Flower mushroom grading picking method and system based on multi-modal model

The invention discloses a flower mushroom grading picking method and system based on a multi-modal model. The method comprises the following steps of obtaining flower mushroom image data, performing preprocessing and generating a data set; building a multi-modal flower mushroom grading model, wherein the multi-modal flower mushroom grading model comprises a flower mushroom detection and region extraction module, an image feature extraction module and a multi-modal feature fusion grading module; associating the camera, the mechanical arm and the multi-modal grading model; collecting flower mushroom collection data through a camera and transmitting the flower mushroom collection data to the multi-mode grading model in real time, and generating flower mushroom grading and positioning information; position information of a mechanical arm is obtained, and picking movement track information is generated; and controlling a mechanical arm to perform graded picking on the flower mushrooms according to the movement tra