Bamboo cane sorting method and device

Abstract

The invention discloses a bamboo strip sorting method and device. The device comprises a conveying assembly, a visual detection unit, a control unit, a sorting assembly, an overturning assembly and a rubberizing assembly. A first conveying group of the conveying assembly is used for flatly laying the bamboo canes, and a second conveying group is used for conveying the bamboo canes to a preset sorting area; the visual detection unit is arranged on the second conveying set to detect the defects of the bamboo canes, the sorting assembly comprises a mechanical claw and a sorting conveying belt set, and the sorting conveying belt set transports the defective bamboo canes through a defect conveying belt and transports the qualified bamboo canes through a second conveying belt; the overturning assembly is connected with the second conveying belt and used for overturning the bamboo strips, the rubberizing assembly comprises a cloth spreading set, a gluing set, a glue pressing set and a clamping set, a first clamp of the clamping set moves and conveys cloth between the cloth spreading set and the gluing set, and a second clamp conveys the glued cloth to the glue pressing end to be pressed with the bamboo strips. According to the device, integrated operation of automatic sorting, overturning and accurate cloth pasting of the bamboo strips is achieved, and the bamboo strip processing efficiency and quality stability are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bamboo processing, and particularly relates to a bamboo strip sorting method and device. BACKGROUND

[0002] Bamboo processing plays an important role in bamboo product production, among which, bamboo strip sorting and cloth pasting are key process links. Traditional processing methods mainly rely on manual operation for bamboo strip sorting and cloth pasting. Although in recent years, some automatic equipment has begun to be applied in this field, the whole is still in the stage of transition from mechanization to intelligence. In the bamboo strip processing process, surface defect recognition, front and back side distinction and subsequent precise control of the cloth pasting process are the core elements to ensure product quality. At present, visual detection systems have been gradually applied to bamboo strip sorting, and the cloth pasting process has also tried to introduce automatic equipment, but in actual application, there are still many challenges. Especially in the dynamic production environment, how to realize the seamless connection of high-precision bamboo strip sorting and cloth pasting process has become the main bottleneck restricting the development of the industry. The current equipment often cannot meet the multiple requirements of sorting accuracy, process connection and efficiency improvement, resulting in unstable product quality, low production efficiency and other problems. These problems not only increase the production cost, but also limit the development of bamboo product processing towards intelligence and scale. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a bamboo strip sorting method and device, which realizes automatic sorting and precise cloth pasting of bamboo strips through visual detection and mechanical sorting collaborative operation, solves the problems of low sorting efficiency and unstable cloth pasting quality of the equipment.

[0004] In order to achieve the above technical purposes, in a first aspect, the present application provides a bamboo strip sorting device, comprising a conveying assembly, a visual detection unit, a control unit, a sorting assembly, a turnover assembly and a rubberizing assembly, the conveying assembly comprises a first conveying group and a second conveying group, the first conveying group is used for laying bamboo strips, the second conveying group is used for conveying the bamboo strips to a preset sorting area, and the first conveying group and the second conveying group are connected in sequence; the visual detection unit is arranged on the second conveying group, and the visual detection unit is used for detecting defects of the bamboo strips; the control unit is electrically connected with the visual detection unit; the sorting assembly is arranged in the preset sorting area and connected with an output end of the second conveying group, the sorting assembly comprises a mechanical claw, a sorting conveyor belt group, the mechanical claw is used for grabbing the bamboo strips into the sorting conveyor belt group, the sorting conveyor belt group comprises a defect conveyor belt, a first conveyor belt and a second conveyor belt, the defect conveyor belt is used for transporting the bamboo strips containing defects, the first conveyor belt is arranged side by side with the defect conveyor belt, and the first conveyor belt is connected with the output end of the second conveying group, the second conveyor belt is arranged side by side with the first conveyor belt, and the second conveyor belt is used for conveying qualified bamboo strips; the turnover assembly is connected with the second conveyor belt, and the turnover assembly is used for overturning the bamboo strips; the rubberizing assembly is connected with an output end of the turnover assembly, the rubberizing assembly comprises a spreading group, a rubberizing group, a rubberizing pressing group and a clamping group, the clamping group comprises a first clamp and a second clamp, the first clamp is movable between the spreading group and the rubberizing group, the first clamp is used for conveying the cloth from the spreading group to the rubberizing group, the second clamp is movable on the rubberizing pressing group, the second clamp is used for conveying the cloth output by the rubberizing group to a rubberizing pressing end of the rubberizing pressing group, the rubberizing pressing group is connected with the output end of the turnover assembly, the bamboo piece is arranged below the cloth, and the rubberizing pressing end is used for pressing the cloth and the bamboo piece.

[0005] In some embodiments, the first conveying group comprises a first rack, a first chain, a second chain and a first driving unit, the first rack has a first side edge and a second side edge arranged oppositely; the first chain is arranged on the first side edge, a plurality of first protrusions are arranged on the first chain at intervals, and the distance between adjacent two first protrusions is matched with the width of the bamboo strip; the second chain is arranged on the second side edge, a plurality of second protrusions are arranged on the second chain at intervals, the distance between adjacent two second protrusions is matched with the width of the bamboo strip, and one bamboo strip is clamped between adjacent two first protrusions and adjacent two second protrusions; and the first driving unit is in transmission connection with the first chain and the second chain to drive the first chain and the second chain to rotate.

