Coal gangue grabbing method and system based on image recognition

The invention provides a coal gangue classification grabbing method and system based on image recognition, and relates to the technical field of coal gangue sorting. The coal gangue classification grabbing method based on image recognition comprises the following steps that a coal gangue target detection model is constructed and used for recognizing and classifying two targets of coal and coal gangue; a coal gangue grabbing detection model is constructed and used for generating the optimal grabbing posture, recognized by the coal gangue target detection model, of the coal gangue; and a coal gangue grabbing planning system is built and used for controlling the robot to move to the posture position under the robot coordinate system according to the optimal grabbing posture to execute the task of grabbing the recognized coal gangue. Therefore, the method has the beneficial technical effects that the labor cost is reduced, the misjudgment loss is reduced, the environmental pollution is reduced, the treatment cost