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It is found that previous studies only focus on how digital transformation contributes to individual firms’ green innovation performance while ignoring the important role that it plays in the spillover and diffusion of green innovations among peer firms. Therefore, this study aims to investigate the influence of focal firms’ digital transformation on the spillover of green innovation among peer firms in heavily polluting industries mediated by environmental, social and governance (ESG) performance and agency conflict. Further, this study is also expected to explore the effects of digital transformation’s green innovation spillover.

This study chooses 6,438 A-share heavily polluting listed firms in the stock exchanges based in Shanghai and Shenzhen in China during 2010–2020 as samples and tests the hypothesis with ordinary least squares (OLS) regression. Results prove to be robust to a battery of robustness analyses the authors performed to take care of endogeneity.

The results show that the focal firm’s digital transformation may trigger their peer firms’ green innovation spillover and prompt them to engage in green innovation activities actively. The mechanism test shows that peer firms’ ESG performance and agency conflict mediate the influence path between digital transformation and peer firms’ green innovation spillover. Finally, among heavily polluting firms with high industry competition and large scale, digital transformation’s green innovation spillover effects are more significant in conventional energy-based source control, end-of-pipe treatment and substantive green innovation.

This study is possible to provide a potential driving mechanism of green innovation spillovers. The findings lay a sound foundation for future research, providing important theoretical support and practical insights for digital transformation to empower heavily polluting industries to achieve green transformation and low-carbon development.

This paper aims to solve the problems of low stacking efficiency and long production time in the supercapacitor module assembly process, a stacking system based on monocular vision is proposed, including bracket visual positioning, grasping and stacking, and it is applied in actual production.

To enhance the robustness of the workpiece location method and improve the location accuracy, the improved U-Net network and image processing algorithms are used to segment the collected images. In addition, for the extracted feature points, the objective function that can be globally optimized is obtained by parameterizing the rotation matrix to construct a polynomial equation system and, finally, the equation system is solved to obtain the final pose estimation, which could improve the accuracy of workpiece location.

The result indicates that the proposed method is successfully performed on the manipulator. Besides, this method can well solve the problem of object reflection on the conveyor belt. The Intersection over Union of the image segmentation of the object is 0.9948, and the Pixel Accuracy is 0.9973, which has a high segmentation accuracy for the image. The error range between the method proposed in this paper and the pose estimation is within 2 mm, and the qualified rate of supercapacitor module stacking products is over 99.8%.

This paper proposes a method of accurately extracting feature points by integrating an improved U-Net network and image processing and uses the workpiece positioning algorithm of the optimal solution PnP problem algorithm. The calculation results show that the algorithm improves the positioning accuracy of the workpiece, realizes the assembly of stacked supercapacitor modules and is applied in industrial production.