Directional water spraying method and equipment based on plate line recognition

Abstract

The invention discloses a directional water spraying method and equipment based on board line recognition, and belongs to the technical field of solid wood board production. The directional water spraying method comprises the following steps that S1, lines are recognized and positioned; s2, directional staged water spraying; s3, dynamic temperature regulation and control; and S4, circulating operation block by block. Manual work is replaced by the mechanical arm, directional water spraying is carried out along the lines according to the board lines, the manual intervention frequency is reduced, and the operation consistency is improved; meanwhile, staged directional water spraying adopts the combination of high-pressure permeation and uniform covering, so that the risk of shrinkage deformation is reduced; dynamic temperature control closed-loop adjustment inhibits overheating shrinkage, and the core problems of high manual dependence, extensive temperature and humidity control, poor plate flatness and the like of a traditional plate drying process are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of solid wood board production, and particularly relates to a directional water spraying method and device based on board grain recognition. Background Art

[0002] The sunning process of solid wood boards is a key link in the wood processing field, directly affecting the quality stability of wood products such as finished furniture and decorative materials. Especially for precious hardwoods such as teak, its natural texture is beautiful, and the material is hard and corrosion-resistant, which is widely used in high-end solid wood products. During the natural drying process, the board gradually releases internal stress by uniform dehydration, which can effectively avoid defects such as cracking and deformation, and maintain the physical and mechanical properties and dimensional stability of the wood. Therefore, scientifically regulating the humidity, temperature, and water spraying direction during the sunning process is crucial for ensuring the flatness and structural strength of the finished board.

[0003] Currently, the traditional sunning process mainly relies on manual experience for operation, which has significant limitations. On the one hand, workers need to regularly observe the surface state of the board and manually adjust the water spraying angle and frequency. It is difficult to accurately control the water spraying strategy in real time according to the actual temperature and humidity changes of the wood, which easily leads to local over-wetting or uneven drying, affecting the sunning effect. On the other hand, for materials with significant shrinkage characteristics such as teak, its transverse (perpendicular to the grain direction) shrinkage rate is much higher than the longitudinal (along the grain direction). If the reverse-grain water spraying method is used, the water will diffuse non-uniformly along the fiber gaps, exacerbating the transverse shrinkage difference and causing warping or twisting deformation; while the along-grain water spraying can make the water penetrate naturally along the fiber structure, promoting the shrinkage in all directions to tend to be balanced, thereby maintaining the flatness of the board. However, in the existing technology, the along-grain directional water spraying requires manual identification of the grain direction of each board and adjustment of the nozzle, which has the problems of high labor intensity and low operation efficiency, and it is difficult to meet the accuracy and efficiency requirements of large-scale industrial production.

[0004] In summary, the existing sunning process has obvious deficiencies in grain adaptability, water spraying accuracy, and automation level, which restricts the batch production of high-quality teak boards. Therefore, there is an urgent need to provide a directional water spraying method and device based on board grain recognition, which can realize the precise determination of the grain direction and the coordinated control of directional water spraying through intelligent technology, so as to improve the sunning uniformity and operation efficiency and ensure the high-quality rate of the finished board. Summary of the Invention

[0005] In view of the problems in the related art, the present invention proposes a directional water spraying method and device based on board grain recognition to solve the obvious deficiencies in grain adaptability, water spraying accuracy, and automation level of the existing sunning process.

[0006] The technical solution of the present invention is realized as follows: A directional water spraying method based on board grain recognition includes the following steps:

[0007] S1. Grain recognition and positioning: Collect image data of the board surface through the camera mounted on the robotic arm, use the edge detection algorithm to extract the contour features of the board, and combine with the texture analysis algorithm to identify the main direction of the wood grain, generating a water spraying path along the grain;

[0008] S2. Directional staged water spraying: Mount a nozzle on the robotic arm and perform high-pressure directional water spraying along the water spraying path along the grain generated in step S1. The pressure range of the high-pressure water spraying is 3.2 - 3.8 MPa, the number of water spraying times is two, and the duration of each water spraying is 3 - 5 seconds; Subsequently, switch to the uniform water spraying mode for the entire board, reduce the water spraying pressure to 0.2 - 1.5 MPa, and the number of water spraying times is two, covering the entire surface of the board;

[0009] S3. Dynamic temperature control: Monitor the surface temperature of the board through the infrared temperature measurement module mounted on the robotic arm. When the temperature exceeds the first temperature threshold, trigger the repeated execution of steps S1 - S2 until the temperature ≤ the second temperature threshold;

[0010] S4. Block-by-block cyclic operation: Based on the preset coordinate information of the drying yard layout, plan the movement trajectory of the robotic arm through the AGV chassis, and sequentially execute the above steps S1 - S3 for multiple boards.

[0011] The present invention replaces manual labor with a robotic arm, performs directional water spraying along the grain according to the board grain, reduces the frequency of manual intervention, and improves the operation consistency; At the same time, the staged directional water spraying combines high-pressure penetration with uniform coverage to reduce the risk of shrinkage deformation; The dynamic temperature control closed-loop regulation inhibits overheating shrinkage, solving the core problems of high manual dependence, rough temperature and humidity control, and poor board flatness in the traditional board drying process.

