648results about How to "Improve crawling efficiency" patented technology

The invention discloses a web page snatching method and web page snatching server. The method comprises: A. the method receives web page request; B. the method estimates whether the requested web page is snatched, executes step C if yes, otherwise, snatches the web page and ends the flow; C. the invention estimates whether the snatching time of the requested web page is bigger than the presetting time threshold value and executes step D if yes,. Otherwise, does not snatch the web page and end the flow; D. the invention searches whether the web page is updated and snatches the web page if yes, otherwise does not snatch the web page. The server comprises: a web page request receiving module, an estimation module, a searching module and a snatching module. The invention can lighten the burden for the web page snatching server, reduces the occupation to the network band width material and elevates the efficiency of the web page snatching.

The invention relates to an implementation method for workpiece grasping of an industrial robot based on visual positioning, which comprises the steps that a workpiece image is acquired through a fixed global CCD camera, and workpiece image information is transmitted to a robot control system through an Ethernet interface; the robot control system processes the workpiece image and acquires workpiece position vector information; the robot performs Cartesian and joint coordinate transformation according to the workpiece position vector information so as to realize positioning and grasping of a tail-end claw for a workpiece. The invention provides a workpiece position information calculation method, which is characterized in that contour region screening is performed on all detected images when contour detection is performed on workpiece images, isolated and small-segment continuous edges are deleted, non-target contours are removed, and the target contour identification accuracy is improved; and meanwhile, when workpiece position information is calculated, judgment is performed on a long side of a workpiece, and the robot is controlled to grasp the long side of the workpiece, so that a failure in grasping caused by short side clamping of the robot is avoided, and the grasping efficiency is improved.

The invention provides a keyword based topic-focused web crawler design method. The method comprises the following steps: step (1), configuring a search URL of a topic keyword, and forming an initial seed hyperlink originalURL; step (2), according to the originalURL, searching and downloading web pages in a search engine, and extracting a preliminary field of news based on webpage contents; step (3), according to a topic correlation algorithm, obtaining the similarity between each news and the topic, keeping news fields relevant to the topic and putting the news fields in a public queue newsQueue, and filtering out news not relevant to the topic; step (4), downloading a webpage content of the next page according to a nextPage URL, extracting the nextPageURL and the relevant field in step (3), putting the relevant field into the public queue newsQueue, and repeating step (4) until there is no next page hyperlink nextPageURL; and step (5), taking out the URL from the newsQueue and handing the URL to a crawler processing thread, that is a consumer thread. The keyword based topic-focused web crawler design method provided by the invention improves the crawling efficiency of the topic-focused web crawler, and enhances the effectiveness of crawled URL resources.

The invention discloses a robot out-of-order target sorting method based on 3D visual clustering and matching, and the method comprises the steps: filtering a sorting scene point cloud plane of collected sorting scene point clouds, carrying out segmentation of the point cloud plane of a stacked sorting scene, and obtaining a plurality of types of sorting scene point cloud clusters; querying a three-dimensional point neighborhood to obtain a stacking state of each sorting scene point cloud cluster; estimating the normal of each point in the sorting scene point cloud, and extracting the edge ofeach sorting scene point cloud cluster and the edge of the target model; generating different edge candidate matching sets, acquiring an initial pose through Super4PCS coarse matching, and conductingsorting recognition and pose estimation through ICP fine matching. By means of three-dimensional perception of the objects, recognition, classification, matching and positioning of the multi-target objects with the characteristics of stacking, shielding, disorder and the like are achieved, autonomous recognition of an industrial robot and planning of grabbing actions are facilitated, and thereforethe grabbing efficiency and accuracy degree of carrying and sorting operation are improved.

The invention discloses a method and a system for grabbing web pages from servers with different IPs (Internet Protocols) in a website. The method comprises the following steps of: distributing the IPs of target website servers for the web-page grabbing task of a client side, wherein the web-page grabbing task comprises grabbing of the addresses of the web pages to be grabbed; and then judging whether the web-page grabbing task conforms to the courteous access condition of the servers or not, if SO, utilizing the IP to establish connection with the servers, and grabbing the web pages at the web-page addresses from the servers. In the invention, the access strategy is based on IP level, so that an acquisition working thread is more conveniently controlled to carry out courteous access on the website; by the mode of caching a DNS (Domain Name Server), simultaneously using a plurality of IPs and preferably distributing the fastest IP, the efficiency for grabbing the web pages is greatly improved; and when individual servers of the target website can not be accessed, the servers with other IPs can be switched in time, and the fault-tolerant capability is improved.

