Research on Deviation Detection of Belt Conveyor Based on Inspection Robot and Deep Learning

Table 1

The backbone of M-SSD.

Layer	Input size	Operator	Stride	Output channel
L0	300 × 300 × 3	Conv	2	32
L1	150 × 150 × 32	DSC	1	64
L2	150 × 150 × 64	DSC	2	128
L3	75 × 75 × 128	DSC	1	128
L4	75 × 75 × 128	DSC	2	256
L5	38 × 38 × 256	DSC	1	256
L6	38 × 38 × 256	DSC	2	512
L7	19 × 19 × 512	DSC	1	512
L8	19 × 19 × 512	DSC	1	512
L9	19 × 19 × 512	DSC	1	512
L10	19 × 19 × 512	DSC	1	512
L11	19 × 19 × 512	DSC	1	512
L12	19 × 19 × 512	DSC	2	1024
L13	10 × 10 × 1024	DSC	1	1024
L14	10 × 10 × 1024	Conv	1	256
L15	10 × 10 × 256	Conv	2	512
L16	5 × 5 × 512	Conv	1	128
L17	5 × 5 × 128	Conv	2	256
L18	3 × 3 × 256	Conv	1	128
L19	3 × 3 × 128	Conv	2	256
L20	2 × 2 × 256	Conv	1	64
L21	1 × 1 × 64	Conv	2	128