[0012] As a further improvement of the above solution, step S1 further includes the following steps:

[0013] S11. When collecting image data, perform bilateral filtering preprocessing on the image;

[0014] S12. Use the Canny operator to extract the contour features of the board from the preprocessed image; Among them, set the high threshold to 65% - 75% of the maximum gray value of the image, and the low threshold to 25 - 40%;

[0015] S13. Combine with the texture analysis algorithm to identify the main direction of the wood grain; The texture analysis algorithm includes the calculation of the contrast, energy value and entropy value of the gray level co-occurrence matrix of the image to determine the optimal solution of the grain direction.

[0016] The bilateral filtering preprocessing effectively retains the edge details of the board while suppressing noise interference, providing a high-quality image basis for subsequent feature extraction; the Canny operator with an optimized threshold range is used for contour extraction, significantly reducing the interference of false edges on the premise of ensuring the continuity of the texture; innovatively combining the multi-parameter analysis of the gray-level co-occurrence matrix, the main direction of the texture is accurately identified through multi-dimensional feature fusion, effectively improving the recognition accuracy compared with the traditional single-parameter analysis method.

[0017] As a further improvement of the above solution, the texture analysis algorithm includes the following steps:

[0018] S131. Generate a gray-level co-occurrence matrix with parameters of pixel spacing d = 1, direction angles θ = 0°, 45°, 90°, 135°, the gray level is quantized to 16 levels, and the quantization method is to linearly map to the range of 0 - 255 and then equally spaced binning;

[0019] S132. Calculate the contrast, energy value, and entropy value in each direction, and perform weighted summation according to the weights ω1 = 0.5, ω2 = 0.3, ω3 = 0.2 to obtain the texture intensity value S(θ);

[0020] S133. Select the direction corresponding to the maximum value of S(θ) as the main direction to generate the straight-grain water spraying path.

[0021] Adopting a weighted fusion strategy with a contrast weight of 0.5, an energy value weight of 0.3, and an entropy value weight of 0.2 enhances the robustness of the main direction recognition and avoids misjudgment caused by a single feature; in addition, through the optimized calculation of the texture intensity value S(θ), the main direction of the texture is accurately positioned, improving the generation accuracy of the straight-grain water spraying path.

[0022] As a further improvement of the above solution, it also includes performing humidity balance control after step S2: through the humidity sensing module carried by the robotic arm, detecting the humidity difference in each area of the board. If the maximum humidity difference exceeds 5%, an additional uniform spraying of the whole board is increased, and the spraying duration is dynamically adjusted according to the difference value. The formula is: t = k × ΔH; where k = 0.5s / % and ΔH is the humidity difference. The humidity difference in each area of the board is monitored in real time through the humidity sensing module carried by the robotic arm. When the maximum humidity difference exceeds 5%, dynamic water spraying compensation is triggered, accurately regulating the spraying duration to ensure rapid humidity balance, effectively avoiding problems such as local over-wetting or drying caused by the traditional fixed water spraying mode, significantly reducing defects such as deformation and cracking caused by uneven humidity, and improving the quality and yield of the plate drying.

[0023] As a further improvement of the above solution, in step S2, the pressure value of the high-pressure directional water spraying is dynamically adjusted according to the initial humidity of the board, and the adjustment formula is:

[0024] P = P0 × (1 + α(H0 - H));

[0025] Among them, P0 is the reference pressure of 3.5 MPa, α is the adjustment coefficient of 0.1, H0 is the target humidity value of 25%, and H is the humidity of the board surface detected in real time.

[0026] When the real-time humidity H is lower than the target value H0, the water spraying pressure is automatically increased to enhance the water mist permeability and ensure deep moisture replenishment; when the humidity approaches the target value, the pressure is reduced to avoid over-wetting the surface. Compared with fixed-pressure water spraying, it effectively prevents problems such as peeling of the board surface layer or insufficient internal wetting caused by improper pressure, and at the same time optimizes the utilization rate of water resources.

[0027] As a further improvement of the above solution, in the step S2, the deviation of the spraying angle of the high-pressure water spraying from the grain direction does not exceed ±5°, and the distance between the nozzle and the board surface is maintained at 10 - 15 cm; the whole board is evenly sprayed with a fan-shaped nozzle with a coverage angle of 60° - 90°. By strictly controlling the spraying angle of the high-pressure water spraying within the range of ±5° deviation from the grain direction and maintaining the optimal spraying distance of 10 - 15 cm, it ensures that the water flow penetrates precisely along the direction of the wood fibers, increasing the water absorption rate by more than 25%, and at the same time avoiding surface water marks and texture damage caused by angle deviation. The whole board is evenly sprayed with a 60° - 90° fan-shaped nozzle to achieve full coverage without dead angles. Combined with the intelligent path planning of the robotic arm, the spraying uniformity is effectively improved, preventing local over-wetting or drying.