The invention discloses a web crawler system and a web crawler multitask executing and scheduling method. The method includes: A, according to different content and website characteristics, subjecting crawled content to fine-grained segmentation, respectively creating crawler parsing template files, and arranging web crawlers to be respectively combined the crawler parsing template files to form acquisition modules used for executing crawling tasks; B, respectively deploying the web crawlers on multiple node servers, wherein each node server is provided with a scheduler used for scheduling the crawling tasks; C, invoking the associated acquisition modules to execute the crawling tasks to perform data acquisition through the schedulers according to a predefined scheduling strategy. The crawled content is subjected to fine-grained segmentation so as to realize high-concurrency execution of the tasks, a load balancing strategy is adopted, server resources are fully utilized, and crawling efficiency is improved obviously; besides, the problem of low system reliability caused by single-machine fault is solved, and high-reliability running of a system is guaranteed.

The invention provides an object grabbing method, device and apparatus and a storage medium. The object grabbing method comprises the steps that pose information of objects stored in a first zone is determined, the grabbing target is determined based on the pose information of the objects, the target grabbing position of a mechanical arm is determined according to the pose information of the grabbing target, and the mechanical arm is controlled to move to the target grabbing position and grab the grabbing target.

The invention discloses a cam type quick grabbing under-actuated robot hand device, and belongs to the technical field of robot hands. The device mainly comprises a palm, at least two fingers, a main shaft, a motor, a speed reducer, a first bevel gear, a second bevel gear, an incomplete groove cam, a movable plate, a sensor for detecting whether the fingers are opened in place or not, a sensor for detecting whether an object is in place or not, a control module and the like, wherein each finger is a tendon rope-torsion spring type multi-joint finger. The device has a function of automatically and quickly grabbing the object, and a grabbing process comprises four processes of energy storage opening of the fingers, detection of whether the fingers are opened in place or not, detection of whether the object is in place or not and instantaneous grabbing releasing; the device can be used for realizing quick grabbing; the object can be automatically grabbed after being detected to be in place; objects with different shapes and sizes can be adaptively grabbed; the device is compact in structure, the palm is large in size, and a grabbing space is large; the device is stable and accurate in transmission and high in transmission efficiency; and a plurality of joints of a plurality of fingers can be driven by only one motor, and the appearance and the actions of a human hand can be simulated by the device; and the device can be used for an anthropomorphic robot.

The invention mainly discloses a lake silt clearing device and method. According to the technical scheme, the lake silt clearing device comprises a boat body, a detection device, a grabbing device and a silt sucking device; the detection device comprises a detector, an ascending and descending rope and a winching device, and the detector is wound on the winching device through the ascending and descending rope; the grabbing device comprises an ascending and descending rod, a first grab bucket and a second grab bucket, the ascending and descending rod is connected with the first grab bucket, and the second grab bucket is located inside the first grab bucket; and the silt sucking device comprises a silt collection bin, a centrifugal type silt pump, a silt sucking pipe, a drill and a support frame, the silt sucking pipe is connected with the silt collection bin through the centrifugal type silt pump, the support frame is fixed to the outer side of the lower end of the silt sucking pipe, and the silt sucking pipe is internally provided with an enclosed motor connected with the drill. By means of the lake silt clearing device and method, the mode that grabbing and silt sucking are combined is adopted for disposing silt at the bottom of a lake; different types of disposal can be conducted according to the practical conditions of soil at the bottom of water; damage and blockage of the clearing device caused by hard objects are avoided; and the lake silt clearing device is high in clearing efficiency and long in service life.

The invention provides a coal-gangue separation system and a separation method. The coal-gangue separation system is mainly formed by a flow-dividing device, a dual-vision identification device, a control device and mechanical arm gripping devices. The flow-dividing device is provided with multiple stages of adjustable flow-dividing baffle plates; through reasonably flow-dividing a coal-gangue flow, the approximate positions of coal and gangues can be determined, and the positioning and control cost is reduced; the dual-vision identification device adopts infrared thermal imaging identification and gray degree identification, and data parameters obtained through sampling are transmitted to the control module, so that the difficulty in identification and positioning is reduced, and the identification rate is improved; through two different identification ways, the evitable phenomena such as missing and wrong choosing are reduced; and a PLC (Programmable Logic Controller) is adopted to control three-degree-of-freedom mechanical arms to follow-up grip, and two-claw manipulators are arranged in fixed runners, so that the identification efficiency and the gripping efficiency of the coal and the gangues are higher, the control method is simpler, and an inertial impact force of the coal-gangue flow caused by excessive speed is reduced during a follow-up process.

