Attitude Processing Method during the Sorting Process of Zongye

Abstract

The present invention relates to the technical field of grading and screening of zongzi leaves, and discloses a posture processing method in the sorting process of zongzi leaves to improve the reliability of sorting. The method includes: determining the center point and center line of the uppermost zongzi leaf in the material box by a first image processing module; setting a presentation reference for the target center point and center line of the zongzi leaf on the main conveyor belt, and when loading, the material box cooperates with the grasping and placing mechanism to ensure that the center point and center line of the zongzi leaf are aligned with the reference; before the zongzi leaf arrives at the sorting system, determining the target classification corresponding to the zongzi leaf according to the size specification by a second image processing module; during the process of the sorting system transferring the zongzi leaf from the main conveyor belt to the sub-conveyor belt corresponding to the target classification, performing posture conversion according to the position information of the target center point and center line on the main conveyor belt.

Description

Technical Field

[0001] The invention relates to the technical field of rice dumpling leaf grading and screening, and in particular to a posture processing method in a rice dumpling leaf sorting process. Background Art

[0002] Zong leaves are suitable for packaging, flavor extraction, and medicinal uses, and are widely used.

[0003] During the processing of zongzi leaves, they need to be classified based on different sizes. The classification process involves switching between different conveyor belts; when the zongzi leaves are transferred between different conveyor belts, accurate positioning data is required to guide the execution of the pick-and-place action. Especially in the front-end loading link, if there is a deviation in the positioning information, it will cause great interference to the subsequent sorting and other links. Summary of the invention

[0004] The main purpose of the invention is to disclose a posture processing method in the process of rice dumpling leaf sorting to improve the reliability of sorting.

[0005] To achieve the above object, the posture processing method in the process of sorting rice dumplings leaves disclosed by the present invention comprises:

[0006] Step S1, determining the center point and center line of the uppermost layer of rice dumplings in the material frame by using the first image processing module;

[0007] Step S2, driving the material frame to align the center point of the uppermost layer of zongzi leaves with the rotation center of the catch-and-release mechanism in the Z-axis direction through displacement in the X-axis direction and the Y-axis direction, and driving the catch-and-release mechanism to align the direction of the line connecting at least two points of force in the straight line direction with the center line of the zongzi leaves through rotation; then the aligned catch-and-release mechanism is used to catch the uppermost layer of zongzi leaves of the material frame into the air through a first-drop and then-raise action and transport them to just above the main conveyor belt so that the rotation center is aligned with the unified initial target center point of each zongzi leaf of the same material frame on the main conveyor belt, and completing the aerial rotation during the transportation process so that the center line of the zongzi leaves is consistent with the direction of the target center line of each zongzi leaf uniformly presented on the main conveyor belt;

[0008] Step S3, when the main conveyor belt is stopped, the grasping and releasing mechanism puts the grasped rice leaves onto the main conveyor belt that fixes the rice leaves by negative pressure adsorption through a first lowering and then raising action;

[0009] Step S4, before the rice dumplings arrive at the sorting system, using a second image processing module to determine the target classification corresponding to the rice dumplings according to the size specification;

[0010] Step S5: The main control module connected to the sorting system and the second image processing module respectively calculates the timing logic corresponding to each node of the rice dumpling leaves during the sorting process; controls each node in the sorting system to perform corresponding operations according to the calculated result of the corresponding timing logic; and during the process of the sorting system transferring the rice dumpling leaves from the main conveyor belt to the sub-conveyor belt corresponding to the target classification, performs attitude conversion according to the position information of the unified target center point and target center line on the main conveyor belt.

[0011] The present invention has the following beneficial effects:

[0012] The presentation reference of the target center point and center line of the rice dumpling leaves is set on the main conveyor belt. When loading, the material box and the grasping and placing mechanism perform supporting actions based on this reference, and perform attitude conversion based on this reference during the subsequent sorting and transfer process; thus ensuring the reliability of the entire system to cooperate according to the step size.

[0013] The following will refer to the accompanying drawings to further elaborate on the present invention in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0015] Figure 1 is a schematic flowchart of the attitude processing method during the sorting process of rice dumpling leaves disclosed in the embodiment of the present invention.

