Target picking method based on picking robot visual system

The invention relates to a target picking method based on a picking robot vision system. The method comprises the following steps: acquiring an original fruit image by using a camera; the collected original fruit images are preprocessed, the preprocessed fruit images form a data set, and the data set is divided into a training set, a verification set and a test set; a Mask R-CNN model is established, and training is carried out; the training process is optimized, and a Mask R-CNN model with the highest training precision is obtained; the Mask R-CNN model with the highest training precision is loaded on a CPU of the picking robot, and finally target recognition picking is achieved based on a visual system of the picking robot. According to the method, the high-pixel camera is used for acquiring the ripe fruit image, the deep learning technology is applied to intelligent fruit picking, the network structure is adjusted according to the actual use scene, the Mask R-CNN model is trained, finally ...

Agricultural pest image recognition method based on convolutional neural network

The invention relates to an agricultural pest image recognition method based on a convolutional neural network. The method comprises the following steps: collecting crop pest images by using a camera; screening the collected crop pest images according to screening conditions; marking the screened crop pest images, and forming a data set by the marked crop pest images; establishing a pest identification model; and training a pest recognition model by adopting the training set to obtain a trained pest recognition model, and inputting a to-be-recognized pest image into the trained pest recognition model to obtain a recognition result. A convolutional neural network in a deep learning technology is applied to agricultural crop region extraction, the network is trained by using a collected agricultural crop image set, and finally the network can automatically identify the number and type of agricultural crop diseases and insect pests; according to the method, the detection and recognition rate ...

Agricultural behavior recognition method based on X3D

The invention relates to an agricultural behavior recognition method based on X3D. The method comprises the following steps in sequence: constructing an agricultural behavior data set; constructing an agricultural behavior recognition model based on X3D; adopting the agricultural behavior data set to train an agricultural behavior recognition model; and inputting the agricultural behavior to be identified into the trained agricultural behavior identification model for identification, and outputting an identification result. According to the invention, large-scale, multi-region, real and objective recording of the working behaviors of farmers is realized, and providing real and objective data for farm management and agricultural product tracing becomes a great demand at present; the collected data is compared and recorded in a video format storage mode, collection and analysis are integrated, consumption of storage resources is greatly reduced, the storage space is effectively reduced, efficiency ...

High-temperature gas damper

The invention relates to a high-temperature gas damper, which belongs to the filed of gas combustion. The damper is a necessary device used in the flue systems of a power plant, an incinerator, a blast furnace and the like, aiming at the regulation of gas volume, the pressure control in a combustion system and the personnel safety of personnel maintaining various devices connected with air channels. The structural design of the damper is characterized in that a damper blade is connected with a rack-structured vane framework; a geometrical rack structure made according to transformation rule ofmaterials is reasonably jointed and reinforced with a vane blade, thus effectively solving the transformation problem due to heat expansion; expansion and contraction deviations of damper vanes and r ack-structured vane framework are equalized, thus ensuring the minimum malformed transformation due to transformation differences of different parts; and the cooled vanes has uniform transformation and ...

Method for preparing swelled fluorine mica by kaoline

Method and device for improving micro-suspension polymerization conversion rate

The invention discloses a method and a device for improving the conversion rate of micro-suspension polymerization. The method comprises the following steps: adding an emulsifier of a chain regulator and an initiator of a pH value regulator to form auxiliaries; dispersing and stirring the auxiliary agent, a vinyl chloride monomer and pure water according to a raw material mass ratio, and adding into a polymerization reaction kettle for polymerization; and carrying out early-stage constant-temperature polymerization and later-stage variable-temperature polymerization or early-stage constant-temperature polymerization in the kettle, and carrying out multi-stage serial groove type steam stripping on the latex after the reaction is finished, so as to finally obtain a special resin product with qualified finished product indexes. The polymerization kettle is connected with the discharge chute, the discharge chute is connected with the safe water-sealed tank, the discharge chute is connected ...