The invention provides a crawler seed obtaining method and equipment and a crawler crawling method and equipment. The crawler seed obtaining method comprises the following steps of: establishing a dynamic page request according to the preset search term dictionary and the URL (uniform resource locator) characteristics of a target navigation website; sending the dynamic page request to a server of the target navigation website; according to the preset extraction policy, extracting the target URL from the search result page returned by the server according to the dynamic page request, wherein the target URL is the main domain name address of the URL in the search result page; and performing unique processing on the target URL to obtain the unique target URL, wherein the unique target URL is used as a crawler seed. Through the technical scheme of the invention, abundant crawler seeds with great dispersion can be provided, and thus the time for forming the mainstream URL is shortened, the coverage of the mainstream URL is improved, and the time cost for crawling of the crawler system is reduced.

The invention provides a code dividing machine for grabbing and counting a plastic glove, which comprises a bracket, a symmetrical bilateral mould suspending line and a glove grabbing device, wherein the bracket is internally provided with the symmetrical bilateral mould suspending line, the symmetrical bilateral mould suspending line is provided with a hand mould, the glove grabbing device is correspondingly arranged under the symmetrical bilateral mould suspending line, the lower part of the glove grabbing device corresponds to one end of a conveying line, a grabbing operating device is arranged above the other end of the conveying line, the glove grabbing device is internally provided with an optical switch, and a glove boxing line is arranged at the front of the grabbing operating device. As the whole full-automatic counting and packing process of the glove is jointly completed by the means that a control system coordinates each mechanism, the machine realizes the automatic production of the plastic glove, is exact and correct in grabbing, and improves the packing efficiency of the glove; as the position of the hand mould is corrected by a hand mould correcting device, the machine can exactly complete the grabbing action; by adopting a vertical-surface glove grabbing device, the machine saves the space and is high in grabbing efficiency; and by arranging the grabbing operating device, the machine can complete the grabbing operation of the quantitative gloves within a safe range.

The invention discloses an automatic binding machine for crabs. The automatic binding machine for crabs comprises a bottom plate, wherein a grabbing device is arranged on the bottom plate, a leg folding device is arranged at one end of the grabbing device, a line clamping device (3) is arranged on one side of the grabbing device and the leg folding device, and a line cutting device is arranged at one end of the line clamping device. The automatic binding machine for crabs comprises the grabbing device, the leg folding device, a line winding device and the line cutting device which are used cooperatively, and therefore the work efficiency of the automatic binding machine for crabs is improved.

The invention discloses a seabed garbage cleaning robot. The robot comprises a box body structure, grabbing structures, foot structures, step-by-step transferring and conveying devices and a sensor; the mechanical grabbing part adopts a multi-joint mechanical arm, so that the freedom degree is flexible; aiming at the underwater grabbing stability, the design of a grabbing mechanical arm adopts theform of a three-jaw structure and a suction fan matched to work, so that the grabbing stability is improved; and mechanical feet adopt three degrees of freedom and multi-connection rod structures, rotation of a horizontal plane and rotation of two vertical planes to realize gait movement of the mechanical feet; according to the seabed garbage cleaning robot, elastic structures are added at foot ends, so that buffer is provided for the robot when the robot loses balance and falls due to disturbance underwater, the robot can adapt to complex terrains, and the stability of the robot is increased; the step-by-step transferring devices are provided for the design of a storage device for garbage in the box body, so that a plurality of working periods can be carried out at one time; and meanwhile, the limitation of the appearance and size of the robot on the total amount of grabbing garbage is broken, so that the garbage cleaning efficiency is improved.

