According to the automatic grain sampling point generation method and device based on
computer vision, automatic identification and three-dimensional positioning of a vehicle-mounted grain surface are achieved through a double-
branch deep neural network fusing
stereo matching and semantic segmentation, sampling points are generated randomly according to the automatic identification and the three-dimensional positioning, the sampling points are transmitted to sampling equipment, and full
automation of grain sampling in and out of a warehouse is achieved. The method comprises the following steps: firstly, calibrating a binocular camera to obtain internal and external parameters, collecting a sampling vehicle image, then training a model by adopting a method of combining domain
adaptive learning and semi-
supervised learning, then obtaining a vehicle-mounted grain surface and three-dimensional coordinates thereof by utilizing the trained model, and randomly sampling; and mapping the coordinates of the sampling points from a camera coordinate
system to a sampler coordinate
system, and sending the coordinates to sampling equipment to finally complete automatic sampling. According to the device,
deep learning and
computer vision technologies are combined, automatic generation of grain in-out warehouse sampling points is achieved, grain depot management
automation and sampling efficiency can be improved, and grain depot management
informatization and intelligent
technology development is further promoted.