[0006] In some embodiments, the second conveying group comprises: a second rack, a first belt, a second belt and a second driving unit, the second rack has oppositely arranged third and fourth side edges; the first belt is arranged at the third side edge; the second belt is arranged at the fourth side edge; the second driving unit is in driving connection with the first and second belts to drive the first and second belts to rotate; the visual detection unit comprises: a detection base, a first detection unit and a second detection unit, the detection base is arranged on the second rack, the detection base has first and second extension sections, the first extension section is perpendicular to the first belt and arranged in a vertical direction, and the second extension section is perpendicular to the first belt and arranged in a horizontal direction; the first detection unit is arranged at the first extension section and is used for collecting images of the bamboo strips at a first preset angle; and the second detection unit is arranged at the second extension section and is used for collecting images of the bamboo strips at a second preset angle.

[0007] In some embodiments, the first conveying belt is arranged at the other side of the defect conveying belt, the first conveying belt is used for transporting the qualified bamboo strips placed with the front surface, and the second conveying belt is used for transporting the qualified bamboo strips placed with the back surface; the number of the rubber gluing assemblies is two, one rubber gluing assembly is connected with the first conveying belt, and the other rubber gluing assembly is connected with the output end of the turnover assembly; the sorting assembly further comprises: a third rack, a sorting base and a clamping driving unit, the third rack comprises a first top support and a first bottom support, the top support is arranged above the sorting conveying belt group, and the first bottom support is provided with the sorting conveying belt group; the sorting base is arranged on the third rack, the sorting base is provided with a mechanical arm, and the mechanical arm is configured as a Delta mechanical arm; and the clamping driving unit is arranged at the moving end of the mechanical arm, and the clamping driving unit has first and second clamping arms which are oppositely arranged.

[0008] In some embodiments, the turnover assembly comprises: a turnover base, a turnover support, a third driving unit, a first translation group and a second translation group, the turnover support comprises a first rotating disc and a second rotating disc which are oppositely arranged and can rotate relative to the turnover base, the first rotating disc has a first opening, the second rotating disc has a second opening, and the first opening is coaxial with the second opening; the third driving unit is arranged on the turnover base, the third driving unit is in driving connection with the first rotating disc, and the first rotating disc is in driving connection with the second rotating disc; the first translation group is arranged between the first and second rotating discs and is provided with a first clamping end; and the second translation group is oppositely arranged with the first translation group between the first and second rotating discs, the second translation group is provided with a second clamping end, and the first and second clamping ends can be used to clamp the bamboo strips.

[0009] In some embodiments, the first translation group comprises: a first translation support, a fourth driving unit, a plurality of first rollers, and a first clamping cylinder, the first translation support is arranged between the first rotary disc and the second rotary disc, the fourth driving unit is arranged on the first translation support, the plurality of first rollers are movably arranged on the first translation support, the first rollers are in transmission connection with the fourth driving unit, and the first clamping cylinder is arranged on the first translation support and at one side of the first rollers, and a moving end of the first clamping cylinder is a first clamping end.

[0010] In some embodiments, the clamping group comprises: a fixed support, a first moving support, and a second moving support, the fixed support comprises a first fixed frame, a second fixed frame, and a third fixed frame, the first fixed frame is provided with a cloth spreading group, the second fixed frame is provided with a glue applying group, and the third fixed frame is provided with a glue pressing group, the first moving support is arranged on the first fixed frame and the second fixed frame, and the first moving support is movable relative to the first fixed frame and the second fixed frame, the first clamp is a plurality of suction cups arranged in a circumferential direction of the first moving support, the plurality of suction cups are used for sucking and conveying the flat cloth to the glue applying group, the second moving support is arranged on the third fixed frame, and the second moving support is movable relative to the third fixed frame, the second clamp is at least two third clamping cylinders arranged side by side, the cloth spreading group comprises a cloth spreading plate and a lifting cylinder, the cloth spreading plate is arranged on the first fixed frame and used for placing the flat cloth, and the lifting cylinder is in transmission connection with the cloth spreading plate and used for lifting the cloth spreading plate, the glue applying group comprises a plurality of conveying rollers, two glue applying rollers, and a glue storage groove, the plurality of conveying rollers are arranged on the second fixed frame at intervals and used for placing and conveying the flat cloth, the two glue applying rollers are arranged opposite to each other in a vertical direction, one of the two glue applying rollers is flush with the conveying rollers, the flat cloth is arranged between the two glue applying rollers, and the other side of the glue applying rollers is arranged in a moving area of the third clamping cylinder, the glue storage groove is arranged below the glue applying roller flush with the conveying rollers, and the glue applying roller is partially immersed in glue liquid in the glue storage groove, and the glue pressing group comprises a glue pressing roller, a third conveying belt, and a sixth driving unit, the glue pressing roller is arranged on the third fixed frame, the third clamping cylinder is used for clamping one end of the cloth and moving the one end below the glue pressing roller, the third conveying belt is arranged on the third fixed frame and below the glue pressing roller, the third conveying belt is connected with an output end of the turnover assembly, and the sixth driving unit is arranged on the third fixed frame, the glue pressing roller is connected with the sixth driving unit, and the sixth driving unit is used for driving the glue pressing roller to move towards an upper surface of the third conveying belt.