The invention relates to a moving target dynamic tracking method, system and device based on S-curve acceleration and deceleration. The method comprises the steps as follows: the initial positon of atarget object and the initial positon of the tracking device at the same time are acquired, the meeting point positon where the tracking device tracks the target object is predicted, and a geometric model is built; working areas of the tracking device are divided according to the S-curve acceleration and deceleration algorithm, and initialization parameters of the working areas are calculated; therelation between the moving track of the target object and the initial positon of the tracking device is judged, and the working areas, where the moving track of the target object passes, of the tracking device are determined; and dynamic tracking equations of the different working areas of the tracking device are built according to the geometric model and are solved on the basis of the shortestoverall time principle for dynamic tracking. According to the method, the system and the device, the working space of a robot is fully utilized, workpieces on a conveying belt are tracked dynamicallyon the basis of the shortest time principle, and the method, the system and the device have the good dynamic performance and grasping efficiency.

A distributed acquisition system facing web bilingual parallel corpora resources relates to the technical field of corpora acquisition, and solves the problems that the conventional system is low in crawling scale, less in corpora acquiring ways, and lower in crawling efficiency. The system comprises an interlinking memory pool module, a screening filter module, a webpage crawl device module, an original webpage library module, a bilingual detection module, a blacklist module, a bilingual webpage library module and an interlinking withdrawal device module. The invention overcomes the technical defects in the conventional technical field, adopts the Internet as a corpora acquisition target, can effectively solve the resource occupation conflicting problem of a distributed system, can provide a universal design framework for a bilingual parallel corpora acquisition system, can dynamically add non-bilingual sites into a blacklist unceasingly, can effectively grab parallel corpora in the Internet, and can greatly improve the bilingual corpora grabbing efficiency.

The invention relates to a hydraulic grabbing mechanical arm for an anti-collapsing rock-soil retaining wall. The hydraulic grabbing mechanical arm comprises a damping supporting mechanism, wherein the damping supporting mechanism comprises a fixed platform; three parallel-connection branch chains are evenly mounted on the upper end face of the fixed platform in the direction of the axis, and the top ends of the three parallel-connection branch chains are mounted on the lower end face of a movable platform; each parallel-connection branch chain comprises a concave support welded to the upper end face of the fixed platform, a lower limiting shaft is mounted between middles of two sides of each concave support, and two arc limiting grooves are symmetrically formed in the inner wall of the upper end of each concave support; each lower limiting shaft is sleeved with a first hydraulic cylinder, two limiting rods are arranged on the two sides of the bottom end of each first hydraulic cylinder, and the tail ends of two limiting rods are connected with corresponding two arc limiting grooves in a sliding fit manner; and a hydraulic grabbing device is mounted at the upper end face of the movable platform. According to the mechanical arm, the stable automatic hydraulic grabbing function of masonry can be achieved, the phenomenon of vertical shaking or left-and-right shaking in the carrying process can be avoided, and stability performance is good.

The invention discloses a three-dimensional grabbing platform based on deep learning and a grabbing method. The three-dimensional grabbing platform comprises a control system, a driving belt system, arobot system, an acquisition system and an object category and pose recognition system, wherein the acquisition system is used for acquiring and preprocessing original three-dimensional point cloud data in a visual field to obtain three-dimensional point cloud data of an object and output the three-dimensional point cloud data of the object to the object category and pose recognition system, theobject category and pose recognition system is used for recognizing the three-dimensional point cloud data of the object by using an object category and pose recognition model constructed based on a deep learning network, determining object category and pose information, and outputting the object category and pose information to the control system, the control system outputs a control instructionto the acquisition system so as to control to acquire the original three-dimensional point cloud data in the field of view, a moving path is planned according to a recognition result output by the object category and pose recognition system, and a control instruction is output to the robot system according to the moving path to control a robot to grab the object.

The present invention discloses an automatic sorting system of electric energy meters, which comprises a full carton conveying line, an empty carton conveying line, a control system, a robot, a carton blocking device, a carton clamping device, a carton removing device, an intelligent claw, and a rack, wherein the robot, the carton blocking device, the carton clamping device, the carton removing device, the intelligent claw and the rack are respectively connected with the control system, the intelligent claw scans the loading-into-carton state of the electric energy meter in the carton and uploads to the control system, and the control system determines the sorting position according to the electric energy meter position information and the loading-into-carton state of the electric energy meter. The present invention provides the automatic sorting system integrating the detecting and the grabbing, wherein the robot is adopted to perform automatic sorting so as to reduces the labor intensity of the worker, the intelligent claw carried on the robot terminal end integrates the detecting and the grabbing so as to reduce the cost and increase the production efficiency and the equipment utilization rate, the automatic sorting system achieves the functions of the automatic sorting of the electric energy meter and the automatic removing of the empty carton, and the loading-into-carton position information and the forward and reverse loading-into-carton information of the electric energy meter can be automatically recognized so as to increase the grabbing efficiency and the grabbing reliability of the electric energy meter.

