the baffle to be extended can be judged and selected by the position of the obstruction center line;

[0026] (2) Medium-range single-blocking picking: If the angle of the range covered by the obstruction is greater than 90° but not more than 150°, the picking device performs medium-range single-blocking picking, specifically: the obstruction center line of the obstruction is determined by the coordinate system and the positions of the two extreme points, and the first auxiliary line and the second auxiliary line passing through the coordinate origin are made with the obstruction center line as the axis of symmetry, and on the basis of the origin of the coordinate system, the second auxiliary circle is made with the boundary enclosed by the baffle, and the distance to be extended of the baffle can be calculated by the first auxiliary line, the second auxiliary line, the first auxiliary circle and the second auxiliary circle, and the baffle to be extended can be judged and selected by the positions of the first auxiliary line and the second auxiliary line;

[0027] (3) Large-scale single-blocking picking: If the angle of the range covered by the obstruction is greater than 150° but not more than 180°, the picking device performs large-scale single-blocking picking, specifically: the obstruction center line of the obstruction is determined by the coordinate system and the positions of the two extreme points, and the third and fourth auxiliary lines passing through the coordinate origin are made with this obstruction center line as the axis of symmetry, and based on the origin of the coordinate system, a second auxiliary circle is made with the boundary enclosed by the baffle. The distance that the baffle needs to be extended can be calculated by the third auxiliary line, the fourth auxiliary line, the first auxiliary circle and the second auxiliary circle, and the baffle to be extended can be judged and selected by the positions of the obstruction center line, the third auxiliary line and the fourth auxiliary line.

[0028] Due to the adoption of the above technical solution, the present invention has the following beneficial effects compared with the prior art:

[0029] (1) The present invention designs a picking device capable of pushing away obstructions. Through a pushing assembly arranged on a mounting frame, the obstructions can be pushed away from the range of a target object, thereby preventing the obstructions from being picked off during the picking process.

[0030] (2) The axial drive mechanism and radial drive mechanism in the pushing assembly of the present invention can drive the baffle to move in different directions, and can push away the obstruction more accurately.

[0031] (3) The present invention is provided with an air jet mechanism, which can blow away the obstruction when the baffle is retracted, thereby preventing the obstruction from being caught in the picking device and causing damage such as tearing off.

[0032] (4) In the present invention, a telescopic mechanism is provided between the picking claw and the mounting frame, so that the picking claw can enter the position of the target object through the gap opened by the pushing component for picking, thereby avoiding the risk of the entire picking mechanism reaching down to pick and possibly causing damage to the plant.

[0033] (5) The present invention also designs a picking method that can accurately control the picking of the picking device. By analyzing the target object position image provided by the camera through an algorithm, a picking method can be selected in a targeted manner, thereby achieving the effect of accurately picking the target object without causing damage to the surrounding obstructions.

[0034] In summary, the present invention can accurately pick the target object without causing damage to surrounding obstructions such as branches and leaves, and is suitable for the cultivation of honeysuckle and for the automated picking of honeysuckle. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 This is a schematic diagram of the structure of a picking unit in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the internal structure of an embodiment of the present invention (without a baffle);

[0038] Figure 3 It is a schematic diagram of the execution principle of the unobstructed picking method in an embodiment of the present invention;

[0039] Figure 4 It is a schematic diagram of the execution principle of a small-scale single-blocking picking method in an embodiment of the present invention;

[0040] Figure 5 It is a schematic diagram of the execution principle of the medium-range single-blocking picking method in an embodiment of the present invention;

[0041] Figure 6 It is a schematic diagram of the execution principle of a large-scale single-blocking picking method in an embodiment of the present invention;

[0042] In the figure: 1. mounting frame; 2. pushing assembly; 3. telescopic mechanism; 4. air jet hole; 5. picking claw; 6. camera;

[0043] 21. Axial driving mechanism; 22. Radial driving mechanism; 23. Baffle. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and understand the present invention, and are not used to limit the present invention.

