Objective: To solve the problems of low level of automation and high labor intensity of workers in the fermented grains discharging process of solid-state fermentation in the ground-pot. Methods: An automatic fermented grains scooping strategy for the compound robot for fermented grains scooping was proposed. Based on the pre-processing of the ground-pot image and the reconstruction o... https://halohealthcarers.shop/product-category/tankini/