Automatic dendrocalamus latiflorus cutting and grading device based on multi-band spectrum and hardness cooperative identification

Abstract

The invention discloses an automatic dendrocalamus latiflorus cutting and grading device based on multiband spectrum and hardness cooperative identification. The automatic dendrocalamus latiflorus cutting and grading device comprises a conveying module and a multiband spectrum detector, in order to solve the problem of misoperation caused by manual judgment adopted by a common dendrocalamus latiflorus cutting processing technology in the prior art, the equipment for automatically cutting the dendrocalamus latiflorus is designed, the dendrocalamus latiflorus can be automatically conveyed through the conveying module, and the automatic cutting function is achieved through the cutting module; meanwhile, the aging degree and the water content of the dendrocalamus latiflorus can be judged through a multi-band spectrum detector and a near-infrared sensor, so that the aging position of each dendrocalamus latiflorus can be accurately judged through comprehensive judgment; the hardness measuring module is matched to further detect the tenderness degree of the bamboo shoots, waste caused by manual rough judgment is avoided, the product quality and yield are improved, and the device is particularly suitable for cutting dendrocalamus latiflorus.

Description

Technical Field

[0001] This application relates to the technical field of cutting and grading of Dendrocalamus latiflorus Munro, and in particular to an automatic cutting and grading device for Dendrocalamus latiflorus Munro based on the collaborative recognition of multi - band spectra and hardness. Background Art

[0002] Dendrocalamus latiflorus Munro is one of the common cash crops. Compared with ordinary bamboo shoots, Dendrocalamus latiflorus Munro has a larger individual volume and an obvious "node" structure. A Dendrocalamus latiflorus Munro has 6 - 10 bamboo knots; the first half of each bamboo knot is usually the edible part with a light yellow color, and the second half is the aging part with a higher degree of fibrosis and a darker green color, with a poor taste or even inedible.

[0003] The characteristic of Dendrocalamus latiflorus Munro being "multi - knotted and each knot containing an old part" makes its grading process more complex than that of ordinary bamboo shoots. It is necessary to accurately identify and remove the aging areas of each knot to obtain high - quality edible parts.

[0004] Currently, the common practice in the industry still mainly relies on manual observation and manual cutting - workers visually judge the boundary between the tender part and the old part by observing the surface color of Dendrocalamus latiflorus Munro, and then use a knife or machinery for cutting.

[0005] The limitations of this method are as follows: high labor intensity and low efficiency; a large number of manual operations lead to an increase in production costs, and long - term repetitive labor is prone to operation errors or fatigue; the surface color of Dendrocalamus latiflorus Munro will change with environmental factors such as humidity and light, and manual identification is easily affected by subjective factors, resulting in large deviations.

[0006] That is, the prior art has the following technical problems. The ordinary manual cutting method is prone to errors and deviations. Therefore, an automatic cutting and grading device for Dendrocalamus latiflorus Munro based on the collaborative recognition of multi - band spectra and hardness is proposed to solve the above problems. Summary of the Invention

[0007] In this embodiment, an automatic cutting and grading device for Dendrocalamus latiflorus Munro based on the collaborative recognition of multi - band spectra and hardness is provided to solve the problems of errors and deviations that easily occur in the ordinary manual cutting method in the prior art.

[0008] According to one aspect of the present application, an automatic cutting and grading device for Dendrocalamus latiflorus Munro based on the collaborative recognition of multi - band spectra and hardness is provided. The automatic cutting and grading device for Dendrocalamus latiflorus Munro based on the collaborative recognition of multi - band spectra and hardness includes:

[0009] A conveying module, on the upper surface of which a cutting module is fixedly arranged. The conveying module is used for automatically conveying Dendrocalamus latiflorus Munro, and the cutting module is used for automatically cutting Dendrocalamus latiflorus Munro.

[0010] Multi - band spectral detector; the multi - band spectral detector is fixedly arranged at the side wall position of the cutting module, and the multi - band spectral detector is used to judge the color and moisture content of the bamboo shoots.

[0011] Near - infrared sensor, the near - infrared sensor is fixedly arranged at the side wall position of the cutting module, and the near - infrared sensor is used to detect the fibrosis and moisture content of the bamboo shoots.