[0045] A first embodiment of the present invention discloses a picking device, including a mechanical arm and a picking unit, wherein the mechanical arm is an existing mechanical arm with a movable end capable of rotating.

[0046] like Figure 1 and Figure 2 As shown, the picking unit includes a mounting frame 1 installed at the movable end of the robotic arm, a pushing assembly 2 fixed on the mounting frame 1, a telescopic mechanism 3 fixed at the end of the mounting frame 1 away from the robotic arm, an air injection hole 4 opened on the side wall of the telescopic mechanism 3, an air pump fixed at the air outlet end in the mounting frame and connected to the air injection hole 4, a picking claw 5 fixed at the power output end of the telescopic mechanism 3 and a camera 6 fixed at the end of the mounting frame 1 close to the robotic arm.

[0047] The mounting frame 1 is a hollow cylindrical structure, and the hollow part of the mounting frame 1 is used to pass the connection lines of various parts.

[0048] There are six push assemblies 2, which are arranged around the side wall of the mounting frame 1, and the push assemblies 2 are closely matched with each other; the push assemblies 2 include an axial drive mechanism 21 installed on the mounting frame 1, a radial drive mechanism 22 installed at the power output end of the axial drive mechanism 21, and a baffle 23 installed at the power output end of the radial drive mechanism 22, where the axial and radial directions are both referenced to the mounting frame 1. In actual use, the axial drive mechanism 21 can drive the baffle 23 to move in the axial direction, and the radial drive mechanism 22 can drive the baffle 23 to move close to and away from the mounting frame 1.

[0049] It should be added here that the six baffles 23 fit tightly together, and the shape of the baffles 23 is adapted to the shape of the mounting frame 1, so that the boundary enclosed by the six baffles 23 can wrap all the other components of the picking unit except the picking claws 5 and the camera 6, and at the same time, the diameter of the circle enclosed by one end of the six baffles 23 close to the picking claw 5 is the same as the diameter of the picking range of the picking claw 5.

[0050] There are six groups of jet holes 4, which are respectively located at the positions where every two pushing components 2 are connected. When the baffle 23 is recovered, the air pump starts to work, and gas is ejected outward from the jet holes 4 to blow out the obstructions between the baffles 23.

[0051] In this embodiment, the axial drive mechanism 21, the radial drive mechanism 22 and the telescopic mechanism 3 are all existing electric push rods, the picking claw 5 is an existing motor-driven flexible mechanical claw, and the camera 6 is an RGB-D camera.

[0052] When using this embodiment, the picking unit is first moved to the top of the target object by the robotic arm, and then the camera 6 takes a picture of the target object position. After the picture is analyzed by an algorithm to distinguish the target object and the obstruction, the baffle 23 is first moved to push the obstruction away, and then the picking claw 5 moves down to pick the target object under the drive of the telescopic mechanism 3. After the picking is completed, the picking claw 5 is retracted, and then the jet mechanism is started to blow the obstruction away from the recovery range of the baffle 23, and at the same time the baffle 23 starts to recover to complete the picking.

[0053] A second embodiment of the present invention discloses a picking method, which is implemented on the basis of the first embodiment and specifically comprises the following steps: S1, capturing an image, S2, segmenting a target object from an obstruction, S3, determining the number of obstructions and the coverage angle, and S4, performing picking;

[0054] Specifically:

[0055] S1. Image acquisition: Use a camera to capture the location of the target and generate an image;

[0056] S2, target and occluder segmentation: identify the target and occluder through the algorithm and segment their contours;

[0057] S3, determine the number of obstructions and coverage angle: identify the number of obstructions and the range and angle of obstruction to the target object picking through an algorithm;

[0058] S4, executing picking: executing corresponding picking methods to perform picking according to the acquired information of the target object and the obstruction.

[0059] S1. Image acquisition

[0060] The picking unit is moved to the top of the target object by the robotic arm, and then the camera 6 takes a picture of the target object position to complete the acquisition of color image and depth information data of the target object's surrounding environment.