[0016] Figure 2 is a partial spatial position schematic block diagram of the sorting system during the first-stage sorting process of rice dumpling leaves disclosed in the embodiment of the present invention.

[0017] Figure 3 is a schematic diagram of a possible state existing based on the step size and timing relationship in the classification application scenario of dividing into two according to size disclosed in the embodiment of the present invention.

[0018] Figure 4 is a partial structural schematic diagram of the first grasping and placing component disclosed in the embodiment of the present invention.

[0019] Figure 5 is a partial structural schematic diagram of the second grasping and placing component disclosed in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following will describe the embodiments of the present invention in detail with reference to the accompanying drawings. However, the present invention can be implemented in many different ways defined and covered by the claims.

[0021] Embodiment 1

[0022] This embodiment discloses a method for attitude processing during the sorting of zongzi leaves, as Figure 1 shown, including:

[0023] Step S1: Use the first image processing module to determine the center point and center line of the uppermost zongzi leaf in the material box.

[0024] In this step, the center line of the zongzi leaf refers to the line of the middle bracket that extends along the length direction of the zongzi leaf and whose color is usually visibly different from the leaf surfaces on the left and right sides and is basically symmetric. The center point can be defined as the midpoint of this center line.

[0025] Step S2: Drive the material box to align the center point of the uppermost zongzi leaf with the rotation center of the grasping and releasing mechanism in the Z-axis direction through displacements in the X-axis and Y-axis directions, and drive the grasping and releasing mechanism to align the direction of the line connecting at least two force application points in the linear direction with the center line of the zongzi leaf through rotation; then use the aligned grasping and releasing mechanism to grab the uppermost zongzi leaf in the material box into the air and transfer it above the main conveyor belt through a lowering and then raising action, and complete an aerial rotation during the transfer process so that the center line of the zongzi leaf is consistent with the target center line direction in which each zongzi leaf is uniformly arranged on the main conveyor belt.

[0026] In this step, optionally, the force application points in the linear direction can be at least two suction cups fixed on the same bracket and arranged at linear intervals. The direction of the line connecting the two force application points is the linear direction connecting the center points of the suction cups.

[0027] In this step, the rotation of the grasping and releasing mechanism before grasping can be regarded as a dynamic angular vector, and the purpose of the rotation during the transfer process is regarded as rotating to a fixed angular direction to make the center lines of each zongzi leaf consistent with the target center line direction in which they are uniformly arranged on the main conveyor belt. In other words, the final state of the grasping and releasing mechanism after rotating above the main conveyor belt is unified and fixed, and with the difference in the center line in step S1, it performs differential rotation processing before grasping the zongzi leaf so that the direction of the line connecting at least two force application points in the linear direction of the grasping and releasing mechanism is aligned with the center line of the zongzi leaf.

[0028] Therefore: The "rotation center" in the statement "align the center point of the uppermost zongzi leaf with the rotation center of the grasping and releasing mechanism in the Z-axis direction" in this step is a fixed and unified coordinate reference point located above the material box that does not change with the subsequent transfer process of the grasping and releasing mechanism and makes the center points of each zongzi leaf become the rotation center.

[0029] Step S3: In the state where the main conveyor belt is stopped, use the grasping and releasing mechanism to place the grasped zongzi leaf on the main conveyor belt that fixes the zongzi leaf by negative pressure adsorption. Among them, subsequent other conveyor belts all fix the zongzi leaf by negative pressure adsorption to avoid displacement caused by wind resistance during the conveying process, which will not be elaborated.

[0030] Optionally, a specific feeding method in this embodiment may be as follows:

[0031] When the main conveyor belt is in the first stop state, the gripper mechanism on the left simultaneously grabs the single-layered bamboo leaves on the top layer of two side-by-side material boxes in the left feeding area, and at the same time places the bamboo leaves already grabbed by the gripper mechanism on the right onto the main conveyor belt; then, after the main conveyor belt moves forward by one step length, it switches to the second stop state, and in the second stop state, the gripper mechanism on the right simultaneously grabs the single-layered bamboo leaves on the top layer of two side-by-side material boxes in the right feeding area, and at the same time places the bamboo leaves already grabbed by the gripper mechanism on the left onto the main conveyor belt; after the main conveyor belt moves forward by one step length again, it switches back to the first stop state, and this process is cycled in turn to achieve alternating feeding of the left and right feeding areas. Further, when the gripper mechanism grabs the bamboo leaves in the left material box, the first image processing module determines the respective center points and center lines corresponding to the top-layer bamboo leaves in the two right material boxes; when the gripper mechanism grabs the bamboo leaves in the right material box, the first image processing module determines the respective center points and center lines corresponding to the top-layer bamboo leaves in the two left material boxes; and the target centers of the bamboo leaves in the two material boxes that are opposite to each other left and right are the same on the main conveyor belt, and the initial target centers of the two front and back material boxes on the same side on the main conveyor belt are on the center line of the main conveyor belt itself along the forward direction.