[0028] As a further improvement of the above solution, in the step S2, a static time of 3 - 5 minutes is set between two high-pressure water sprayings, and the coverage width of the water spraying path is 1.2 - 1.5 times the grain spacing, and the grain spacing is calculated by the average distance between adjacent texture peaks. By setting the static time interval between water sprayings, the water can fully penetrate into the board interior, avoiding surface runoff caused by instantaneous excessive water spraying; at the same time, accurately controlling the coverage width of the water spraying path within 1.2 - 1.5 times the grain spacing ensures that each texture is evenly wetted, eliminating dry blind spots, and significantly reducing defects such as deformation and cracking caused by uneven humidity stress, with the dual advantages of quality improvement and energy conservation and efficiency enhancement.

[0029] A directional water spraying device based on board grain recognition applies a directional water spraying method based on board grain recognition as described above; it includes:

[0030] An AGV chassis is equipped with four-wheel Mecanum wheels and a landmark recognition module, and the landmark recognition module obtains the position coordinates by scanning the QR code on the drying yard support;

[0031] A lifting platform is installed on the AGV chassis and can be lifted vertically;

[0032] A robotic arm is fixed to the top of the lifting platform, and its end effector is provided with a rotating cylinder, and the side wall of the rotating cylinder includes three working end faces:

[0033] Identify the working end face: Integrate a camera, an infrared temperature measurement module, and a humidity sensing module; the camera is used to collect image data on the surface of the board; the infrared temperature measurement module monitors the surface temperature of the board; the humidity sensing module is used to detect the humidity difference in each area of the board;

[0034] Water spraying working end face: Equipped with a movable nozzle for spraying water on the surface of the board;

[0035] Material taking working end face: Equipped with an array of vacuum suction cups with a suction cup spacing of 10 - 15 cm;

[0036] The rotating cylinder can rotate along its axis direction to switch different working end faces towards the board; a coaxial cavity is provided inside the rotating cylinder, and the cavity is successively a main battery cell chamber, a main air source chamber, and a main water source chamber from the inside out. One end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump, and a water tank through a rotary conversion device; the rotary conversion device includes a secondary battery cell chamber, a secondary air source chamber, and a secondary water source chamber, which respectively correspond to the main battery cell chamber, the main air source chamber, and the main water source chamber one by one, and realize dynamic conduction through rotary sealing rings; among them, the main battery cell chamber is electrically connected to the secondary battery cell chamber through an elastic conductive ring.

[0037] As a further improvement of the above solution, a guide rail is provided on the water spraying working end face, and a slider is slidably connected to the guide rail, and the nozzle is arranged on the slider; a driving motor is also included, and the driving motor is used to drive the slider to reciprocate along the extension direction of the guide rail. Through the coordinated control of the integrated AGV chassis, multi-degree-of-freedom robotic arm, and multi-functional rotating cylinder, the full process automation operation of board spraying is realized. The design of the three working end face rotating cylinder realizes the seamless connection of the "identification - water spraying - material taking" processes through rotary switching, effectively improving the operation efficiency. The coaxial multi-chamber rotary conversion device uses an elastic conductive ring and a rotary sealing ring to achieve 360° unrestricted rotation while ensuring the continuous supply of water, electricity, and gas, ensuring the efficiency of automatic board spraying. In addition, the configured nozzle reciprocates with the slider to accurately match the grain pattern direction, ensuring the requirement of spraying along the grain.

[0038] As a further improvement of the above solution, in the cavity of the rotating cylinder, the radial width ratio of the main battery cell chamber, the main air source chamber, and the main water source chamber is 1:1.5:2. A fluororubber sealing isolation ring with a thickness of 1 - 3 mm is provided between adjacent chambers. By reasonably setting the radial width ratio of the cavity of the rotating cylinder (battery cell: air source: water source = 1:1.5:2), the optimal ratio of power supply to medium transportation is achieved within a limited space, ensuring the working efficiency of each system while maintaining the structural compactness. A fluororubber sealing isolation ring with a special thickness forms multiple isolation barriers within a limited space, effectively preventing cross - contamination and pressure interference between different media, significantly enhancing the sealing reliability and the service life of components, and providing key support for the multi - function integration and high - efficiency operation of the equipment.

[0039] Advantages of the present invention:

[0040] (1) Improve the adaptability to grain and enhance the degree of automation: By mounting a camera on the robotic arm and combining edge detection algorithms and texture analysis algorithms, the main direction of the wood grain can be accurately identified, overcoming the subjectivity and errors of manual judgment, ensuring that the water - spraying path is strictly along the grain, and avoiding the problem of uneven transverse shrinkage caused by spraying against the grain. In addition, automatically generating a water - spraying path along the grain to replace manual adjustment of the nozzle direction reduces the frequency of manual intervention, lowers the labor intensity, and at the same time improves the operation consistency, being applicable to teak boards of different specifications and grain complexities.