[0061] S2. Target and occluder segmentation

[0062] The target object area and the occlusion area are located and each area is segmented through the target object and occlusion image recognition algorithm and the image segmentation algorithm, wherein the image recognition algorithm and the image segmentation algorithm are both based on the yolov8 deep learning network.

[0063] S3. Determine the number of obstructions and coverage angle

[0064] After completing the region segmentation, the number of occluders and the coverage angle of each occluder are identified through the existing algorithm.

[0065] The method for determining the coverage angle is as follows: first, an O-XY rectangular coordinate system is established on a plane parallel to the end of the picking claw 5 with the center point of the target as the origin, and then the contour line of the obstruction P={(x i , y i )| i=1,....,n} Two limit points A and B on the X-axis of the coordinate system, the limit points are the minimum and maximum points of the X-axis coordinates, the absolute distances between the two limit points and the origin are calculated respectively, and an auxiliary circle R1 is made with the maximum distance value as the radius and the origin of the coordinate system as the origin. Here, point A is defined as the point with the farthest absolute distance from the origin, OA and OB are connected, OB is extended to make it intersect with the auxiliary circle R1 and the intersection point C(x j , y j ), intercept the arc △S on circle R1 through points A and C, and obtain the coordinates of the center point E(x z1 , y z1 ) and the angle θ between the straight lines OA and OC, where the angle θ is the coverage angle of the obstruction.

[0066] S4. Execute picking

[0067] The corresponding picking method is selected according to the number of obstructions and the coverage angle. In this embodiment, a total of five picking methods are disclosed, as follows:

[0068] like Figure 3 As shown, first, in the O-XY rectangular coordinate system, with O as the origin and the end of the six baffles 23 close to the picking claw 5 as the boundary, a circle R2 is established, and starting from the Y axis, the space corresponding to each baffle 23 is divided into G1 baffle space, G2 baffle space, G3 baffle space, G4 baffle space, G5 baffle space and G6 baffle space, and the angle occupied by each baffle space is 60°.

[0069] (1) Unobstructed picking: When the number of obstructions is zero, this picking method is used. Specifically, the robotic arm drives the picking unit to move to the target object, and then the picking claw 5 moves downward under the drive of the telescopic mechanism 3 to pick the target object. After the picking is completed, the picking claw 5 is retracted to complete the picking.

[0070] (2) Small-range single-block picking: If the number of blocks is one and the coverage angle is not greater than 90°, the picking device performs small-range single-block picking. The specific method is as follows:

[0071] like Figure 4As shown, the connecting line OE is obtained by connecting the origin O of the coordinate system and the midpoint E of △S, and the intersection point P of OE with the outline of the obstruction and the intersection point D with the circle R2 are obtained. The line segment DP is a distance that the baffle 23 needs to extend, and the length of the line segment EP is the two distances that the baffle 23 needs to extend. Then, the image information collected by the camera 6 is used to analyze the baffle space where OE is located, and the baffle 23 corresponding to the baffle space is the baffle 23 to be extended. Then, the robotic arm drives the picking unit to rotate so that the center line of the baffle 23 to be extended coincides with OE, and picking is performed. During the picking process, the corresponding baffle 23 first extends a distance, and then the baffle 23 moves downward under the drive of the axial drive group mechanism 21, so that the outer edge of the baffle 23 is close to the obstruction and the end of the baffle 23 exceeds the upper edge of the obstruction by 10 mm, and then the corresponding baffle 23 extends two distances to push the obstruction to the specified position.

[0072] (3) Medium-range single-block picking: If the number of blocks is one and the coverage angle is greater than 90° but not more than 150°, the picking device performs medium-range single-block picking, and the specific method is as follows:

[0073] like Figure 5 As shown, the connecting line OE is obtained by connecting the origin O of the coordinate system and the midpoint E of △S, and the line segments OE1 and OE2 are drawn with OE as the symmetry line, and the intersection points P1 and P2 of the line segments OE1 and OE2 with the outline of the obstruction and the intersection points D1 and D2 with the original R2 are obtained. The angle between the line segments OE1 and OE2 is 60°. The baffle space where the line segments OE1 and OE2 are located is analyzed through the image information collected by the camera 6. The baffle 23 corresponding to the baffle space is the baffle 23 to be extended. The lengths of the line segments D1 P1 and D2 P2 are the distances that the baffle 23 at the corresponding positions is to be extended. The lengths of the line segments E1 P1 and E2 P2 are the distances that the baffle 23 at the corresponding positions is to be extended. The length of P2 is the two distances that the baffle 23 at the corresponding position needs to extend. Then the robotic arm drives the picking unit to rotate so that the center lines of the two baffles 23 to be extended coincide with the line segments OE1 and OE2 respectively, and picking is performed. The baffle extension method is the same as small-range single-blocking picking.

[0074] (4) Large-scale single-block picking: If the number of blocks is one and the coverage angle is greater than 150° but not more than 180°, the picking device performs large-scale single-block picking, and the specific method is as follows:

[0075] like Figure 6As shown, the coordinate system origin O and the midpoint E of △S are connected to obtain the connecting line OE, and line segments OE1 and OE2 are drawn with OE as the symmetry line to obtain line segments OE1 and OE2. The intersection points P, P1 and P2 of line segments OE, line segments OE1 and line segments OE2 with the outline of the obstruction and the intersection points D, D1 and D2 with the original R2, and the angle between line segments OE1 and line segments OE2 is 120°. The baffle space where line segments OE, line segments OE1 and line segments OE2 are located is analyzed through the image information collected by camera 6. The baffle 23 corresponding to the baffle space is the baffle 23 to be extended. The lengths of line segments OD, line segments OD1 and line segments OD2 are the distances that the baffle 23 at the corresponding positions is to be extended. Line segments EP, line segments E1 P1 and line segments E2 The length of P2 is the two-segment distance that the baffle 23 at the corresponding position needs to extend. Then the robotic arm drives the picking unit to rotate so that the center lines of the three baffles 23 to be extended coincide with the line segments OE, OE1 and OE2 respectively, and picking is performed. The baffle extension method is the same as small-range single-blocking picking.

[0076] (5) Multi-occlusion picking: If the number of obstructions is greater than one, the picking device performs multi-occlusion picking, and the specific method is as follows:

[0077] When performing multi-obstruction picking, it is necessary to calculate the coverage angle of each obstruction separately and calculate the extension distance of the baffle 23 according to the corresponding single-obstruction picking method. After the distance calculation is completed, the baffles 23 within the coverage range of the obstruction are directly extended, and the picking unit performs picking.

[0078] It should be added here that: when the coverage angle of a single obstruction is greater than 180°, the single obstruction is divided into two obstructions with 180° as the dividing line and the multi-obstruction picking method is selected for picking.

[0079] In addition, this embodiment only describes the picking method performed when the coverage angle of the obstruction is within the range of 0°-180°. When the coverage angle of the obstruction is within the range of 180°-360°, 360° is regarded as the 0° reference point, and the method and picking method of selecting the picking method are the same as those within the range of 0°-180°.

[0080] It should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A picking device, characterized in that: It includes a mechanical arm and a picking unit, and the picking unit includes a mounting frame installed at the movable end of the mechanical arm, a pushing assembly fixed on the side wall of the mounting frame, a picking claw fixed at the end of the mounting frame away from the mechanical arm for picking the target object, and a camera fixed on the mounting frame; the pushing assembly includes a radial driving mechanism and a baffle fixed on the power output end of the radial driving mechanism for opening the obstruction; the pushing assembly also includes an axial driving mechanism fixed on the mounting frame, and the radial driving mechanism is fixed on the power output end of the axial driving mechanism; a telescopic mechanism is also fixed between the picking claw and the mounting frame, and the picking claw is fixed on the power output end of the telescopic mechanism; an air jet hole is opened on the telescopic mechanism, and an air pump with an air outlet end connected to the air jet hole is fixed in the mounting frame.

2. A picking device according to claim 1, characterized in that: A plurality of pushing components are arranged around the side wall of the mounting frame.