[0012] Hardness measurement module, the hardness measurement module is fixedly arranged at the side wall of the cutting module, and the hardness measurement module is used to automatically insert into the bamboo shoots to detect the hardness.

[0013] Furthermore, the conveying module includes a rectangular fixed frame, support feet, rotating conveying rollers and a servo motor. Support feet are fixedly connected to the four corners of the bottom surface of the rectangular fixed frame, and several rotating conveying rollers are rotatably connected to the side wall of the rectangular fixed frame.

[0014] Furthermore, connecting shafts are fixedly connected to both ends of the rotating conveying rollers. The connecting shafts extend into the inner cavity of the rectangular fixed frame. Synchronous wheels are fixedly connected to the connecting shafts. Synchronous belts are sleeved between the synchronous wheels. A servo motor is fixedly connected to the side wall of the rectangular fixed frame. The end of the output shaft of the servo motor extends to one end of the connecting shaft and is fixedly connected to the connecting shaft.

[0015] Furthermore, fixed brackets are fixedly connected to both sides of the upper surface of the rectangular fixed frame. One end of a connecting rod is fixedly connected to one side of the fixed bracket, and the other end of the connecting rod is fixedly connected to a guide plate.

[0016] Furthermore, the cutting module includes a support frame, a fixed cross - beam, an electric cylinder, a cutter and a guide rod. The support frame is fixedly arranged on both sides of the upper surface of the rectangular fixed frame, and a fixed cross - beam is fixedly connected to the upper end of the support frame.

[0017] Furthermore, an electric cylinder is fixedly connected to the upper surface of the fixed cross - beam. The bottom end of the electric cylinder penetrates through the fixed cross - beam and extends outside the wall, and a cutter is fixedly connected to the bottom end of the electric cylinder.

[0018] Furthermore, guide rods are fixedly connected to both sides of the upper surface of the cutter. The guide rods penetrate through the fixed cross - beam and are in sliding fit with the fixed cross - beam.

[0019] Furthermore, the hardness measurement module includes an electric push rod, a fixed sleeve, a moving slider, a moving guide rod, an insertion rod, a pressure sensor, a pressure slider and a control spring. There are two hardness measurement modules, and the two hardness measurement modules are respectively fixed on the side walls of the two side support frames.

[0020] Furthermore, the electric push rod is fixedly connected to the side wall of the support frame. A fixed sleeve is fixedly connected to one end of the electric push rod. A moving slider is slidably connected in the inner cavity of the fixed sleeve. One end of a moving guide rod is fixedly connected to one side wall of the moving slider. The other end of the moving guide rod penetrates through the side wall of the inner cavity of the fixed sleeve and extends outside the wall. An insertion rod is fixedly connected to one end of the moving guide rod.

[0021] Furthermore, a pressure sensor is fixedly connected to one side of the inner cavity of the fixed sleeve. A pressure slider is slidably connected in the inner cavity of the fixed sleeve. The pressure slider contacts the pressure sensor. One end of a control spring is fixedly connected to the other side wall of the pressure slider. The other end of the control spring is fixedly connected to the side wall of the moving slider.

[0022] Through the above embodiments of the present application, in order to solve the problem of operation errors caused by manual judgment in the existing ordinary cutting and processing technology of Dendrocalamus latiflorus Munro shoots, the present application designs a device for automatically cutting Dendrocalamus latiflorus Munro shoots, which can automatically convey Dendrocalamus latiflorus Munro shoots through a conveying module, realize the function of automatic cutting through a cutting module, and at the same time, a multi-band spectral detector and a near-infrared sensor can be used to judge the tenderness degree and water content of Dendrocalamus latiflorus Munro shoots, so as to accurately judge the aging positions of each bamboo shoot node through comprehensive judgment; combined with a hardness measurement module, further detect the tenderness degree of the bamboo shoots, avoid waste caused by rough manual judgment, improve product quality and output, and is especially suitable for cutting Dendrocalamus latiflorus Munro shoots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0025] Figure 2 It is a schematic diagram of the overall side structure of an embodiment of the present application;

[0026] Figure 3 It is a schematic diagram of the top view structure of an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the side view structure of an embodiment of the present application;

[0028] Figure 5 It is a schematic diagram of the structure of a synchronous pulley of an embodiment of the present application;

[0029] Figure 6 Schematic diagram of the structure of the hardness measurement module according to an embodiment of the present application;

[0030] Figure 7 Color detection chart of the multi - band spectral detector according to an embodiment of the present application.