[0041] (2) Optimize the water - spraying accuracy: Use high - pressure directional water - spraying to enhance the penetration along the grain, ensuring that the moisture diffuses evenly along the fiber gaps, suppressing the difference in transverse shrinkage; subsequently, evenly spraying the whole board to balance the humidity gradient, avoiding local over - wetness or dryness, and significantly reducing the risk of warping and twisting deformation. At the same time, the combined strategy of high - pressure water - spraying twice and even water - spraying twice achieves the synergistic effect of deep penetration and surface coverage within a limited time. Compared with the traditional single water - spraying mode, it effectively shortens the drying cycle.

[0042] (3) Accurately suppress overheat shrinkage: Monitor the surface temperature of the board through an infrared temperature - measuring module. When the temperature exceeds the first temperature threshold, automatically trigger the repeated water - spraying process until the temperature ≤ the second temperature threshold, which can quickly reduce the surface temperature of the board, avoid uneven fiber shrinkage caused by high temperature, and cope with variables such as different sunlight intensities, environmental temperature and humidity, etc., ensure the stability of the board - drying process, reduce the dependence on manual turning and temperature measurement, and improve the process reliability.

[0043] (4)Full-process automation: Based on the preset coordinate information of the drying yard layout, the AGV chassis autonomously moves to the target board position, and the robotic arm sequentially performs tasks such as identification, water spraying, and temperature measurement, realizing unattended cyclic operation of multiple boards, greatly improving the drying efficiency. At the same time, the coordinated control of the AGV movement trajectory and the robotic arm actions ensures that the water spraying parameters of each board are strictly executed according to the preset strategy, avoiding problems such as missed spraying and repeated spraying caused by manual operation, and guaranteeing the qualified rate of the dried boards. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 FIG. is a flowchart of the steps of a method for directional water spraying based on board texture recognition according to the present invention;

[0045] Figure 2 FIG. is a schematic structural diagram of a directional water spraying device based on board texture recognition according to the present invention;

[0046] Figure 3 FIG. is a perspective view of the rotating cylinder of the present invention;

[0047] Figure 4 FIG. is a connection schematic diagram of the rotating cylinder and the rotary conversion device of the present invention;

[0048] Figure 5 FIG. is a working schematic diagram of the directional water spraying device of the present invention;

[0049] REFERENCE NUMERALS:

[0050] D1, directional water spraying device; Z1, bracket; B1, board;

[0051] 1, AGV chassis;

[0052] 2, lifting platform;

[0053] 3, robotic arm;

[0054] 4, rotating cylinder; 4a, main battery cell chamber; 4b, main air source chamber; 4c, main water source chamber;

[0055] 41, identification working end face; 411, camera; 412, infrared temperature measurement module; 413, humidity sensing module; 42, water spraying working end face; 421, nozzle; 422, guide rail; 423, slider; 424, drive motor;

[0056] 43, material taking working end face; 431, suction cup;

[0057] 5, rotary conversion device; 5a, secondary battery cell chamber; 5b, secondary air source chamber; 5c, secondary water source chamber;

[0058] 61, elastic conductive ring; 62, rotary seal ring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0060] Embodiment:

[0061] As Figure 1 shown, a directional water spraying method based on board grain recognition includes the following steps:

[0062] S1. Grain recognition and positioning: Image data on the surface of the board is collected by the camera 411 carried by the robotic arm 3, the contour features of the board are extracted using the edge detection algorithm, and the main direction of the wood grain is recognized by combining the texture analysis algorithm to generate a grain-aligned water spraying path.

[0063] S2. Directional staged water spraying: The nozzle 421 is carried on the robotic arm 3, and high-pressure directional water spraying is performed along the grain-aligned water spraying path generated in step S1, where the pressure range of the high-pressure water spraying is 3.2 - 3.8 MPa, the number of water spraying times is two, and the duration of each water spraying is 3 - 5 seconds; then it switches to the full-board uniform water spraying mode, the water spraying pressure is reduced to 0.2 - 1.5 MPa, and the number of water spraying times is two, covering the entire surface of the board.

[0064] S3. Dynamic temperature regulation: The surface temperature of the board is monitored by the infrared temperature measurement module 412 carried by the robotic arm 3. When the temperature exceeds the first temperature threshold, steps S1 - S2 are triggered to be repeatedly executed until the temperature ≤ the second temperature threshold; in this embodiment, the first temperature threshold can be 40°C - 42°C, and the second temperature threshold can be 37°C - 38°C.

[0065] S4. Block-by-block cyclic operation: Based on the preset coordinate information of the drying yard layout, the movement trajectory of the robotic arm 3 is planned by the AGV chassis 1, and steps S1 - S3 are sequentially executed on multiple boards.

[0066] In this embodiment, step S1 further includes the following steps:

[0067] S11. When collecting image data, bilateral filtering preprocessing is performed on the image. Specifically, an industrial camera 411 with 20 million pixels carried by the robotic arm 3 can be used to photograph the surface of the board, the resolution is set to 3840×2160 pixels, and the light source is a ring-shaped LED array. The bilateral filter is used to remove noise from the image while retaining edge details. The parameter settings are: spatial domain standard deviation σd = 5; gray domain standard deviation σr = 30.

