METHODS AND SYSTEMS FOR DETERMINING GROWTH AXIS AND ESTABLISHING PICKING POSTURE FOR ROBOTS OF PHALAENOPSIS ORCHID SEEDLINGS

Abstract

The invention relates to a method and system for determining the growth axis and establishing the gripping posture for a robot of Phalaenopsis orchid seedlings. The system comprises an RGB-D camera (1), a central data processor (3), a robotic arm (2) with a gripping head (2.1), and a robot controller (2.2). The RGB-D camera (1) synchronously acquires 2D color images and 3D depth images of Phalaenopsis orchid seedlings (12). The data processor (3) creates a binary segment mask (5.1), reconstructs a 3D point cloud (6), extracts the 2D skeleton (7) as a structural graph, and determines the geometric distribution direction (8.2). The final growth axis (9) is determined by merging topological information from the 2D skeleton with geometric distribution direction information (8.2) from the 3D point cloud (6.1). Based on this growth axis (9), the system establishes the gripping point, local coordinates and gripping posture (10), (10.1), then transmits the gripping posture (10.1) to the robot controller (2.2) to control the gripper head (2.1) to approach the flower bud (12) in the appropriate direction.