Fuente: WIPO "processing tomato" The invention relates to a tomato stamen positioning and orientation identification method in facility production, which comprises the following steps: S1, taking a tomato stamen picture through a depth camera to obtain a tomato stamen depth image and coordinate information and depth information of each pixel point in the tomato stamen depth image; s2, performing noise reduction on the tomato stamen depth image, and performing processing to obtain an HSV format tomato stamen image; s3, segmenting the HSV format tomato stamen image to obtain an HSV format tomato stamen segmented image; step S6, determining a pitch angle and a yaw angle of the tomato stamen by using the orientation of the tomato stamen so as to obtain orientation angle information of the tomato stamen in the three-dimensional space; s7, obtaining the actual position information of the tomato stamen by using the coordinate information and depth information of each pixel in the depth image of the tomato stamen; and step S8, the pollination robot performs pollination operation according to the actual position information and orientation angle information of the tomato stamens. According to the invention, accurate position and angle information of tomato stamens can be provided.