[0068] S12. Extract the contour features of the board from the preprocessed image using the Canny operator; among them, set the high threshold to 65% - 75% of the maximum gray value of the image, and the low threshold to 25 - 40%; specifically, in this embodiment, set the high threshold = maximum gray value of the image × 70%, and the low threshold = high threshold × 40%.

[0069] S13. Combine the texture analysis algorithm to identify the main direction of the wood grain; the texture analysis algorithm includes calculating the contrast, energy value, and entropy value of the gray-level co-occurrence matrix of the image to determine the optimal solution of the grain direction. Bilateral filtering preprocessing effectively retains the edge details of the board while suppressing noise interference, providing a high-quality image basis for subsequent feature extraction; using the Canny operator with an optimized threshold range for contour extraction significantly reduces false edge interference while ensuring the continuity of the grain; innovatively combining multi-parameter analysis of the gray-level co-occurrence matrix, accurately identifying the main direction of the grain through multi-dimensional feature fusion, and effectively improving the recognition accuracy compared with the traditional single-parameter analysis method.

[0070] In this embodiment, the texture analysis algorithm includes the following steps:

[0071] S131. Generate a gray-level co-occurrence matrix (i.e., GLCM, English full name: Gray-Level Co-occurrence Matrix), with parameters of pixel spacing d = 1, direction angles θ = 0°, 45°, 90°, 135°, and the gray level is quantized to 16 levels. The quantization method is to linearly map to the 0 - 255 range and then equally spaced binning;

[0072] S132. Calculate the contrast, energy value, and entropy value of each direction, and perform a weighted sum according to the weights ω1 = 0.5, ω2 = 0.3, ω3 = 0.2 to obtain the texture intensity value S(θ);

[0073] Specifically, calculating the texture feature values in each direction θ includes the following calculation process:

[0074] Calculate the contrast:

[0075] C θ = ∑ i,j |i - j| 2 ·P(i, j);

[0076] Calculate the energy value:

[0077] E θ = ∑ i,j P(i, j) 2 ;

[0078] Calculate the entropy value:

[0079] H θ = -∑ i,jP(i,j)·log2P(i,j);

[0080] where P(i,j) is the probability value at the coordinate (i,j) in the gray-level co-occurrence matrix;

[0081] Calculate the comprehensive texture intensity value according to the weight contrast ω1 = 0.5, the energy value ω2 = 0.3, and the entropy value ω3 = 0.2:

[0082] S(θ) = ω1·C θ + ω2·E θ - ω3·H θ ;

[0083] S133. Select the direction θmax corresponding to the maximum value of S(θ) as the main direction, and generate a grain spraying path parallel to θmax, with the path direction deviation ≤ ±3°. Adopt a weighted fusion strategy with a contrast weight of 0.5, an energy value weight of 0.3, and an entropy value weight of 0.2 to enhance the robustness of the main direction recognition and avoid misjudgment caused by a single feature; in addition, through the optimized calculation of the texture intensity value S(θ), accurately locate the main direction of the grain and improve the generation accuracy of the grain spraying path.

[0084] Furthermore, in other embodiments, the generation direction θ of the gray-level co-occurrence matrix also includes interpolation processing:

[0085] If the difference between S(θ) of adjacent directions θ1 and θ2 is less than 10%, then fit the main direction by the least squares method: θmax = (θ1 + θ2) / 2; if the difference ≥ 10%, then directly select the direction corresponding to the maximum value of S(θ).

[0086] It should be noted that the method adopted in this embodiment is based on traditional image processing and feature extraction, that is, through the gray-level co-occurrence matrix (GLCM) and statistical features, as well as edge detection and preprocessing techniques, to obtain the directional spraying path. In other embodiments, a dual-tree complex wavelet transform can also be adopted, combined with multi-spectrum feature fusion, to identify the grain trend of the board.

[0087] In this embodiment, it also includes performing humidity balance control after step S2: through the humidity sensing module 413 carried by the robotic arm 3, detect the humidity difference in each area of the board. If the maximum humidity difference exceeds 5%, then perform an additional uniform spraying on the whole board, and the spraying duration is dynamically adjusted according to the difference value. The formula is: t = k×ΔH; where k = 0.5s / %, and ΔH is the humidity difference. Real-time monitor the humidity difference in each area of the board through the humidity sensing module 413 carried by the robotic arm 3. When the maximum humidity difference exceeds 5%, trigger dynamic spraying compensation, accurately control the spraying duration, ensure rapid humidity balance, effectively avoid local over-wetting or drying problems caused by the traditional fixed spraying mode, significantly reduce defects such as deformation and cracking caused by uneven humidity, and improve the board drying quality and the finished product rate.

[0088] In this embodiment, in step S2, the pressure value of the high-pressure directional water spray is dynamically adjusted according to the initial humidity of the plate, and the adjustment formula is:

[0089] P = P0 × (1 + α (H0 - H));

[0090] Among them, P0 is the reference pressure of 3.5MPa, α is the adjustment coefficient of 0.1, H0 is the target humidity value of 25%, and H is the real-time detected surface humidity of the board.

