Method for identifying robot pouring regions based on hierarchical processing and connectivity maximization and system thereof

Abstract

An optimized method for identifying robot pouring regions based on hierarchical processing and connectivity maximization and a system thereof, wherein the optimized method includes: rough identification stage: identifying and positioning, according to working characteristics of mobile robot, target container through vision module when a distance from target region is relatively far, and generating information collection position of target container required for fine identification according to the positioning; fine identification stage: obtaining, by mobile robot, information of target container and source container, and generating corresponding connectable domains, then identifying and optimizing robot pouring region by using connectivity maximization method. It solves problems of autonomous identification of pouring region of the mobile robot, can be applied to most target containers and source containers, and enhances the generalization ability of robot pouring manipulation skills.