[0011] In a second aspect, the present application also provides a bamboo strip sorting method suitable for the sorting device of the first aspect, the method comprising:

[0012] transporting the bamboo strips flatly to the second conveying group by the first conveying group;

[0013] collecting multi-angle images of the bamboo strips on the second conveying group by the visual detection unit to obtain collected image information;

[0014] controlling the image information by the control unit to identify defects, determine whether the bamboo strips have surface defects, identify the front and back states of the bamboo strips, and generate detection results;

[0015] controlling the sorting assembly to perform sorting operations according to the detection results, controlling the mechanical claws to grab the bamboo strips to the second conveying belt when the back bamboo strips without defects are identified, controlling the mechanical claws to grab the bamboo strips to the first conveying belt when the front bamboo strips without defects are identified, and keeping the bamboo strips on the second conveying group to continue conveying to the waste area when the bamboo strips with defects are identified;

[0016] controlling the turnover assembly to perform 180-degree turnover operations on the back bamboo strips conveyed by the second conveying belt to change them to the front state;

[0017] controlling the rubberizing assembly to perform cloth pasting processes on the sorted bamboo strips, comprising:

[0018] moving the cloth on the cloth spreading group to the rubberizing group by the first clamp for double-sided rubberizing;

[0019] moving the rubberized cloth to the rubber pressing group by the second clamp and pressing it with the bamboo strips output by the turnover assembly.

[0020] In some implementations, the control unit identifies defects in the image information, determines whether the bamboo strips have surface defects, identifies the front and back states of the bamboo strips, and generates detection results, comprising:

[0021] obtaining raw image data collected by the visual detection unit, pre-processing the raw image data to obtain standardized images, and the pre-processing includes size normalization and gray scale equalization processing;

[0022] inputting the standardized images into a convolutional neural network feature extraction module, extracting bamboo surface features by multi-layer convolution and pooling operations, and generating bamboo feature maps;

[0023] The trapezoidal section is identified based on the bamboo strip feature map, the contour feature points of the side edges of the bamboo strip are extracted through an edge detection algorithm, the contour feature points include the top point of the long bottom edge, the top point of the short bottom edge and the end points of the two side edges, and the front face state and the back face state are determined through regression calculation, wherein the long bottom edge upward is determined as the front face state, and the short bottom edge upward is determined as the back face state;

[0024] The defect detection analysis is performed on the bamboo strip feature map, different levels of surface defect features are extracted through a multi-scale feature fusion module, and the defect recognition result is output after feature reorganization and classification, and the defects include cracks, worm holes, mold spots and black knot defects;

[0025] According to the front and back face state recognition result and the defect recognition result, the detection result containing the sorting instruction is generated, and the sorting instruction includes the front face no defect sorting instruction, the back face no defect sorting instruction and the defect rejection instruction.

[0026] In some embodiments, the trapezoidal section is identified based on the bamboo strip feature map, the contour feature points of the side edges of the bamboo strip are extracted through an edge detection algorithm, and the front face state and the back face state are determined through regression calculation, including:

[0027] The Gaussian filter denoising processing is performed on the bamboo strip feature map, and the image gradient amplitude and direction are calculated by using the Sobel operator, the bamboo edge contour is extracted based on the non-maximum suppression and double threshold hysteresis processing to obtain a continuous edge pixel point set;

[0028] The Douglas-Peucker algorithm is used to perform polygon approximation on the edge contour to identify two parallel bottom edge line segments and two non-parallel side edge line segments of the trapezoidal section, the least square method is used to fit the equations of the edge lines, and the intersection coordinates of the four edges are calculated to determine the two end point coordinates of the long bottom edge, the two end point coordinates of the short bottom edge and the intersection coordinates of the extension lines of the two side edges;

[0029] The trapezoidal geometric feature regression model is established to calculate the length ratio of the long bottom edge to the short bottom edge, the slope difference of the two side edges and the included angle between the trapezoidal central axis and the vertical direction of the image, and the state is determined according to the geometric feature parameters, when the long bottom edge is located in the upper region of the image and the length ratio is greater than 1.5, it is determined as the front face state, and when the short bottom edge is located in the upper region of the image and the length ratio is less than 0.8, it is determined as the back face state.