[0091] When the real-time humidity H falls below the target value H0, the spray pressure is automatically increased to enhance water mist penetration and ensure deep moisturizing. When the humidity approaches the target value, the pressure is reduced to avoid over-wetting the surface. Compared with fixed-pressure spraying, this effectively prevents surface peeling or insufficient internal moistening caused by improper pressure, while also optimizing water resource utilization.

[0092] In this embodiment, in step S2, the deviation of the spray angle of the high-pressure water spray from the grain direction does not exceed ±5°, and the distance between the nozzle 421 and the surface of the board is maintained at 10-15cm; the uniform water spraying of the entire board adopts a fan-shaped nozzle with a coverage angle of 60°-90°. By strictly controlling the spray angle of the high-pressure water spray within the deviation range of ±5° in the grain direction and maintaining the optimal spray distance of 10-15cm, it is ensured that the water flow penetrates accurately along the direction of the wood fiber, so that the moisture absorption rate is increased by more than 25%, while avoiding surface water marks and texture damage caused by angle deviation. The uniform water spraying of the entire board adopts a 60°-90° fan-shaped nozzle to achieve coverage without dead angles. In conjunction with the intelligent path planning of the robot arm 3, the uniformity of the water spraying is effectively improved to prevent local over-wetting or drying.

[0093] In this embodiment, in step S2, a 3-5 minute rest period is set between two high-pressure water sprays, and the water spray path coverage width is 1.2-1.5 times the wood grain spacing, calculated as the average distance between adjacent grain peaks. This rest period between water sprays allows water to fully penetrate the board's interior, avoiding surface runoff caused by instantaneous excessive water spraying. Furthermore, the water spray path coverage width is precisely controlled to 1.2-1.5 times the wood grain spacing, ensuring uniform wetting of each grain, eliminating drying blind spots, and significantly reducing defects such as deformation and cracking caused by uneven moisture stress. This achieves the dual advantages of improved quality and energy efficiency.

[0094] like Figures 2 - 4 As shown, this embodiment further provides a directional water spraying device based on plate texture recognition, which applies the directional water spraying method based on plate texture recognition described above; including:

[0095] The AGV chassis 1 is equipped with four-wheel Mecanum wheels and a landmark recognition module. The landmark recognition module obtains the position coordinates by scanning the QR code on the drying yard bracket.

[0096] The lifting platform 2 is installed on the AGV chassis 1 and can be lifted vertically.

[0097] The robotic arm 3 is fixed to the top of the lifting platform 2. The end effector of the robotic arm 3 is provided with a rotating cylinder 4. The side wall of the rotating cylinder 4 includes three working end faces:

[0098] The recognition working end face 41: integrates a camera 411, an infrared temperature measurement module 412, and a humidity sensing module 413. The camera 411 is used to collect image data on the surface of the board. The infrared temperature measurement module 412 monitors the surface temperature of the board. The humidity sensing module 413 is used to detect the humidity difference in each area of the board.

[0099] The water spraying working end face 42: is provided with a movable nozzle 421 for spraying water on the surface of the board. In this embodiment, a guide rail 422 is provided on the water spraying working end face 42. A slider 423 is slidably connected to the guide rail 422. The nozzle 421 is arranged on the slider 423. It also includes a driving motor 424, and the driving motor 424 is used to drive the slider 423 to reciprocate along the extension direction of the guide rail 422.

[0100] The material taking working end face 43: is provided with an array of vacuum suction cups 431, and the distance between the suction cups 431 is 10 - 15 cm.

[0101] The rotating cylinder 4 can rotate along its axis to switch the orientation of different working end faces towards the board. A coaxial cavity is provided inside the rotating cylinder 4. The cavity is successively a main battery chamber 4a, a main air source chamber 4b, and a main water source chamber 4c from the inside to the outside. One end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump, and a water tank through a rotary conversion device 5. The rotary conversion device 5 includes a secondary battery chamber 5a, a secondary air source chamber 5b, and a secondary water source chamber 5c, which respectively correspond to the main battery chamber 4a, the main air source chamber 4b, and the main water source chamber 4c one by one, and realizes dynamic conduction through a rotary sealing ring 62. Among them, the main battery chamber 4a is electrically connected to the secondary battery chamber 5a through an elastic conductive ring 61. In this embodiment, a battery is carried on the AGV chassis as the power supply, and an air pump and a water tank are also carried to provide an air source and a water source.

[0102] In this embodiment, through the collaborative control of the integration of the AGV chassis 1, the multi-degree-of-freedom robotic arm 3, and the multi-functional rotating drum 4, the full process automation of spraying water on the plates is realized. The design of the three working-end face rotating drum 4 enables seamless connection of the processes of "identification - water spraying - material taking" through rotational switching, effectively improving the operation efficiency. The coaxial multi-chamber rotary conversion device 5 adopts an elastic conductive ring 61 and a rotary sealing ring 62 to achieve unrestricted 360° rotation while ensuring continuous supply of water, electricity, and gas, ensuring the efficiency of automatic plate spraying. In addition, the spray head 421 is configured to reciprocate with the slider 423 to accurately match the grain pattern direction of the wood, ensuring the requirement of spraying water along the grain.

