Calibration and location analysis of a heterogeneous binocular stereo vision system.

In the dairy farming industry, we can obtain the temperature, color, and location information of dairy cows by patrol inspection robot so as to monitor the health status and abnormal behaviors of dairy cows. We build and calibrate a heterogeneous binocular stereo vision (HBSV) system comprising a high-definition color camera and infrared thermal camera and mount it on a patrol inspection robot. First, based on the traditional chessboard, an easy-to-make calibration board for the HBSV system is designed. Second, an accurate locating and sorting algorithm for the calibration points of the calibration board is designed. Then, the cameras are calibrated and the HBSV system is stereo-calibrated. Finally, target locating is achieved based on the above calibration results and Yolo target detection technology. In this paper, several experiments are carried out from many aspects. The target locating average error of HBSV system is 3.11%, which satisfies the needs of the dairy farming environment. The video's FPS captured by using HBSV is 7.3, which is 78% higher than that by using binocular stereo vision system and infrared thermal camera. The results show that the HBSV system has application value to a certain degree.

Influences of Efficient Spraying of Cement-Based Slurries on Recycled Coarse Aggregate.

The inferior property is usually one of the major problems of recycled coarse aggregate (RCA), and the utilization of the RCA is limited. Strengthening the RCA is being widely explored. Immersing the RCA in the cement-based slurry is an effective approach. However, lots of slurry and time are required, and it is difficult to integrate the immersing method into the production line of the RCA. In this paper, a circular spraying method was proposed to treat the RCA using cement-based slurry. The immersing method was also conducted to verify the feasibility of the spraying method. The crushing value (CV), 24 h water absorption (WA), apparent density (AD) and dynamic water absorption (DWA) were tested, and the micro-morphology was also observed to explore the strengthening mechanism. Results showed that the CV and the WA decreased by up to 30.0% and 14.3% when the spraying method was used. The AD was slightly influenced by the cement-based slurry regardless of the treatment method. Considering the CV, WA and AD, the comprehensive grade of the RCA could be enhanced from III to II by using the spraying method. It was worth noting that the effects of the spraying method and the immersing method were basically equivalent. When the spraying method was adopted, only about 1 min and a small amount of slurry (about 5% of the RCA mass) were required to treat the RCA.