[0030] Compared with the prior art, the bamboo strip sorting method and device have the beneficial effects that the device comprises a conveying assembly, a visual detection unit, a control unit, a sorting assembly, a turnover assembly and a rubberizing assembly which are connected in sequence. The first conveying assembly of the conveying assembly is used for laying bamboo strips, and the second conveying assembly is used for conveying the bamboo strips to a preset sorting area. The visual detection unit is arranged on the second conveying assembly to detect defects of the bamboo strips. The sorting assembly comprises a mechanical claw and a sorting conveyor belt group. The sorting conveyor belt group comprises a defect conveyor belt, a first conveyor belt and a second conveyor belt. The defect conveyor belt is used for conveying defective bamboo strips, and the second conveyor belt is used for conveying qualified bamboo strips. The turnover assembly is connected with the second conveyor belt and is used for overturning the bamboo strips. The rubberizing assembly comprises a spreading group, a rubberizing group, a rubberizing pressing group and a clamping group. The first clamp of the clamping group moves and conveys cloth between the spreading group and the rubberizing group. The second clamp conveys the rubberized cloth to the rubberizing pressing end and presses the cloth and the bamboo strip. The device realizes integrated operation of automatic sorting, overturning and precise cloth pasting of the bamboo strips, and significantly improves the efficiency and quality stability of bamboo strip processing. BRIEF DESCRIPTION OF DRAWINGS

[0031] 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 needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0032] Figure 1 is a specific structure diagram of the bamboo strip sorting device described in the specific embodiment;

[0033] Figure 2 is a specific structure diagram of the rubberizing assembly described in the specific embodiment;

[0034] Figure 3 is a specific structure diagram of the sorting assembly described in the specific embodiment;

[0035] Figure 4 is a first structure diagram of the turnover assembly described in the specific embodiment;

[0036] Figure 5 is a second structure diagram of the turnover assembly described in the specific embodiment;

[0037] Figure 6 is a structure diagram of the conveying assembly described in the specific embodiment;

[0038] Figure 7 is a top view structure diagram of the sorting conveyor belt group described in the specific embodiment;

[0039] Figure 8is a schematic diagram of the loosening state and the clamping state of the mechanical claw described in the detailed description;

[0040] Figure 9 is a schematic diagram of the specific structure of the first clamp described in the detailed description;

[0041] Figure 10 is a schematic diagram of the specific structure of the gluing group described in the detailed description.

[0042] The labels of the above-mentioned figures are as follows:

[0043] 1, conveying assembly;

[0044] 11, first conveying group;

[0045] 12, second conveying group;

[0046] 2, visual inspection unit;

[0047] 3, sorting assembly;

[0048] 31, mechanical claw;

[0049] 32, sorting conveyor belt group;

[0050] 321, defect conveyor belt;

[0051] 322, first conveyor belt;

[0052] 323, second conveyor belt;

[0053] 33, third rack;

[0054] 34, sorting base;

[0055] 35, mechanical arm;

[0056] 4, turnover assembly;

[0057] 41, turnover base;

[0058] 42, first turntable;

[0059] 43, second turntable;

[0060] 44, third driving unit;

[0061] 45, first translation group;

[0062] 451, fourth driving unit;

[0063] 452, first clamping air cylinder;

[0064] 46, second translation group;

[0065] 461, second clamping air cylinder;

[0066] 5. The adhesive assembly;

[0067] 51. The spreading assembly;

[0068] 52. The coating assembly;

[0069] 521. The conveying roller;

[0070] 522. The coating roller;

[0071] 523. The adhesive storage groove;

[0072] 53. The pressing assembly;

[0073] 54. The clamping assembly;

[0074] 541. The first clamp;

[0075] 55. The fixed support;

[0076] 56. The first movable support;

[0077] 57. The second movable support. DETAILED DESCRIPTION

[0078] The application will be further described by way of illustration with reference to the following figures and examples. It is specifically intended that the following examples are merely illustrative of the present application and are not intended to limit the scope of the present application. Similarly, the examples are not intended to be all-inclusive of the application but rather are only a portion thereof which, given the benefit of this disclosure, a person of ordinary skill in the art will be able to derive other examples without the exercise of inventive faculty.

[0079] Reference will now be made to the following drawings in which: Figures 1 to 10In the first aspect, the embodiment provides a bamboo strip sorting device, which comprises a conveying assembly 1, a visual detection unit 2, a control unit, a sorting assembly 3, a turnover assembly 4 and a rubberizing assembly 5. The conveying assembly 1 comprises a first conveying group 11 and a second conveying group 12. The first conveying group 11 is used for laying bamboo strips flat, and the second conveying group 12 is used for conveying the bamboo strips to a preset sorting area. The first conveying group 11 is sequentially connected with the second conveying group 12. The visual detection unit 2 is arranged on the second conveying group 12 and is used for detecting defects of the bamboo strips. The control unit is electrically connected with the visual detection unit 2. The sorting assembly 3 is arranged in the preset sorting area and is connected with an output end of the second conveying group 12. The sorting assembly 3 comprises a mechanical gripper 31 and a sorting conveyor belt group 32. The mechanical gripper 31 is used for grabbing the bamboo strips into the sorting conveyor belt group 32. The sorting conveyor belt group 32 comprises a defect conveyor belt 321, a first conveyor belt 322 and a second conveyor belt 323. The defect conveyor belt 321 is used for transporting the bamboo strips containing defects. The first conveyor belt 322 is arranged side by side with the defect conveyor belt 321, and the first conveyor belt 322 is connected with the output end of the second conveying group 12. The second conveyor belt 323 is arranged side by side with the first conveyor belt 322, and the second conveyor belt 323 is used for conveying qualified bamboo strips. The turnover assembly 4 is connected with the second conveyor belt 323, and is used for overturning the bamboo strips. The rubberizing assembly 5 is connected with an output end of the turnover assembly 4. The rubberizing assembly 5 comprises a spreading group 51, a rubberizing group 52, a rubberizing pressing group 53 and a clamping group 54. The clamping group 54 comprises a first clamp 541 and a second clamp. The first clamp 541 is movable between the spreading group 51 and the rubberizing group 52. The first clamp 541 is used for conveying the cloth from the spreading group 51 to the rubberizing group 52. The second clamp is movable on the rubberizing pressing group 53. The second clamp is used for conveying the cloth output by the rubberizing group 52 to a rubberizing pressing end of the rubberizing pressing group 53. The rubberizing pressing group 53 is connected with the output end of the turnover assembly 4. The bamboo piece is arranged below the cloth. The rubberizing pressing end is used for pressing the cloth and the bamboo piece together.