[0032] Preferably, the first image processing module is usually executed by an industrial control computer connected to the corresponding camera. And in the process of determining the center points and center lines of each bamboo leaf, the edge features of the top-layer bamboo leaves can be separated from the bamboo leaves below based on a convolutional neural network first, and then the feature information of the center line and center point can be further identified and located in the extracted inner-edge image, which can greatly improve the positioning accuracy, and thus also improve the grasping success rate, and can effectively avoid defects such as bamboo leaf dropping during the transfer process caused by grasping the edge of the bamboo leaf or grasping two bamboo leaves at the same time.

[0033] In the above process, when there are two material boxes in each of the left and right feeding areas, in step S2 above, the corresponding gripper mechanism also requires two corresponding gripper units to establish a one-to-one mapping relationship with the material boxes, and the rotation angles of each gripper unit are independently controlled to achieve differential rotation processing, so that the connection direction of at least two force application points in the linear direction of the two gripper units is aligned with the center lines of the bamboo leaves in the respective corresponding material boxes. Optionally, the gripper mechanism for performing step S2 above can adopt a structure similar to the subsequent first gripper assembly and second gripper assembly, which will not be elaborated here.

[0034] In this way, the zong leaves in the material frames on the left and right sides are alternately loaded onto the main conveyor belt, which improves the loading speed while also improving the utilization of space and the main conveyor belt; moreover, the calculation based on the center point and center line of the zong leaves can accurately locate the gripping position of the suction cup and the rotation angle in the air, thereby ensuring that the different initial postures caused by the different sizes, shapes and uneven placement of the zong leaves in each material frame are finally placed on the main conveyor belt. The final posture presented is unified, thereby providing accurate posture information for the subsequent linkage equipment that performs sorting and transfer and other processing for coordination. Moreover, in conjunction with the alternating loading, for the same material frame, the image processing unit and the grasping and releasing mechanism also perform their respective tasks alternately, effectively avoiding the occlusion of the grasping and releasing mechanism and affecting the positioning accuracy of the zong leaf image.

[0035] Step S4: Before the rice dumplings arrive at the sorting system, a second image processing module is used to determine the target classification corresponding to the rice dumplings according to the size specifications.

[0036] In this step, preferably, the second image processing module (composed of a camera and supporting industrial control software and hardware) determines the target classifications corresponding to the two pieces of rice dumplings loaded on the same side according to the step grouping of the main conveyor belt.

[0037] Step S5, using a main control module respectively connected to the sorting system and the second image processing module to calculate the timing logic corresponding to each node in the sorting process of the rice dumplings according to the target classification result; and controlling each node in the sorting system to perform a corresponding operation according to the corresponding timing logic calculation result; and in the process of the sorting system transferring the rice dumplings from the main conveyor belt to the sub-conveyor belt corresponding to the target classification, the posture conversion is performed according to the position information of the unified target center point and the target center line on the main conveyor belt.

[0038] In this step, the so-called sequential logic refers to the logic used to perform specific operations at a specific timing. The so-called node refers to a functional unit that directly or indirectly interacts with the main control module to perform corresponding operations according to the instructions of the main control module, such as a motor, an electric control valve in the gas circuit, a motor, and a functional unit in the subsequent pick-and-place module that performs functions such as rotation and lifting.

[0039] In this step, preferably, the transmission step length, speed and start and stop time of each sub-conveyor belt are consistent with those of the main conveyor belt.