[0031] In the figure:

[0032] Conveyor module 1, rectangular fixed frame 101, support feet 102, rotating conveyor roller 103, connecting shaft 1031, synchronous pulley 1032, synchronous belt 1033, servo motor 104, fixed support 105, connecting rod 106, guide plate 107;

[0033] Cutting module 2, support frame 201, fixed crossbeam 202, electric cylinder 203, cutting tool 204, guide rod 205;

[0034] Multi - band spectral detector 3;

[0035] Near - infrared sensor 4;

[0036] Hardness measurement module 5, electric push rod 501, fixed sleeve 502, moving slider 503, moving guide rod 504, inserting rod 505, pressure sensor 506, pressure slider 507, control spring 508. Detailed implementation manners

[0037] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0038] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above - mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so as to describe the embodiments of the present application here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non - exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0039] In this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements, or components must have a specific orientation, or be constructed and operated in a specific orientation.

[0040] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0041] In addition, the terms "install", "set", "provided with", "connect", "connected", "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0042] Embodiment 1:

[0043] Please refer to Figure 1-6 As shown, the automatic cutting and grading device for bamboo shoots based on multi-band spectrum and hardness collaborative recognition includes:

[0044] A conveying module 1, on the upper surface of which a cutting module 2 is fixedly arranged. The conveying module 1 is used for automatically conveying bamboo shoots, and the cutting module 2 is used for automatically cutting bamboo shoots.

[0045] A multi-band spectrum detector 3; the multi-band spectrum detector 3 is fixedly arranged at the side wall position of the cutting module 2, and the multi-band spectrum detector 3 is used to judge the color and moisture content of bamboo shoots.

[0046] A near-infrared sensor 4, the near-infrared sensor 4 is fixedly arranged at the side wall position of the cutting module 2, and the near-infrared sensor 4 is used to detect the fibrosis and moisture content of bamboo shoots.

[0047] A hardness measurement module 5, the hardness measurement module 5 is fixedly arranged at the side wall of the cutting module 2, and the hardness measurement module 5 is used to automatically insert into the bamboo shoot to detect the hardness.

[0048] Specifically, when the multi-band spectral detector 3 performs detection, it detects the surface color of the bamboo shoots. The aging part usually shows a darker green color, resulting in a significant decrease in the reflected light intensity in the red channel (620 - 750 nm) and the green channel (495 - 570 nm). The visible light sensor calculates the RGB values on the surface of the bamboo shoots, then converts the RGB values to the Lab color space, and then uses the CIEDE2000 standard to calculate the color difference. According to the degree of color similarity, corresponding scores are assigned. The smaller the score, the tenderer the bamboo shoot, making a primary distinction to a certain extent; as Figure 7 shown

[0049] Specifically, when the near-infrared sensor 4 measures, it detects changes in fibrosis and moisture content. Near the wavelength of 1450 nm, it can usually characterize the absorption peaks of fibers and moisture, and is responsible for detecting the degree of fibrosis. When fibrosis appears in the aging part of the bamboo shoot, the absorption peak will increase with the increase in the content of cellulose and lignin.

[0050] Through experimental determination, the absorption coefficients of different parts of the bamboo shoot at a wavelength of 1450 nm are between 5 - 12 cm-1. In the set experimental group, there are significant differences in the absorption coefficients between tender bamboo shoots and old bamboo shoots. The bamboo shoot with an absorption coefficient of 12 cm-1 has the highest water content and a tenderer taste; corresponding scores are assigned according to the absorption coefficient values. The smaller the score, the tenderer the bamboo shoot;

[0051] Absorption coefficient cm-1 12.0-11.1 11.0-10.1 10.0-9.1 9.0-8.1 8.0-7.1 7.0-6.1 6.0-5.0 Score 1 2 3 4 5 6 7

[0052] Furthermore, it also includes a control system that coordinates the work of each module, including data processing and grading judgment;

[0053] By using a PLC controller, it processes spectral data and hardness data in real time, combines a weighted algorithm, generates a comprehensive score, and determines the cutting position.

