Sequential picking planning method for dense fruits

The invention relates to a dense fruit sequence harvesting planning method, which comprises the following steps of: acquiring an RGB image and a depth image of a fruit area needing to be picked under a long-range view field and a close-range view field in an environment; identifying all fruits in the RGB image by utilizing a target detection algorithm; depth information in the depth image is fused to obtain position coordinates of the fruits in the distant view field and the close view field; traversing position coordinates of the fruits in the distant view field, and determining a picking region and the position coordinates by adopting a region division algorithm based on density parameters; traversing the position coordinates of the picking areas, and determining a picking sequence of the picking areas based on a path planning algorithm; and according to the picking sequence, traversing the position coordinates of the fruits in the close-range view in each picking area, and grabbing the target fruits throug