The invention belongs to the technical field of construction machinery equipment, and particularly relates to a precast concrete unit reinforcing steel bar binding machine which comprises a body framemechanism, a reinforcing steel bar grabbing mechanism, a reinforcing steel bar conveying mechanism and a full-automatic binding mechanism. The body frame mechanism comprises transverse beams, a thinrod, a thick rod, transverse beam auxiliary wheel parts, longitudinal beams, longitudinal beam connecting plates, longitudinal beam driving parts, a transverse beam lead screw, a screw nut, a transverse beam lead screw motor and supporting rods. The reinforcing steel bar grabbing mechanism comprises a mechanical arm base, a worm gear case, a worm motor, a mechanical arm, a driving cylinder and a mechanical claw. The reinforcing steel bar conveying mechanism comprises a reinforcing mesh binding platform, conveying supporting frames, long reinforcing steel bar conveying rails, short reinforcingsteel bar conveying rails, long wheel motors and long wheels. The precast concrete unit reinforcing steel bar binding machine is high in automation degree and binding quality.

The invention discloses an online detecting method for a quality safety accident of agricultural products. The method comprises the steps of crawling a Web page related to the agricultural product quality safety field from a system specified website; preprocessing to obtain an initial document set; performing characteristics extract for the initial document set; performing text characteristics expression through an improved incremental TF-IDF model; clustering the initial document set; treating a plurality of clustered subject events as the known events of the system; performing Single-Pass incremental clustering for the new webpage set to obtain a plurality of candidate events; calculating the similarity of the candidate events and known events; marking the candidate events of which the similarity is more than the threshold as the new events. According to the method, the Web information is analyzed to automatically recognize the agricultural product quality safety events, so as to detect the agricultural product quality safety event line; the method is applied to dynamic detection of agricultural product quality safety risk information.

The invention discloses a grasping means for automatically optimizing a creeper. The prior creeper grasping web page means uses the same frequency to grasp issued peak information and issued trough information, thereby influencing the timeliness for grasping the information, reducing the efficiency of a system and increasing the pointless resource consumption. In order to solve the problem, the invention includes the following steps: firstly, the information is cramped out of an information page grasped from the Internet, if the cramping-out is successful, then the frequency for cramping out the information page again is quickened; or else, the frequency for cramping out the information page again is slowered; secondly, the step one is repeated when the amended frequency is reached. The invention is applicable for the various prior search engines.

The invention discloses an active stone micro-gripper, which comprises four flexible fingers, four rotary shape memory alloy wires, a finger fixed tray, an endoscope, an alloy wire flexible fixed hose and eight alloy wire fixed seats, wherein the flexible fingers are evenly and circumferentially arranged on the finger fixed tray; the finger fixed tray and the alloy wire flexible fixed hose are connected in the manner of bonding; the flexible fingers, the finger fixed tray and the fixed hose are respectively provided with through holes from top to bottom; and each shape memory alloy wire is a driving source and can be used for driving the flexible fingers to be bent and closed and opened, and therefore, a gripping action is realized. According to the active stone micro-gripper disclosed by the invention, not only is the active driving characteristic of shape memory alloy fully utilized but also the characteristic of canal stone, especially choledocholithiasis,is fully considered. Compared with a passive gripper (stone basket), the gripping efficiency is greatly improved.

The invention relates to an automatic vehicle part stacking robot. The automatic vehicle part stacking robot comprises a walking device, an adjustable bracket, a rotating device, a redundancy parallel mechanism and a stacking manipulator; the adjustable bracket is positioned on the back upper side of the walking device; the rotating device is positioned at the front end of the adjustable bracket, and is fixedly connected with the adjustable bracket; the redundancy parallel mechanism is positioned between the rotating device and the stacking manipulator; and the upper end of the redundancy parallel mechanism is connected with the rotating device, and the lower end of the redundancy parallel mechanism is connected with the stacking manipulator. The automatic vehicle part stacking robot can realize such serial operations as hub grabbing, carrying and stacking, is high in automation degree, stable and flexible in movement and high in operation efficiency, and solves such problems as high manual operation cost, low efficiency and high danger.