[0103] In this embodiment, in the cavity of the rotating drum 4, the radial width ratio of the main battery cell chamber 4a, the main air source chamber 4b, and the main water source chamber 4c is 1:1.5:2. A fluororubber sealing isolation ring with a thickness of 1 - 3 mm is provided between adjacent chambers. By reasonably setting the radial width ratio of the cavity of the rotating drum 4, specifically: battery cell : air source : water source = 1:1.5:2, the optimal ratio of power supply and medium transportation is achieved within a limited space, ensuring the working efficiency of each system while maintaining the structural compactness. A fluororubber sealing isolation ring with a special thickness forms multiple isolation barriers within a limited space, effectively preventing cross-contamination and pressure interference between different media, significantly improving the sealing reliability and the service life of components, and providing key support for the multi-functional integration and efficient operation of the equipment.

[0104] As Figure 5 shown, through the above technical solutions of the present invention, in specific applications:

[0105] First, the robotic arm 3 sucks the board to the bracket through the array of vacuum suction cups 431. Rotate the rotating drum 4 of the robotic arm 3 so that the camera 411 faces the board to collect image data on the surface of the board, use the edge detection algorithm to extract the contour features of the board, and combine with the texture analysis algorithm to identify the main direction of the wood grain to generate a water spraying path along the grain.

[0106] Next, rotate the rotating drum 4 of the robotic arm 3 so that the spray head 421 faces the board and perform high-pressure directional water spraying along the generated water spraying path along the grain. The pressure range of the high-pressure water spraying is 3.2 - 3.8 MPa, the number of water spraying times is two, and the duration of each water spraying is 3 - 5 seconds; then switch to the uniform water spraying mode for the whole board, and the water spraying pressure is reduced to 0.2 - 1.5 MPa, and the number of water spraying times is two, covering the entire surface of the board.

[0107] Secondly, rotate the rotating drum 4 of the robotic arm 3 so that the infrared temperature measurement module 412 faces the board, and monitor the surface temperature of the board through the infrared temperature measurement module 412 carried by the robotic arm 3. When the temperature exceeds the first temperature threshold, such as 40 °C, trigger the repeated execution of image recognition and water spraying operations until the temperature ≤ the second temperature threshold, such as 38 °C.

[0108] Finally, based on the preset coordinate information of the drying yard layout, the AGV chassis 1 plans the movement trajectory of the robotic arm 3, and sequentially performs the above-mentioned image recognition, water spraying, and temperature measurement operations on multiple sheets. In this embodiment, the robotic arm 3 replaces manual labor, sprays water along the grain direction according to the grain of the sheet, reduces the frequency of manual intervention, and improves the consistency of operations. At the same time, the staged directional water spraying combines high-pressure penetration and uniform coverage to reduce the risk of shrinkage deformation. The dynamic temperature control closed-loop regulation inhibits overheating shrinkage, solving the core problems of the traditional sheet drying process such as high dependence on manual labor, rough control of temperature and humidity, and poor flatness of the sheet.

[0109] According to the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the invention should also fall within the protection scope of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for convenience of description and do not constitute any limitation to the present invention.

Claims

1. A directional water spraying method based on sheet texture recognition, characterized in that It includes the following steps: S1. Grain recognition and positioning: Collect image data of the board surface through a camera mounted on the robotic arm, use an edge detection algorithm to extract the contour features of the board, and combine with a texture analysis algorithm to identify the main direction of the wood grain, generating a water spraying path along the grain; S2. Directional staged water spraying: A nozzle is mounted on the robotic arm, and high-pressure directional water spraying is carried out along the water spraying path along the grain generated in step S1. The pressure range of the high-pressure water spraying is 3.2 - 3.8 MPa, the number of water spraying times is two, and the duration of each water spraying is 3 - 5 seconds; Subsequently, switch to the mode of uniform water spraying on the whole board, the water spraying pressure is reduced to 0.2 - 1.5 MPa, and the number of water spraying times is two, covering the entire surface of the board; S3. Dynamic temperature control: Monitor the surface temperature of the board through an infrared temperature measurement module mounted on the robotic arm. When the temperature exceeds the first temperature threshold, trigger the repeated execution of steps S1 - S2 until the temperature ≤ the second temperature threshold; S4. Block-by-block cyclic operation: Based on the preset coordinate information of the drying yard layout, plan the movement trajectory of the robotic arm through the AGV chassis, and sequentially execute the above steps S1 - S3 on multiple boards.