[0054] The conveying module 1 includes a rectangular fixed frame 101, support feet 102, rotating conveyor rollers 103, and a servo motor 104. At the four corners of the bottom surface of the rectangular fixed frame 101, support feet 102 are fixedly connected. A number of rotating conveyor rollers 103 are rotatably connected to the side wall of the rectangular fixed frame 101. Through this technical solution, the rotation of the rotating conveyor rollers 103 can drive the Dendrocalamus latiflorus shoots to be conveyed and moved.

[0055] Both ends of the rotary conveying roller 103 are fixedly connected with connecting shafts 1031. The connecting shafts 1031 extend into the inner cavity of the rectangular fixed frame 101. A synchronous pulley 1032 is fixedly connected to the connecting shafts 1031. A synchronous belt 1033 is sleeved between the synchronous pulleys 1032. A servo motor 104 is fixedly connected to the side wall of the rectangular fixed frame 101. The end of the output shaft of the servo motor 104 extends to one end of the connecting shaft 1031 and is fixedly connected to the connecting shaft 1031. Through this technical solution, the rotation of the connecting shaft 1031 can be driven by the operation of the servo motor 104. Furthermore, through the linkage function of the synchronous pulleys 1032 and the synchronous belt 1033, all the rotary conveying rollers 103 can be synchronously driven to rotate synchronously, realizing the function of driving the bamboo shoots to be conveyed.

[0056] Fixed footrests 105 are fixedly connected to both sides of the upper surface of the rectangular fixed frame 101. One end of a connecting rod 106 is fixedly connected to one side of the fixed footrest 105. The other end of the connecting rod 106 is fixedly connected to a guiding plate 107. Through this technical solution, the guiding plate 107 can play a guiding role in the process of conveying the bamboo shoots.

[0057] The cutting module 2 includes a support frame 201, a fixed crossbeam 202, an electric cylinder 203, a cutter 204, and guide rods 205. The support frame 201 is fixedly arranged on both sides of the upper surface of the rectangular fixed frame 101. The upper end of the support frame 201 is fixedly connected to the fixed crossbeam 202.

[0058] An electric cylinder 203 is fixedly connected to the upper surface of the fixed crossbeam 202. The bottom end of the electric cylinder 203 penetrates the fixed crossbeam 202 and extends outside the wall. A cutter 204 is fixedly connected to the bottom end of the electric cylinder 203.

[0059] Guide rods 205 are fixedly connected to both sides of the upper surface of the cutter 204. The guide rods 205 penetrate the fixed crossbeam 202 and are slidably matched with the fixed crossbeam 202. Through this technical solution, the cutter 204 can be pushed to move downward by the extension of the electric cylinder 203. Thus, the bamboo shoots moving to the bottom of the cutter 204 can be cut by the downward movement of the cutter 204.

[0060] The hardness measurement module 5 includes an electric push rod 501, a fixed sleeve 502, a moving slider 503, a moving guide rod 504, a plug rod 505, a pressure sensor 506, a pressure slider 507, and a control spring 508. There are two hardness measurement modules 5, and the two hardness measurement modules 5 are respectively fixed on the side walls of the two side support frames 201.

[0061] The electric push rod 501 is fixedly connected to the side wall of the support frame 201. One end of the electric push rod 501 is fixedly connected with a fixed sleeve 502. A moving slider 503 is slidably connected in the inner cavity of the fixed sleeve 502. One end of a moving guide rod 504 is fixedly connected to one side wall of the moving slider 503. The other end of the moving guide rod 504 penetrates through the side wall of the inner cavity of the fixed sleeve 502 and extends outside the wall. A plug rod 505 is fixedly connected to one end of the moving guide rod 504;

