The invention relates to the technical field of intelligent agricultural equipment, and discloses an automatic
agaricus bisporus picking method, device and equipment based on
artificial intelligence and a medium. The method comprises the steps that RGB images and three-dimensional
point cloud data of the
agaricus bisporus growth environment are collected in real time through a
binocular vision camera and a depth sensor which are installed at the
tail end of a picking
robot, and environment illumination parameters and cultivation
bed coordinate information are obtained; inputting the
RGB image into a pre-trained lightweight
convolutional neural network, identifying a
pileus contour, a stipe position and a maturity level of the
agaricus bisporus, calculating a space coordinate, a height and a growth inclination angle of the
agaricus bisporus based on the three-dimensional
point cloud data, and constructing an
agaricus bisporus target database; a mechanical arm picking path is generated based on the
agaricus bisporus target database, and path weight parameters are optimized online through a preset
reinforcement learning model; according to the maturity grade and morphological characteristics of the agaricus bisporus, the clamping force and the rotating angle of the end
effector are dynamically adjusted, and automatic picking of the agaricus bisporus is completed.