2. The directional water spraying method based on sheet texture recognition according to claim 1, wherein Step S1 further includes the following steps: S11. When collecting image data, perform bilateral filtering preprocessing on the image; S12. Use the Canny operator to extract the contour features of the board from the preprocessed image; Among them, the high threshold is set to 65% - 75% of the maximum gray value of the image, and the low threshold is 25 - 40%; S13. Combine with a texture analysis algorithm to identify the main direction of the wood grain; The texture analysis algorithm includes the calculation of the contrast, energy value and entropy value of the gray-level co-occurrence matrix of the image to determine the optimal solution of the grain direction.

3. The directional water spraying method based on sheet texture recognition according to claim 2, wherein, The texture analysis algorithm includes the following steps: S131. Generate a gray-level co-occurrence matrix with parameters of pixel spacing d = 1, direction angles θ = 0°, 45°, 90°, 135°, and the gray level is quantized to 16 levels; S132. Calculate the contrast, energy value and entropy value of each direction, and perform weighted summation according to the weights ω1 = 0.5, ω2 = 0.3, ω3 = 0.2 to obtain the texture intensity value S(θ); S133. Select the direction corresponding to the maximum value of S(θ) as the main direction and generate the water spraying path along the grain.

4. A directional water spraying method based on board texture recognition according to claim 1, characterized in that It also includes performing humidity equalization control after step S2: Detect the humidity difference in each area of the board through a humidity sensing module mounted on the robotic arm. If the maximum humidity difference exceeds 5%, then increase the number of uniform water spraying on the whole board once, and the spraying duration is dynamically adjusted according to the difference value. The formula is: t = k×ΔH; where k = 0.5 s / % and ΔH is the humidity difference value.

5. A directional water spraying method based on sheet texture recognition according to claim 4, characterized in that, In step S2, the pressure value of the high-pressure directional water spraying is dynamically adjusted according to the initial humidity of the board, and the adjustment formula is: P = P0×(1 + α(H0 - H)); where P0 is the reference pressure of 3.5 MPa, α is the adjustment coefficient of 0.1, H0 is the target humidity value of 25%, and H is the humidity of the board surface detected in real time.

6. The directional water spraying method based on the recognition of the texture of the board according to claim 5, characterized in that, In step S2, the deviation between the spraying angle of the high-pressure water spraying and the grain direction does not exceed ±5°, and the distance between the nozzle and the board surface is kept at 10 - 15 cm; The uniform water spraying on the whole board uses a fan-shaped nozzle with a coverage angle of 60° - 90°.

7. A method for directional water spraying based on board texture recognition according to claim 6, characterized in that, In the step S2, a static time of 3 - 5 minutes is set between two high - pressure water sprays, and the coverage width of the water spray path is 1.2 - 1.5 times the wood grain spacing, which is calculated by the average distance between adjacent texture peaks.

8. A directional water spraying device based on board texture recognition, which applies a directional water spraying method based on board texture recognition according to any one of claims 1-7; characterized in that, Including: An AGV chassis equipped with four - wheel Mecanum wheels and a landmark recognition module, and the landmark recognition module obtains position coordinates by scanning the QR code on the drying yard support. A lifting platform installed on the AGV chassis and capable of lifting in the vertical direction. A robotic arm fixed to the top of the lifting platform, and the end - effector of the robotic arm is provided with a rotating cylinder, and the side wall of the rotating cylinder includes three working end faces: An identification working end face: integrated with a camera, an infrared temperature measurement module and a humidity sensing module; the camera is used to collect image data on the surface of the board; the infrared temperature measurement module monitors the surface temperature of the board; the humidity sensing module is used to detect the humidity difference in each area of the board. A water - spraying working end face: provided with a movable nozzle for spraying water on the surface of the board. A material - taking working end face: provided with an array of vacuum suction cups with a suction cup spacing of 10 - 15 cm. The rotating cylinder can rotate along its axis to switch the orientation of different working end faces towards the board; a coaxial cavity is provided inside the rotating cylinder, and the cavity is successively a main battery cell chamber, a main air source chamber and a main water source chamber from the inside out; one end of each chamber is connected to the corresponding working end face, and the other end is connected to an external power supply, an air pump and a water tank through a rotary conversion device; the rotary conversion device includes a secondary battery cell chamber, a secondary air source chamber and a secondary water source chamber, which respectively correspond to the main battery cell chamber, the main air source chamber and the main water source chamber one by one, and realize dynamic conduction through rotary sealing rings; among them, the main battery cell chamber and the secondary battery cell chamber are electrically connected through an elastic conductive ring.

9. The directional water spraying device based on sheet texture recognition according to claim 8, characterized in that, A guide rail is provided on the water - spraying working end face, and a slider is slidably connected to the guide rail, and the nozzle is arranged on the slider; a driving motor is further included, and the driving motor is used to drive the slider to reciprocate along the extension direction of the guide rail.

10. The directional water spraying device based on sheet texture recognition according to claim 8, characterized in that, In the cavity of the rotating cylinder, the radial width ratio of the main battery cell chamber, the main air source chamber and the main water source chamber is 1:1.5:2, and a fluororubber sealing isolation ring with a thickness of 1 - 3 mm is provided between adjacent chambers.

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