[0040] In this embodiment, in the first stage sorting process for one-to-two separation, the sorting system is provided with two complementary first and second pick-and-place components for transferring the rice leaves. Figure 2 The specific structures and complementary relationships of each pick-and-place component are as follows:

[0041] A first grab and place assembly and a second grab and place assembly are deployed above the main conveyor belt.

[0042] The first gripping and releasing component includes a first gripping and releasing module and a second gripping and releasing module. The first gripping and releasing module includes a first gripping and releasing unit and a second gripping and releasing unit. The second gripping and releasing module includes a third gripping and releasing unit and a fourth gripping and releasing unit.

[0043] The second gripping and releasing component includes a third gripping and releasing module and a fourth gripping and releasing module. The third gripping and releasing module includes a fifth gripping and releasing unit and a sixth gripping and releasing unit. The fourth gripping and releasing module includes a seventh gripping and releasing unit and an eighth gripping and releasing unit.

[0044] A first sub-conveyor belt and a second sub-conveyor belt that are parallel to the main conveyor belt and are respectively arranged on the left and right sides of the main conveyor belt; two parallel sub-conveyor belts that start and stop synchronously are provided on each of the first sub-conveyor belt and the second sub-conveyor belt.

[0045] The first gripping and releasing module is also provided with a functional unit for driving the first gripping and releasing unit and the second gripping and releasing unit to rotate synchronously around their respective gripping and releasing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the first sub-conveyor belt for left-right alignment. It should be noted that the "can realize" described in this embodiment only means that it can realize the corresponding function under the condition of meeting the requirements; it does not mean that it will repeatedly execute this single function every time. In fact, the states of the gripping and releasing units in this embodiment are individually controlled by the subsequent main control module, and the states of the gripping and releasing units are not unique. There are at least states such as gripping and being able to grip but actually not gripping (including pressing without gripping, etc.); no further elaboration will be made hereinafter.

[0046] The second gripping and releasing module is also provided with a functional unit for driving the third gripping and releasing unit and the fourth gripping and releasing unit to rotate synchronously around their respective gripping and releasing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the second sub-conveyor belt for left-right alignment.

[0047] The third gripping and releasing module is also provided with a functional unit for driving the fifth gripping and releasing unit and the sixth gripping and releasing unit to rotate synchronously around their respective gripping and releasing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the first sub-conveyor belt for left-right alignment.

[0048] The fourth gripping and releasing module is also provided with a functional unit for driving the seventh gripping and releasing unit and the eighth gripping and releasing unit to rotate synchronously around their respective gripping and releasing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the second sub-conveyor belt for left-right alignment.

[0049] Preferably, the distance between the two gripper units of the first to fourth gripper modules is kept constant, and this distance is the same as the distance between the two sub-conveyor belts in the first-stage second sub-conveyor belt, so that the alignment of the zongzi leaf posture can be completed directly by rotation, thus simplifying the logic control part of the system.

[0050] The vertical distance between the grasping area corresponding to the first gripper component and the grasping area corresponding to the second gripper component is equal to twice the conveying step length of the main conveyor belt.

[0051] Among them, within the time of any conveying step length of the main conveyor belt, if the first gripper module transfers to the first sub-conveyor belt on the left, the fourth gripper module transfers to the second sub-conveyor belt on the right; and within the time corresponding to the next conveying step length of the main conveyor belt, the second gripper module transfers to the second sub-conveyor belt on the right, and the third gripper module transfers to the first sub-conveyor belt on the left. Or

[0052] If the second gripper module transfers to the second sub-conveyor belt on the right, the third gripper module transfers to the first sub-conveyor belt on the left; and within the time corresponding to the next conveying step length of the main conveyor belt, the first gripper module transfers to the first sub-conveyor belt on the left, and the fourth gripper module transfers to the second sub-conveyor belt on the right.

[0053] Among them, before and after the transfer, the reference distance between the first gripper module and the second gripper module is the same; and when the first gripper module is positioned directly above the first sub-conveyor belt, the second gripper module is positioned directly above the main conveyor belt; or when the first gripper module is positioned directly above the main conveyor belt, the second gripper module is positioned directly above the second sub-conveyor belt. And

[0054] Before and after the transfer, the reference distance between the third gripper module and the fourth gripper module is the same; and when the third gripper module is positioned directly above the first sub-conveyor belt, the fourth gripper module is positioned directly above the main conveyor belt; or when the third gripper module is positioned directly above the main conveyor belt, the fourth gripper module is positioned directly above the second sub-conveyor belt.

