Robot sorting method adopting instance segmentation and system thereof

The invention relates to an out-of-order sorting technology of industrial robots, in particular to a robot sorting method adopting instance segmentation and a system thereof. The method comprises the steps of collecting picture information through a sensor; fusing a grey-scale map and a depth map of the collected picture information to form a mixed picture; establishing a training model, and taking data of the mixed graph as input data of the training model; and finally, the integrity of the target is segmented, the robot grabbing sequence is carried out according to the integrity of the target, and the integrity of the target refers to the proportion value of the area of the exposed part of the target to the area of the whole target. According to the method, the depth map and the gray map are mixed, instance segmentation is carried out on objects stacked out of order, then a model is established to determine the exposed integrity of the objects so as to carry out pose estimation, and then the grabbing sequen