[0080] In the embodiment, the first conveying group 11 preferably adopts a chain conveying structure. The chain pitch of the chain conveying structure is matched with the width of the bamboo strips, so as to arrange the disordered bamboo strips into a single-layer flat state. The second conveying group 12 is a double-belt conveying mechanism. Two parallel belts are arranged at intervals to form a middle detection area. The visual detection unit 2 comprises two detection modules arranged in vertical and horizontal directions. The two detection modules respectively collect surface images of the bamboo strips from different angles.

[0081] In the sorting conveyor belt group 32, the defect conveyor belt 321, the first conveyor belt 322 and the second conveyor belt 323 are arranged side by side in parallel. Preferably, the defect conveyor belt 321 is arranged between the first conveyor belt 322 and the second conveyor belt 323, so as to remove defective products. The mechanical gripper 31 adopts a pneumatic clamping structure. The moving track of the mechanical gripper 31 covers all the dropping points from the output end of the second conveying group 12 to the sorting conveyor belt group 32.

[0082] The turnover assembly 4 comprises a rotating platform and a pneumatic clamp, and the rotating axis is parallel to the length direction of the bamboo strip, so as to realize 180° turnover of the bamboo strip around the long axis. Preferably, the spreading group 51 of the gluing assembly 5 is provided with a liftable flat plate, the gluing group 52 adopts a double-roller structure, and the lower roller is partially immersed in the glue tank; the pressing end of the pressing group 53 is an elastic roller, and the pressing track thereof is orthogonal to the conveying direction of the bamboo strip; the first clamp 541 of the clamping group 54 adopts a circumferential array of suction disc structures, and makes linear reciprocating motion between the spreading flat plate and the gluing roller; and the second clamp is a parallel clamp jaw, which moves along the guide rail of the pressing group 53 to realize cloth traction.

[0083] The bamboo strip is arranged by the first conveying group 11 and then enters the second conveying group 12, and the visual detection unit 2 synchronously obtains the surface features of the bamboo strip through double-angle imaging, and the control unit controls the mechanical claw 31 to sort the bamboo strip with no defects on the front surface to the first conveying belt 322, sorts the bamboo strip with no defects on the back surface to the second conveying belt 323, and directly arranges the defective product into the defect conveying belt 321 and discharges it along the defect conveying belt 321. The qualified bamboo strip of the first conveying belt 322 directly enters the gluing assembly 5 to perform a gluing process; the qualified bamboo strip of the second conveying belt 323 is conveyed to the turnover assembly 4, the direction of the bamboo strip is unified, and then the bamboo strip enters the gluing process: the lifting flat plate of the spreading group 51 lifts the cloth to the working position of the first clamp 541, the suction disc array absorbs the cloth and moves it to the gluing group 52 to complete double-sided roller gluing; the second clamp clamps the glued cloth and drags it to the pressing end, and after the bamboo strip conveyed synchronously below is accurately positioned, the roller pressing and lamination are performed.

[0084] The embodiment realizes automatic sorting and standardized cloth gluing of the bamboo strip through multi-station cooperative work, and the closed-loop control of visual detection and mechanical action ensures the sorting accuracy. The turnover assembly 4 eliminates the process interruption of manual adjustment of the direction, and the modular gluing assembly 5 design keeps the cloth tension stable, so that the final cloth gluing quality is bubble-free and wrinkle-free.

[0085] In some embodiments, the first conveying group 11 comprises a first rack, a first chain, a second chain and a first driving unit. The first rack has a first side edge and a second side edge arranged opposite to each other. The first chain is arranged at the first side edge, and a plurality of first protrusions are arranged on the first chain at intervals. The distance between two adjacent first protrusions is matched with the width of the bamboo strip. The second chain is arranged at the second side edge, and a plurality of second protrusions are arranged on the second chain at intervals. The distance between two adjacent second protrusions is matched with the width of the bamboo strip. One bamboo strip is clamped between two adjacent first protrusions and two adjacent second protrusions. The first driving unit is in transmission connection with the first chain and the second chain to drive the first chain and the second chain to rotate.