[0055] The above two paragraphs describe that the two pick-and-place modules within the same component repeatedly move between two points on the main conveyor belt and the sub-conveyor belt respectively, and complement each other to ensure that there is always a pick-and-place module that can pick up the bamboo leaves on the main conveyor belt at the corresponding picking moment (in fact, whether to pick them up or not still depends on whether there are bamboo leaves on the main conveyor belt that need to be transferred to the corresponding sub-conveyor belt). Optionally, each pick-and-place unit is provided with a rotating bracket and a suction cup at the bottom of the rotating bracket, and the functional unit used to perform the rotation process on the rotating bracket is also used to perform the lifting process on the rotating bracket; further, at the top of each suction cup, there is a hollow air pipe for applying the "release" state force, whereby it is also possible to achieve that during the process of the pick-and-place unit in the first pick-and-place assembly picking up the bamboo leaves on the main conveyor belt, the suction cup (also known as a pneumatic suction cup) actually presses on the bamboo leaves, but due to classification problems, it conflicts with the transfer direction of the current first pick-and-place assembly and is not actually transferred, and then it will be left for the corresponding pick-and-place unit in the second pick-and-place assembly to perform the actual transfer; on the contrary, when the air pipe in the suction cup of the pick-and-place unit is sucked to a vacuum, the corresponding bamboo leaves will be actually transferred along with the lifting process of the rotating bracket.

[0056] Preferably, as Figure 4 shown, the first pick-and-place module and the second pick-and-place module slide synchronously along the first slide bar, and the supporting sliding drive mechanism is used to drive the two pick-and-place modules to move repeatedly between the main conveyor belt and the corresponding sub-conveyor belt, and both the sliding drive mechanism and the functional unit that drives the two pick-and-place units to rotate synchronously are controlled by the subsequent main control module to achieve the coordination of the states corresponding to the time sequences of each node during the operation of the system; similarly, as Figure 5 shown, the third pick-and-place module and the fourth pick-and-place module slide synchronously along the second slide bar, which can also avoid collisions between the two modules within the same component. At the same time, during the reciprocating movement of each pick-and-place module, corresponding to the need for rotation when transferring the bamboo leaves on the main conveyor belt to the first or second sub-conveyor belt, when the corresponding pick-and-place module returns from the sub-conveyor belt to directly above the main conveyor belt, it also needs to perform a reverse rotation so that each pick-and-place unit is aligned with the bamboo leaves on the main conveyor belt in a columnar posture for easy picking.

[0057] Among them, the main control module controls the sorting system to perform corresponding operations according to the calculation results of the corresponding timing logic, including:

[0058] According to the classification results of the current group transmitted by the second image processing module and the allocated situation of the previous remaining groups, calculate two target pick-and-place units for transferring two bamboo leaves within the current group to the first sub-conveyor belt and / or the second sub-conveyor belt; then, after the materials within the current group reach the picking areas of the first pick-and-place assembly and / or the second pick-and-place assembly, control the corresponding target pick-and-place units to perform the corresponding pick-and-place processing. Among them, both the first sub-conveyor belt and the second sub-conveyor belt use the negative pressure adsorption method to fix the bamboo leaves to keep their postures unchanged during the conveying process.

[0059] Preferably, when each material in this embodiment is conveyed on the main conveyor belt, the corresponding center line is perpendicular to the advancing direction of the main conveyor belt. When each material is conveyed on the first sub-conveyor belt or the second sub-conveyor belt, the center line is parallel to the advancing direction of the sub-conveyor belt. Generally, during the rotation of the corresponding aerial attitude during transfer, the rotation is centered on the center point of the zongzi leaf, and usually rotates by 90 degrees. Thus, if two zongzi leaves in the same group are simultaneously transferred to the same sub-conveyor belt, the two zongzi leaves are also on the same starting line on different sub-conveyor belts. Essentially, an empty position of a sub-conveyor belt is added between the zongzi leaves transferred from the previous group, thereby avoiding overlap with the zongzi leaves transferred by the subsequent second gripping and placing component.

