The application discloses a kind of automatic
wharf horizontal transport equipment dirty detection method and device, construct first level
convolutional neural network for detecting IGV from image and second level
convolutional neural network for detecting dirty area from IGV, first level
convolutional neural network and second level convolutional neural network are constructed into double-
branch cascade detection model, the original image obtained from the automatic
wharf operation scene is input as the double-
branch cascade detection model, and the first level convolutional neural network identifies IGV from complex scene, and outputs the image labeled IGV boundary box, according to the boundary box, IGV subgraph containing only IGV image is
cut out from image, so as to remove background interference and transmit to second level convolutional neural network, and second level convolutional neural network focuses on detecting dirty area from IGV subgraph, so as to improve the detection efficiency and detection precision of IGV dirty area.