Collision-free grabbing method and system of apple picking robot

The invention provides a collision-free grabbing method and system for an apple picking robot, relates to the field of picking robots, and is characterized in that on the basis of a long-range image acquired by a long-range camera, far-end apple tree detection is carried out, a navigation path of the robot is generated, and the robot is guided to move to a picking range; based on close-range images collected by a hand camera, a target apple is accurately recognized and positioned within a picking range through a collision-free grabbing recognition network, a collision-free grabbing posture of a mechanical arm is generated, and obstacle avoidance grabbing of the apple is carried out; wherein the collision-free grabbing posture comprises a grabbing direction and a grabbing path, and the collision-free grabbing recognition network generates a grabbing direction of an obstacle avoidance leaf on the basis of semantic segmentation and performs path planning of a mechanical arm to obtain the grabbing path; according