[0060] As Figure 3 shown, it is a possible state based on the step size and timing relationship in the classification application scenario of dividing into two according to size. As shown in the figure, among a series of consecutive zongzi leaves, zongzi leaf A and zongzi leaf B are in a group, both being large in size, zongzi leaf C and zongzi leaf D are in a group, both being small in size, and zongzi leaf E and zongzi leaf F are in a group, also being large in size. Among them, zongzi leaf A and zongzi leaf B are assigned to the seventh gripping and placing unit and the eighth gripping and placing unit in the second execution component to be synchronously transferred to the second sub-conveyor belt. Zongzi leaf C and zongzi leaf D have just been synchronously transferred to the first sub-conveyor belt by the first gripping and placing unit and the second gripping and placing unit respectively. At the same time, zongzi leaf E and zongzi leaf F are being grabbed by the third gripping and placing unit and the fourth gripping and placing unit and waiting to be transferred to the second sub-conveyor belt. As a variation, if zongzi leaf E is large in size and zongzi leaf F is small in size, the second gripping module of the first gripping and placing component will perform the task of transferring zongzi leaf E to the second sub-conveyor belt, and zongzi leaf F will be assigned to the third gripping module in the second gripping and placing component to transfer it to the first sub-conveyor belt.

[0061] Thus, on the one hand: the first grasping and placing component and the second grasping and placing component are complementary in the working process; for example, when the two zongzi leaves in the same group are of different types, the first grasping and placing module can first transfer one type, and the remaining ones are left for the second grasping and placing component to transfer. On the other hand: both grasping and placing components can transfer the zongzi leaves on the main conveyor belt to any sub-conveyor belt; and in the same grasping and placing component, when one of the grasping and placing modules releases the grasped zongzi leaves to the sub-conveyor belt, the other grasping and placing module can grasp the zongzi leaves on the main conveyor belt; and when each grasping and placing module grasps the zongzi leaves on the main conveyor belt, there are four situations: both grasping, neither grasping, and either one grasping. The combination of the foregoing characteristics, together with the vertical distance between the corresponding grasping ranges of the first grasping and placing component and the second grasping and placing component being equal to twice the step length of the conveyor belt, and the common effect of the attitude rotation during the one-to-two process, enables the system of the present invention to handle various logical combinations of each group of zongzi leaves during the one-to-two process; even if all the zongzi leaves on a long main conveyor belt are of the same classification on the left or right side, the second grasping and placing module can perform supplementary grasping and inserting operations to ensure that the zongzi leaves on the corresponding sub-conveyor belt are arranged according to the rules; ensuring reliable position information during the subsequent two-to-four transfer process.

[0062] Further, the sorting system of this embodiment sets a third sub-conveyor belt on one side of the first sub-conveyor belt, and sets a fourth sub-conveyor belt on one side of the second sub-conveyor belt, and both the third sub-conveyor belt and the fourth sub-conveyor belt use negative pressure adsorption to fix the zongzi leaves to keep the attitude unchanged during the conveying process. Usually, the third sub-conveyor belt is deployed on the left side of the first sub-conveyor belt, and the fourth sub-conveyor belt is deployed on the right side of the second sub-conveyor belt, and the sub-conveyor belts on the left and right sides are symmetrically distributed based on the main conveyor belt. Correspondingly, the method of this embodiment further includes:

[0063] When transferring some zongzi leaves on the first sub-conveyor belt to the third sub-conveyor belt again in the same attitude according to the specification size, synchronously transfer some zongzi leaves on the second sub-conveyor belt to the fourth sub-conveyor belt again in the same attitude according to the specification size.

[0064] In summary, the attitude processing method in the zongzi leaf sorting process disclosed in this embodiment has at least the following beneficial effects:

[0065] Set the column reference of the zongzi leaf target center point and the center line on the main conveyor belt. When loading, the material box cooperates with the grasping and placing mechanism to perform supporting actions based on this reference, and perform attitude conversion based on this reference during the subsequent sorting and transfer process; thus ensuring the reliability of the entire system to cooperate according to the step length.