[0062] One side of the inner cavity of the fixed sleeve 502 is fixedly connected with a pressure sensor 506. A pressure slider 507 is slidably connected in the inner cavity of the fixed sleeve 502. The pressure slider 507 is in contact with the pressure sensor 506. One end of a control spring 508 is fixedly connected to the other side wall of the pressure slider 507. The other end of the control spring 508 is fixedly connected to the side wall of the moving slider 503. Through this technical solution, when the hemp bamboo shoots are transported and moved to the position of the hardness measurement module 5, the plug rod 505 can be driven to move by the elongation of the electric push rod 501, so that the plug rod 505 penetrates into the hemp bamboo shoots. The resistance generated by the plug rod 505 penetrating into the hemp bamboo shoots can push the moving slider 503 to move, thereby compressing the control spring 508 to generate a compression elastic force, and pushing the pressure slider 507 to generate a pressure on the pressure sensor 506, so that the resistance size when the plug rod 505 penetrates can be detected, and the tenderness degree of the hemp bamboo shoots can be assisted to be judged through the resistance.

[0063] Through the above embodiments, by the coordinated use of the multi-band spectral detector 3 and the hardness measurement module 5, after testing, the bamboo shoot yield is 49%.

[0064] Embodiment Two:

[0065] Please refer to Figure 1-6 as shown, the automatic cutting and grading device for hemp bamboo shoots based on multi-band spectrum and hardness collaborative recognition includes:

[0066] A conveying module 1, on the upper surface of which a cutting module 2 is fixedly arranged. The conveying module 1 is used for automatically conveying the hemp bamboo shoots, and the cutting module 2 is used for automatically cutting and processing the hemp bamboo shoots;

[0067] A multi-band spectral detector 3; the multi-band spectral detector 3 is fixedly arranged at the side wall position of the cutting module 2, and the multi-band spectral detector 3 is used for judging the color and moisture content of the hemp bamboo shoots.

[0068] Through the above embodiments, only using the multi-band spectral detector 3 for detection, after testing, the bamboo shoot yield is 37%.

[0069] Embodiment Three:

[0070] Please refer to Figure 1-6 As shown, the automatic cutting and grading device for bamboo shoots of Dendrocalamus latiflorus based on the collaborative recognition of multi-band spectrum and hardness includes:

[0071] A conveying module 1, on the upper surface of which a cutting module 2 is fixedly arranged. The conveying module 1 is used for automatically conveying bamboo shoots of Dendrocalamus latiflorus, and the cutting module 2 is used for automatically cutting and processing bamboo shoots of Dendrocalamus latiflorus;

[0072] A hardness measurement module 5, which is fixedly arranged on the side wall of the cutting module 2. The hardness measurement module 5 is used for automatically inserting into the bamboo shoots of Dendrocalamus latiflorus to detect the hardness.

[0073] Through the above embodiment, only the hardness measurement module 5 is used for detection. After testing, the bamboo shoot yield is 39%.

[0074] In summary, when only the multi-band spectrum detector 3 is used, the bamboo shoot yield is 37%. When only the hardness measurement module 5 is used, the bamboo shoot yield is 39%. When the two are used in combination, the bamboo shoot yield is 49%. Therefore, by using the multi-band spectrum detector 3 and the hardness measurement module 5 in combination, the bamboo shoot yield can be effectively improved.

[0075] The circuits, electronic components and modules involved are all prior arts and can be fully realized by those skilled in the art.

[0076] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An automatic cutting and grading device for Dendrocalamus latiflorus shoots based on the collaborative recognition of multi-band spectra and hardness, characterized in that: The automatic cutting and grading device for bamboo shoots based on the collaborative recognition of multi-band spectrum and hardness includes: A conveying module (1), on the upper surface of which a cutting module (2) is fixedly arranged. The conveying module (1) is used for automatically conveying bamboo shoots, and the cutting module (2) is used for automatically cutting bamboo shoots. A multi-band spectrum detector (3); the multi-band spectrum detector (3) is fixedly arranged at the side wall position of the cutting module (2), and the multi-band spectrum detector (3) is used to judge the color and moisture content of bamboo shoots. A near-infrared sensor (4), the near-infrared sensor (4) is fixedly arranged at the side wall position of the cutting module (2), and the near-infrared sensor (4) is used to detect the fibrosis and moisture content of bamboo shoots. A hardness measurement module (5), the hardness measurement module (5) is fixedly arranged at the side wall of the cutting module (2), and the hardness measurement module (5) is used to automatically insert into the bamboo shoot to detect the hardness.