[0086] In the embodiment, the first rack of the first conveying group 11 adopts a welded steel structure; the first chain and the second chain adopt wear-resistant engineering plastic links, and the protrusions arranged on the surfaces of the chains are made of hard nylon material, and the distance between adjacent protrusions is strictly matched with the standard bamboo strip width. The first driving unit realizes synchronous driving of the double chains through a servo motor and a precision reducer, and the transmission shafts are provided with encoders at both ends to monitor the speed difference in real time.

[0087] When the bamboo strips enter the first conveying group 11, the protrusions on the chains form directional clamping grooves, and the bamboo strips in a disorderly stacked state are forced to be separated into a single layer in an orderly arrangement. The synchronous operation of the double chains ensures that the forces acting on both ends of the bamboo strips are uniform, thereby avoiding deflection or jamming during the conveying process. The visual detection unit 2 can accurately identify the front and back states of the bamboo strips at the subsequent workstations, and the detection accuracy depends on the stable arrangement provided by the first conveying group 11.

[0088] The embodiment realizes directional conveying of the bamboo strips through mechanical limiting, which not only avoids damage to the surfaces of the bamboo strips, but also significantly improves the arrangement efficiency compared with the traditional vibration feeding method. The adjustable design of the chain spacing enables the equipment to quickly adapt to the production requirements of different specifications of bamboo strips, and the special shape design of the protrusions effectively prevents the bamboo strips from falling out of the clamping grooves during high-speed conveying.

[0089] In some embodiments, the second conveying group 12 includes: a second rack, a first belt, a second belt, and a second driving unit, the second rack has a third side and a fourth side arranged opposite to each other; the first belt is arranged on the third side; the second belt is arranged on the fourth side; the second driving unit is in transmission connection with the first belt and the second belt to drive the first belt and the second belt to rotate; the visual detection unit 2 includes: a detection base, a first detection unit, and a second detection unit, the detection base is arranged on the second rack, the detection base has a first extension section and a second extension section, the first extension section is perpendicular to the first belt and is arranged in a vertical direction, and the second extension section is perpendicular to the first belt and is arranged in a horizontal direction; the first detection unit is arranged on the first extension section and is used to collect images of the bamboo strips at a first preset angle; and the second detection unit is arranged on the second extension section and is used to collect images of the bamboo strips at a second preset angle.

[0090] In the embodiment, the second rack of the second conveying group 12 can be built by aluminum alloy profiles, and the parallel distance between the third side and the fourth side is slightly greater than the length of the bamboo strips; the first belt and the second belt are polyurethane synchronous belts, and the surfaces thereof are provided with anti-skid lines to enhance the stability of the bamboo strip conveying; preferably, the second driving unit adopts a double-output shaft reduction motor, and the two belts are synchronously driven through a shaft coupling.

[0091] The detection base is an L-shaped cast aluminum component, a first extension section of which is perpendicular to the belt plane for mounting a vertical detection unit, and a second extension section of which is parallel to the belt plane for mounting a horizontal detection unit. The first detection unit is a high-resolution line array camera for collecting the image of the upper surface of the bamboo strip; and the second detection unit is a plane array camera for acquiring the side view image of the bamboo strip. Preferably, the height of the first extension section is adjustable to adapt to bamboo strips of different thicknesses, and the length of the second extension section is telescopic to ensure that the imaging field of view covers the entire belt width.

[0092] After the bamboo strip enters the second conveying group 12 from the first conveying group 11, it is clamped and conveyed to the detection station by the first belt and the second belt. The first detection unit captures the texture features of the upper surface of the bamboo strip from the vertical direction, and the second detection unit collects the side profile image of the bamboo strip from the horizontal direction. After the double-angle imaging data are processed by the control unit, the front and back surface states and surface defects of the bamboo strip can be accurately identified.

[0093] The embodiment overcomes the blind area problem of single-view imaging through stereo vision detection, is particularly suitable for distinguishing the front and back surfaces of a trapezoidal cross-section bamboo strip, the stability of the belt conveying ensures that the image acquisition is free of motion blur, the adjustable design of the detection base enables the system to adapt to bamboo strips of different specifications, and the cooperative working mode of the two cameras significantly improves the recognition accuracy compared with the traditional single-camera detection, thereby providing a reliable data basis for the subsequent sorting process.

[0094] In some embodiments, the first conveying belt 322 is arranged on the other side of the flaw conveying belt 321, the first conveying belt 322 is used for transporting qualified bamboo strips placed on the front surface, and the second conveying belt 323 is used for transporting qualified bamboo strips placed on the back surface; the number of the rubberizing assembly 5 is two, one rubberizing assembly 5 is connected with the first conveying belt 322, and the other rubberizing assembly 5 is connected with the output end of the turnover assembly 4; the sorting assembly 3 further includes a third rack 33, a sorting base 34, and a clamping driving unit, the third rack 33 includes a first top support and a first bottom support, the top support is arranged above the sorting conveying belt group 32, and the first bottom support is provided with the sorting conveying belt group 32; the sorting base 34 is arranged on the third rack 33, the sorting base 34 is provided with a mechanical arm 35, and the mechanical arm 35 is configured as a Delta mechanical arm 35; the clamping driving unit is arranged at the moving end of the mechanical arm 35, and the clamping driving unit has a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm are oppositely arranged.