[0066] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for attitude processing in the sorting process of Zongye leaves, characterized in that, include: Step S1, determining the center point and center line of the uppermost layer of rice dumplings in the material frame by using the first image processing module; Step S2, driving the material frame to align the center point of the uppermost layer of zongzi leaves with the rotation center of the catch-and-release mechanism in the Z-axis direction through displacement in the X-axis direction and the Y-axis direction, and driving the catch-and-release mechanism to align the direction of the line connecting at least two points of force in the straight line direction with the center line of the zongzi leaves through rotation; then the aligned catch-and-release mechanism is used to catch the uppermost layer of zongzi leaves of the material frame into the air through a first-drop and then-raise action and transport them to just above the main conveyor belt so that the rotation center is aligned with the unified initial target center point of each zongzi leaf of the same material frame on the main conveyor belt, and completing the aerial rotation during the transportation process so that the center line of the zongzi leaves is consistent with the direction of the target center line of each zongzi leaf uniformly presented on the main conveyor belt; Step S3, when the main conveyor belt is stopped, the grasping and releasing mechanism puts the grasped rice leaves onto the main conveyor belt that fixes the rice leaves by negative pressure adsorption through a first lowering and then raising action; Step S4, before the rice dumplings arrive at the sorting system, using a second image processing module to determine the target classification corresponding to the rice dumplings according to the size specification; Step S5, using a main control module connected to the sorting system and the second image processing module to calculate the timing logic corresponding to each node in the sorting process of the rice dumpling leaves according to the target classification result; and controlling each node in the sorting system to perform corresponding operations according to the corresponding timing logic calculation results; and in the process where the sorting system transfers the rice dumpling leaves from the main conveyor belt to the sub-conveyor belt corresponding to the target classification, performing posture conversion according to the position information of the unified target center point and target center line on the main conveyor belt; Wherein, when the main conveyor belt is in the first stop state, the grab and release mechanism on the left side simultaneously grabs the single-piece rice leaf on the top layer of two material frames arranged side by side in the left feeding area, and simultaneously places the rice leaf that has been grabbed by the grab and release mechanism on the right side on the main conveyor belt; thereafter, the main conveyor belt is switched to the second stop state after being transmitted forward by one step, and in the second stop state, the grab and release mechanism on the right side simultaneously grabs the single-piece rice leaf on the top layer of two material frames arranged side by side in the right feeding area, and simultaneously places the rice leaf that has been grabbed by the grab and release mechanism on the left side on the main conveyor belt; the main conveyor belt is switched to the first stop state again after being transmitted forward by one step, and the cycle is repeated in sequence to realize alternating feeding of the feeding areas on the left and right sides; Among them, when the grasping and releasing mechanism grasps the zongzi leaves in the left material frame, the first image processing module is used to determine the center points and center lines of the uppermost zongzi leaves in the two right material frames; when the grasping and releasing mechanism grasps the zongzi leaves in the right material frame, the first image processing module is used to determine the center points and center lines of the uppermost zongzi leaves in the two left material frames; and the unified target centers of the zongzi leaves in the two material frames relatively positioned on the left and right are consistent on the main conveyor belt, and the initial target centers of the two front and rear material frames on the same side of the main conveyor belt are on the center line of the main conveyor belt itself along the advancing direction; The second image processing module determines the target classifications corresponding to two pieces of zongzi leaves fed from the same side according to the step length grouping of the main conveyor belt, and the transmission step length, speed, start and stop times of each sub-conveyor belt are the same as those of the main conveyor belt.