2. The automatic cutting and grading device for bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 1, wherein: The conveying module (1) includes a rectangular fixed frame (101), supporting feet (102), rotating conveying rollers (103) and a servo motor (104). Supporting feet (102) are fixedly connected to the four corners of the bottom surface of the rectangular fixed frame (101), and a number of rotating conveying rollers (103) are rotatably connected to the side wall of the rectangular fixed frame (101).

3. An automatic cutting and grading device for Dendrocalamus latiflorus shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 2, wherein: Both ends of the rotating conveying roller (103) are fixedly connected with a connecting shaft (1031). The connecting shaft (1031) extends into the inner cavity of the rectangular fixed frame (101). A synchronous wheel (1032) is fixedly connected to the connecting shaft (1031). A synchronous belt (1033) is sleeved between the synchronous wheels (1032). A servo motor (104) is fixedly connected to the side wall of the rectangular fixed frame (101). The end of the output shaft of the servo motor (104) extends to one end of the connecting shaft (1031) and is fixedly connected to the connecting shaft (1031).

4. An automatic cutting and grading device for bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 2, characterized in that: Fixed brackets (105) are fixedly connected to both sides of the upper surface of the rectangular fixed frame (101). One end of a connecting rod (106) is fixedly connected to one side of the fixed bracket (105), and the other end of the connecting rod (106) is fixedly connected to a guide plate (107).

5. An automatic cutting and grading device for Dendrocalamus latiflorus shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 1, characterized in that: The cutting module (2) includes a support frame (201), a fixed cross beam (202), an electric cylinder (203), a cutter (204) and a guide rod (205). The support frame (201) is fixedly arranged on both sides of the upper surface of the rectangular fixed frame (101), and a fixed cross beam (202) is fixedly connected to the upper end of the support frame (201).

6. The automatic cutting and grading device for hemp bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 5, characterized in that: An electric cylinder (203) is fixedly connected to the upper surface of the fixed cross beam (202). The bottom end of the electric cylinder (203) penetrates through the fixed cross beam (202) and extends outside the wall. A cutter (204) is fixedly connected to the bottom end of the electric cylinder (203).

7. An automatic cutting and grading device for hemp bamboo shoots based on collaborative recognition of multi-band spectra and hardness according to claim 5, characterized in that: Guide rods (205) are fixedly connected to both sides of the upper surface of the cutting knife (204). The guide rods (205) penetrate through the fixed cross beam (202) and are in sliding fit with the fixed cross beam (202).

8. An automatic cutting and grading device for bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 1, characterized in that: The hardness measurement module (5) includes an electric push rod (501), a fixed sleeve (502), a moving slider (503), a moving guide rod (504), a plug rod (505), a pressure sensor (506), a pressure slider (507), and a control spring (508). There are two hardness measurement modules (5), and the two hardness measurement modules (5) are respectively fixed to the side walls of the two side supports (201).

9. An automatic cutting and grading device for bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 8, characterized in that: The electric push rod (501) is fixedly connected to the side wall of the support frame (201). One end of the electric push rod (501) is fixedly connected to a fixed sleeve (502). A moving slider (503) is slidably connected in the inner cavity of the fixed sleeve (502). One end of a moving guide rod (504) is fixedly connected to one side wall of the moving slider (503). The other end of the moving guide rod (504) penetrates through the side wall of the inner cavity of the fixed sleeve (502) and extends outside the wall. A plug rod (505) is fixedly connected to one end of the moving guide rod (504).

10. An automatic cutting and grading device for hemp bamboo shoots based on the collaborative recognition of multi-band spectra and hardness according to claim 8, characterized in that: A pressure sensor (506) is fixedly connected to one side of the inner cavity of the fixed sleeve (502). A pressure slider (507) is slidably connected in the inner cavity of the fixed sleeve (502). The pressure slider (507) contacts the pressure sensor (506). One end of a control spring (508) is fixedly connected to the other side wall of the pressure slider (507), and the other end of the control spring (508) is fixedly connected to the side wall of the moving slider (503).

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