[0095] In the embodiment, the first conveying belt 322 and the second conveying belt 323 adopt a polyurethane synchronous belt structure and are respectively used for conveying the bamboo strips with the front face upward and the back face upward. The rubberizing assembly 5 comprises an independent rubberizing group 52 and a rubberizing pressing group 53, and the two rubberizing assemblies 5 form a closed-loop processing unit with the respective conveying belt. The third rack 33 comprises a first top support and a first bottom support to form a welded frame, the top support is used for suspending the Delta mechanical arm 35, and the bottom support supports the sorting conveying belt group 32. The sorting base 34 is preferably a high-strength aluminum alloy platform and is fixed on the third rack 33 through a shock pad. The clamping driving unit adopts a pneumatic control mode, the first clamping arm and the second clamping arm are provided with anti-skid lines on the surfaces, and the clamping surfaces are matched with the trapezoidal cross-sectional shape of the bamboo strips. Preferably, the clamping pressure of the first clamping arm and the second clamping arm can be automatically adjusted according to the thickness of the bamboo strips to avoid damaging the surface of the bamboo strips.

[0096] After the visual inspection, the Delta mechanical arm 35 clamps the qualified bamboo strips to the first conveying belt 322 or the second conveying belt 323 according to the identification result. The bamboo strips with the front face upward are directly processed in the rubberizing assembly 5, and the bamboo strips with the back face upward are adjusted in direction by the turnover assembly 4 and then enter another rubberizing assembly 5. The parallel design of the double conveying belts and the double rubberizing assemblies 5 realizes the synchronous processing of the front and back bamboo strips and significantly improves the production efficiency. The high-speed motion characteristics of the Delta mechanical arm 35 ensure that the sorting beat matches the conveying belt speed, and the adaptive clamping force of the clamping driving unit avoids displacement or damage of the bamboo strips in the transfer process. The embodiment solves the problem that the front and back bamboo strips need to be alternately waited in the traditional single-line processing through shunt processing, the modular design enables independent maintenance of each component, and the shock-absorbing installation of the sorting base 34 effectively suppresses the vibration interference generated by the high-speed motion of the mechanical arm 35.

[0097] In some embodiments, the turnover assembly 4 comprises a turnover base 41, a turnover support, a third driving unit 44, a first translation group 45, and a second translation group 46. The turnover support comprises a first turntable 42 and a second turntable 43, the first turntable 42 and the second turntable 43 are oppositely arranged and can rotate relative to the turnover base 41, the first turntable 42 has a first opening, the second turntable 43 has a second opening, and the first opening and the second opening are coaxial. The third driving unit 44 is arranged on the turnover base 41, the third driving unit 44 is in transmission connection with the first turntable 42, and the first turntable 42 is in transmission connection with the second turntable 43. The first translation group 45 is arranged between the first turntable 42 and the second turntable 43, and the first translation group 45 is provided with a first clamping end. The second translation group 46 is arranged between the first turntable 42 and the second turntable 43, the second translation group 46 is oppositely arranged with the first translation group 45, the second translation group 46 is provided with a second clamping end, and the first clamping end and the second clamping end can be oppositely used to clamp the bamboo strips.

[0098] In the embodiment, the overturning base 41 is a cast iron frame structure for supporting the entire overturning assembly 4. The first rotating disc 42 and the second rotating disc 43 of the overturning support are preferably made of aluminum alloy and are installed on the overturning base 41 through precision bearings. Preferably, the first clamping end and the second clamping end are pneumatic suction disc structures, which are respectively installed on the first translation group 45 and the second translation group 46 and fix the upper and lower surfaces of the mold through vacuum adsorption. The third driving unit 44 adopts a servo motor cooperating with a planetary reducer and realizes the synchronous rotation of the double rotating discs through synchronous belt transmission. Preferably, the surface of the suction disc is provided with a pressure sensor, which can monitor the adsorption state in real time and maintain constant adsorption force during the overturning process.

[0099] When the bamboo strip mold with the reverse surface upward enters the overturning station, the first translation group 45 and the second translation group 46 drive the clamping ends to move towards each other, and the upper and lower suction discs simultaneously adsorb and fix the mold. The third driving unit 44 drives the rotating disc to rotate 180 degrees, so that the mold completes the overturning action. The structure ensures the stability of the mold during the overturning process through the upper and lower double-sided adsorption mode, avoids the mold deviation or falling caused by single-sided clamping, eliminates the torque imbalance problem during rotation through the synchronous driving design of the first rotating disc 42 and the second rotating disc 43, and makes the overturning action more stable. The flexible contact characteristics of the first clamping end and the second clamping end avoid damage to the surface of the mold. The embodiment realizes higher precision overturning positioning, and the overturned mold can directly enter the next process without the need for secondary correction, which is particularly suitable for the efficient operation demand of the automatic continuous production line.