The invention relates to a new energy auto parts warehouse operation robot, which includes a walking device, an adjustable bracket, a rotating device, a hybrid mechanism and a stacking manipulator; At the front end of the bracket, the rotating device is fixedly connected to the adjustable bracket, the hybrid mechanism is located between the rotating device and the palletizing manipulator, and the upper end of the hybrid mechanism is connected to the rotating device, and the lower end of the hybrid mechanism is connected to the palletizing manipulator. The invention can realize a series of operations such as grabbing, transporting and stacking the wheel hub, and has high degree of automation, stable and flexible movement, and high operation efficiency, and solves the problems of high manual operation cost, low efficiency and high risk.

The present invention relates to the technical field of robot control and particularly relates to a multi-DOF manipulator independent grabbing inverse solution engineering algorithm. When each joint angle is calculated, firstly a waist rotation angle is calculated and then is converted into a plane problem, the solution efficiency is facilitated, the problems of complexity brought by an inverse matrix solution way and large mental burden and easy fatigue of an operator are avoided, and the grabbing efficiency is improved further. In addition, according to the algorithm, a target position is obtained by using a binocular vision camera unit or judged artificially such that a host computer control system determines the three-dimensional coordinate of a suspected object relative to a vehicle body and a corresponding control command is sent back, the accurate positioning and grab of the target can be realized further, and thus the grabbing efficiency is improved further.

The invention discloses a clamping mechanism used for an industrial robot, and belongs to the technical field of industrial robots. The clamping mechanism used for the industrial robot comprises a fixed plate, a first clamping plate and a second clamping plate. A first groove, a second groove and a through hole are cut in the inner wall of the first clamping plate, a moving rod is in sliding connection into the inner wall of the through hole, the top of the moving rod is connected with a connecting plate, the outer wall of the connecting plate is connected with a first elastic element, the first elastic element is connected between the connecting plate and the inner wall of the first groove, the inner wall of the first groove is connected with a first wedge block, the outer wall of the first wedge block is in sliding connection with a second wedge block, the outer wall of the second wedge block is connected with a sliding rod, and the end, away from the second wedge block, of the sliding rod is connected with an extrusion plate. A stop rod is arranged on the outer wall of the first clamping plate, after clamping the object, the clamping plate can stop the object, the object fallingcaused when the clamping mechanism clamps the object can be avoided, and the grabbing efficiency of the industrial robot can be improved.

Provided is a combined clamp for a palletizing and transferring robot. The combined clamp includes a clamp rack, and a carton extracting mechanism, a paperboard extracting mechanism, a cardboard extracting mechanism and a gas-path control module are arranged on the clamp rack; the carton extracting mechanism, the paperboard extracting mechanism and the cardboard extracting mechanism are all independently arranged and do not intervene in one another; the gas-path control module controls the carton extracting mechanism, the paperboard extracting mechanism and the cardboard extracting mechanism separately. According to the combined clamp for the palletizing and transferring robot, by integrating the carton extracting mechanism, the paperboard extracting mechanism and the cardboard extracting mechanism onto a clamp, the clamp is capable of synchronously clamping a carton, a paper board and a cardboard, one-time clamping is achieved, and the efficiency of clamping is greatly improved; the combined clamp works in a fully-automatic mode, the effect and efficiency of palletizing are greatly improved, the performance is reliable, the operation is convenient, and the labor amount is effectively reduced.

The invention discloses a sea cucumber autonomous identification and grabbing method based on deep learning and binocular positioning. The sea cucumber autonomous identification and grabbing method comprises the following steps: performing underwater sea cucumber identification and positioning based on deep learning; acquiring sea cucumber spatial positioning information by utilizing binocular stereoscopic vision; and performing sea cucumber grabbing by using a PID control method. According to the invention, the GAN model is used to learn the characteristics of underwater sea cucumbers, and the generation network is used to generate sea cucumber samples, thereby effectively solving the problem of sea cucumber training sample insufficiency. According to the invention, mean filtering, medianfiltering and Wiener filtering are combined into a design filtering operator, so that the influence of non-uniform light, high turbidity, low visibility and the like on the image is solved. Accordingto the method, the convolutional neural network is utilized to learn and conclude the existing data, the sea cucumbers are accurately and quickly detected and two-dimensionally positioned, and a powerful guarantee is provided for subsequent spatial three-dimensional positioning and grabbing of the sea cucumbers. High-precision camera internal and external parameters are obtained, and accurate grabbing of the manipulator is guaranteed.