Article grabbing method based on mixed reality and mixed reality equipment

The invention is suitable for the technical field of intelligent manufacturing, and provides an article grabbing method based on mixed reality and mixed reality device.The method comprises the steps that the mixed reality device obtains the position vector and the direction vector of the head of a user, and the head position vector and the direction vector are used for indicating the end point and the direction of a virtual head ray; the virtual head ray is a virtual ray which is rendered by a mixed reality technology and is emitted outwards from the head of the user; the robot obtains a scene image, wherein the scene image comprises an RGB image and a depth image of a scene; the mixed reality device determines a target object according to the scene image and the virtual head ray; and the mixed reality equipment controls the robot to grab the target object. According to the article grabbing method based on the mixed reality, the scene perceived by the robot is displayed to the user through the mixed reality e