3. A picking device according to claim 2, characterized in that: The camera is an RGB-D camera.

4. A picking method, characterized in that: The method is based on the picking device according to claim 1, and specifically comprises the following steps: S1. Image acquisition: Use a camera to capture the location of the target and generate an image; S2, target and occluder segmentation: identify the target and occluder through the algorithm and segment their contours; S3, determining the number of obstructions and coverage angles: using an algorithm to identify the number of obstructions and the coverage angles of the obstructions to the target object; S4, executing picking: executing corresponding picking methods to perform picking according to the acquired information of the target object and the obstruction.

5. A picking method according to claim 4, characterized in that: The coverage angle in step S3 is determined as follows: first, a rectangular coordinate system is established with the center point of the target object as the origin, and then the two limit points of the outline of the obstruction on the X-axis of the coordinate system are determined, and the absolute distances between the two limit points and the origin are calculated respectively. A first auxiliary circle is made with the maximum distance value as the radius and the origin of the coordinate system as the center point. The angle between the two limit points and the coordinate origin is the coverage angle.

6. A picking method according to claim 5, characterized in that: The picking method described in step S4 includes: (1) unobstructed picking: if the number of obstructions is zero, the picking device directly performs the picking action; (2) single-obstruction picking: if the number of obstructions is one, the picking device performs a single-obstruction picking action, specifically: through the coordinate system and the positions of the two extreme points, the obstruction center line of the obstruction, as well as the baffle to be used and the distance the baffle needs to extend are determined, and the picking unit is rotated so that the center line of the baffle to push the obstruction is aligned with the center line of the obstruction, and picking can be performed; (3) multi-obstruction picking: if the number of obstructions is greater than one, the picking device performs a multi-obstruction picking action, and the multi-obstruction picking is performed on the basis of single-obstruction picking, specifically: each obstruction is regarded as a single obstruction and picked according to the single-obstruction picking method, but the picking unit does not rotate during the multi-obstruction picking process.

7. A picking method according to claim 6, characterized in that: Picking method (2) also includes the following picking methods: (1) Small-range single-blocking picking: If the angle of the range covered by the blocking object is not greater than 90°, the picking device performs small-range single-blocking picking, specifically: through the coordinate system and the positions of the two extreme points, the blocking center line of the blocking object is determined, and on the basis of the origin of the coordinate system, the boundary enclosed by the baffle is used as the second auxiliary circle, and the distance to be extended by the baffle can be calculated through the first auxiliary circle, the second auxiliary circle and the blocking center line, and the baffle to be extended can be judged and selected through the position of the blocking center line; (2) Medium-range single-blocking picking: If the angle of the range covered by the obstruction is greater than 90° but not more than 150°, the picking device performs medium-range single-obstruction picking, specifically: through the coordinate system and the positions of the two extreme points, the obstruction center line of the obstruction is determined, and the first auxiliary line and the second auxiliary line passing through the coordinate origin are made with this obstruction center line as the symmetry axis, and on the basis of the origin of the coordinate system, the boundary enclosed by the baffle is made into a second auxiliary circle, and the distance that the baffle is to be extended can be calculated through the first auxiliary line, the second auxiliary line, the first auxiliary circle and the second auxiliary circle, and the baffle to be extended can be judged and selected through the positions of the first auxiliary line and the second auxiliary line; (3) Large-range single-obstruction picking: If the angle of the range covered by the obstruction is greater than 150° but not more than 180°, the picking device performs large-range single-obstruction picking, specifically: the obstruction center line of the obstruction is determined through the coordinate system and the positions of the two extreme points, and the third auxiliary line and the fourth auxiliary line are made through the coordinate origin with this obstruction center line as the axis of symmetry, and on the basis of the origin of the coordinate system, a second auxiliary circle is made with the boundary enclosed by the baffle. The distance that the baffle needs to be extended can be calculated through the third auxiliary line, the fourth auxiliary line, the first auxiliary circle and the second auxiliary circle, and the baffle to be extended can be judged and selected through the positions of the obstruction center line, the third auxiliary line and the fourth auxiliary line.

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