Method for detecting stipe picking position of clustered oyster mushrooms

Abstract

The invention discloses a method for detecting a stipe picking position of clustered oyster mushrooms, which comprises the following steps of: oppositely placing mushroom outlets of left and right rows of oyster mushroom culture bags on the ground, and performing high-angle shooting through a depth camera to obtain an RGB (Red, Green, Blue) color image and a depth image of a shot area; inputting the RGB color image into the YOLOv5 model, and outputting a rectangular bounding box to respectively surround the whole cluster of oyster mushrooms and the whole cluster of oyster mushroom stipes; processing the depth image matrix, and determining the growth direction of the oyster mushroom; for the whole cluster of oyster mushroom stipes surrounded by the rectangular boundary frame, the stipe picking position is the geometric center of the rectangular boundary frame; respectively calculating two-dimensional coordinates of stipe picking positions for the whole cluster of oyster mushrooms surrounded by the rectangular bounding box according to the growth direction of the oyster mushrooms; and substituting the depth image matrix to obtain a three-dimensional coordinate of the picking position of the whole cluster of oyster mushroom stipes. The method is not influenced by shielding of the stipes, the detection method for the stipes is good in robustness and high in accuracy, and damage to pilei in the picking process can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of visual detection, in particular to a method for detecting the picking position of the stipe of a clustered oyster mushroom. Background technique [0002] The fruiting body of Pleurotus ostreatus is divided into cap, and stipe. The shape of the cap is fan-shaped, shell-shaped, and clustered in imbricate shapes. The color of the cap surface is easily affected by light during the growth process. When the light is strong, the color of the cap is dark, and when the light is weak, the color of the cap is light. The color of immature oyster mushroom caps is lavender, dark gray, off-white, white, light brown, light yellow and pink, etc., and the color of mature oyster mushroom caps becomes black gray, light gray, white, Yellow or red etc. Under artificial culture bag planting, the diameter of the cap is generally 5cm to 18cm. The stipe of Pleurotus ostreatus is white, the diameter is between 1cm-4cm, and the ...

AI Technical Summary

Problems solved by technology

[0005] Based on the above problems, the present invention provides a detection method for the picking position of the stipe of the clustered Pleurotus ostreatus, which solves the problem that the existing detection method for Pleurotus ostreatus is not suitable for Pleurotus ostreatus, the robustness and accuracy need to be improved, and the stipe of Pleurotus ostreatus is easy to be picked. Mushroom occlusion makes it easy to miss detection when detecting the stipe, and it is easy to damage the cap when picking the cap of Pleurotus ostreatus

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