A Special Robot for Precise Grading and Metering of Mushrooms Based on Yolov5

In order to accomplish accurate mushroom classification and measurement, it is necessary to optimize the existing classification algorithm and measurement devices, as well as to design a specific robot to improve classification accuracy and measurement efficiency. In order to achieve the above objectives, a research-level verification of mushroom grading using Yolov5 + OpenCV and a mushroom measuring system using a resistance strain gauge sensor was carried out. In the aspect of mushroom grading, a method based on the OpenCV visual library was used to identify the minimum quadrilateral outside the mushroom contour, allowing the size of the mushroom to be measured. The experiment's results show that the method can assess target objects that are occluded with each other under different illumination conditions with 96% accuracy. In the measurement of mushrooms, the strain of the resistance is converted into an analog signal, and the weight of different grades of mushrooms is converted according to the linear relationship after processing by the detection circuit module. Through this method, the error range is successfully controlled within +/- 0.02 kg, which meets the requirements of accurate measurement of mushrooms. The results of field experiments show that the proposed accurate grading and measurement method of Lentinula edodes is effective and feasible, and provides technical support for the intelligent grading and measurement of Lentinula edodes in production units.