2. The attitude processing method in the sorting process of zongzi leaves according to claim 1, characterized in that, The sorting system includes: A first gripping and placing component and a second gripping and placing component deployed above the main conveyor belt; The first gripping and placing component includes a first gripping and placing module and a second gripping and placing module. The first gripping and placing module includes a first gripping and placing unit and a second gripping and placing unit, and the second gripping and placing module includes a third gripping and placing unit and a fourth gripping and placing unit; The second gripping and placing component includes a third gripping and placing module and a fourth gripping and placing module. The third gripping and placing module includes a fifth gripping and placing unit and a sixth gripping and placing unit, and the fourth gripping and placing module includes a seventh gripping and placing unit and an eighth gripping and placing unit; A first sub-conveyor belt and a second sub-conveyor belt that are parallel to the main conveyor belt and are respectively arranged on the left and right sides of the main conveyor belt; two parallel sub-conveyor belts with synchronous start and stop are provided on each of the first sub-conveyor belt and the second sub-conveyor belt; The first gripping and placing module is further provided with a functional unit for driving the first gripping and placing unit and the second gripping and placing unit to rotate synchronously around their respective gripping and placing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the first sub-conveyor belt for left-right alignment; The second gripping and placing module is further provided with a functional unit for driving the third gripping and placing unit and the fourth gripping and placing unit to rotate synchronously around their respective gripping and placing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the second sub-conveyor belt for left-right alignment; The third gripping and placing module is further provided with a functional unit for driving the fifth gripping and placing unit and the sixth gripping and placing unit to rotate synchronously around their respective gripping and placing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the first sub-conveyor belt for left-right alignment; The fourth gripping and placing module is further provided with a functional unit for driving the seventh gripping and placing unit and the eighth gripping and placing unit to rotate synchronously around their respective gripping and placing centers, so as to realize synchronously transferring two pieces of zongzi leaves that are in the same group and spaced apart front and back on the main conveyor belt to the two sub-conveyor belts of the second sub-conveyor belt for left-right alignment; The vertical distance between the gripping area corresponding to the first gripping and placing component and the gripping area corresponding to the second gripping and placing component is equal to twice the transmission step length of the main conveyor belt; Wherein, within the time of any transmission step length of the main conveyor belt, if the first gripping and placing module transfers to the first sub-conveyor belt on the left side, the fourth gripping and placing module transfers to the second sub-conveyor belt on the right side; and within the time corresponding to the next transmission step length of the main conveyor belt, the second gripping and placing module transfers to the second sub-conveyor belt on the right side, and the third gripping and placing module transfers to the first sub-conveyor belt on the left side; or If the second pick-and-place module transfers to the second sub-conveyor belt on the right, the third pick-and-place module transfers to the first sub-conveyor belt on the left; and within the time corresponding to the next transfer step of the main conveyor belt, the first pick-and-place module transfers to the first sub-conveyor belt on the left, and the fourth pick-and-place module transfers to the second sub-conveyor belt on the right; Among them, before and after the transfer, the reference distance between the first pick-and-place module and the second pick-and-place module is the same; and when the first pick-and-place module is positioned directly above the first sub-conveyor belt, the second pick-and-place module is positioned directly above the main conveyor belt; or when the first pick-and-place module is positioned directly above the main conveyor belt, the second pick-and-place module is positioned directly above the second sub-conveyor belt; and before and after the transfer, the reference distance between the third pick-and-place module and the fourth pick-and-place module is the same; and when the third pick-and-place module is positioned directly above the first sub-conveyor belt, the fourth pick-and-place module is positioned directly above the main conveyor belt; or when the third pick-and-place module is positioned directly above the main conveyor belt, the fourth pick-and-place module is positioned directly above the second sub-conveyor belt; The main control module controls the sorting system to perform corresponding operations according to the calculation results of the corresponding timing logic, including: Calculating two target pick-and-place units for transferring two pieces of zongzi leaves in the current group to the first sub-conveyor belt and / or the second sub-conveyor belt according to the classification results of the current group transmitted by the second image processing module and the allocated situation of the remaining previous groups; then, after the materials in the current group reach the grasping areas of the first pick-and-place assembly and / or the second pick-and-place assembly, controlling the corresponding target pick-and-place units to perform corresponding pick-and-place processing; Among them, both the first sub-conveyor belt and the second sub-conveyor belt use negative pressure adsorption to fix the zongzi leaves to keep their postures unchanged during the conveying process.

3. The attitude processing method in the sorting process of zongzi leaves according to claim 2, wherein The sorting system sets a third sub-conveyor belt on one side of the first sub-conveyor belt and a fourth sub-conveyor belt on one side of the second sub-conveyor belt, and both the third sub-conveyor belt and the fourth sub-conveyor belt use negative pressure adsorption to fix the zongzi leaves to keep their postures unchanged during the conveying process; the method further includes: When transferring some zongzi leaves on the first sub-conveyor belt to the third sub-conveyor belt in the same posture according to the specifications, synchronously transferring some zongzi leaves on the second sub-conveyor belt to the fourth sub-conveyor belt in the same posture according to the specifications.

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