Method and system for identifying and grabbing waste and old materials in metered storehouse

The invention discloses a method and a system for identifying and grabbing waste and old materials of a metered storehouse. The method comprises the following steps: acquiring three-dimensional point cloud data of the waste and old materials of the metered storehouse from multiple angles; marking and dividing the preprocessed three-dimensional point cloud data into a training set and a test set; based on a PointNet + + machine learning algorithm, pre-determining a basic network model, taking the three-dimensional point cloud data, the real category of the material and the candidate grabbing pose of the clamping jaw as the input of the basic network model, and taking the category information of the material and the optimal grabbing pose of the clamping jaw as the output of the basic network model; training and testing the basic network model by using the training set and the test set to obtain an optimal network model; and obtaining three-dimensional point cloud data including to-be-grabbed materials, inputtin