[0100] In some embodiments, the first translation group 45 includes: a first translation support, a fourth driving unit 451, a plurality of first rollers, and a first clamping air cylinder 452. The first translation support is arranged between the first rotating disc 42 and the second rotating disc 43. The fourth driving unit 451 is arranged on the first translation support. The plurality of first rollers are movably arranged on the first translation support, and the first rollers are in transmission connection with the fourth driving unit 451. The first clamping air cylinder 452 is arranged on the first translation support and on one side of the first rollers. The moving end of the first clamping air cylinder 452 is the first clamping end. The second translation group 46 includes: a second translation support, a fifth driving unit, a plurality of second rollers, and a second clamping air cylinder 461. The second translation support is arranged between the first rotating disc 42 and the second rotating disc 43. The fifth driving unit is arranged on the second translation support. The plurality of second rollers are movably arranged on the second translation support, and the second rollers are in transmission connection with the fifth driving unit. The second clamping air cylinder 461 is arranged on the second translation support and on one side of the second rollers. The moving end of the second clamping air cylinder 461 is the second clamping end.

[0101] In the present embodiment, the first and second translation supports can adopt an aluminum alloy profile frame structure and are arranged in parallel between the first and second rotary tables 42 and 43, respectively. The fourth and fifth drive units are servo motors with ball screws, which are used to accurately control the advance and retreat movements of the translation groups. The first and second rollers are steel rollers coated with polyurethane on the surface and are connected to the drive units through synchronous belts to achieve active rotation. The first and second clamping cylinders 452 and 461 are double-acting pneumatic cylinders, and the piston rod ends thereof are provided with vacuum suction cups as clamping ends. The suction cups are made of silica gel to adapt to the slight unevenness of the mold surface. Preferably, the roller surface is provided with anti-skid lines to provide auxiliary friction when contacting the mold; the suction cup is equipped with a pressure sensor to monitor the adsorption state in real time and automatically compensate the vacuum degree.

[0102] When the mold with bamboo strips enters the turnover station, the fourth and fifth drive units drive the first and second translation groups 45 and 46 to move towards each other, so that the rollers first contact the mold for positioning, and then the first and second clamping cylinders 452 and 461 are extended to make the suction cups tightly adhere to the upper and lower surfaces of the mold and start vacuum adsorption. Through the cooperative action of the rollers and the cylinders, the present embodiment realizes accurate positioning and stable clamping of the mold: the active rotation of the first and second rollers not only reduces the movement resistance of the mold, but also corrects the positional deviation of the mold; the flexible contact of the first and second clamping cylinders 452 and 461 avoids damage to the mold that may be caused by rigid clamping, significantly improves the clamping accuracy and reliability, and is particularly suitable for continuous and rapid turnover operation requirements in an automatic production line. At the same time, the modularized translation group structure facilitates individual maintenance and replacement, thereby reducing the equipment operation and maintenance cost.

[0103] In some embodiments, the clamping group 54 comprises a fixed support 55, a first movable support 56, and a second movable support 57. The fixed support 55 comprises a first fixed frame, a second fixed frame, and a third fixed frame. The first fixed frame is provided with the spreading group 51, the second fixed frame is provided with the gluing group 52, and the third fixed frame is provided with the pressing group 53. The first movable support 56 is arranged on the first fixed frame and the second fixed frame and can move relative to the first fixed frame and the second fixed frame. The first clamp 541 is a plurality of suction cups arranged circumferentially on the first movable support 56. The plurality of suction cups are used to suck and transport the flat cloth to the gluing group 52. The second movable support 57 is arranged on the third fixed frame and can move relative to the third fixed frame. The second clamp is at least two third clamping cylinders arranged side by side. The spreading group 51 comprises a spreading flat plate and a lifting cylinder. The spreading flat plate is arranged on the first fixed frame and is used to place the flat cloth. The lifting cylinder is in transmission connection with the spreading flat plate and is used to lift the spreading flat plate. The gluing group 52 comprises a plurality of conveying rollers 521, two glue applying rollers 522, and a glue storage groove 523. The plurality of conveying rollers 521 are arranged on the second fixed frame at intervals and are used to place and transport the flat cloth. The two glue applying rollers 522 are arranged opposite to each other in the vertical direction. One of the two glue applying rollers 522 is flush with the conveying roller 521, and the flat cloth is arranged between the two glue applying rollers 522. The other side of the glue applying roller 522 is arranged in the moving area of the third clamping cylinder. The glue storage groove 523 is arranged below the glue applying roller 522 which is flush with the conveying roller 521. The glue applying roller 522 is partially immersed in the glue solution in the glue storage groove 523. The pressing group 53 comprises a pressing roller, a third conveying belt, and a sixth driving unit. The pressing roller is arranged on the third fixed frame. The third clamping cylinder is used to clamp one end of the cloth and move it below the pressing roller. The third conveying belt is arranged on the third fixed frame and below the pressing roller. The third conveying belt is connected with the output end of the turnover assembly 4. The sixth driving unit is arranged on the third fixed frame. The pressing roller is connected with the sixth driving unit. The sixth driving unit is used to drive the pressing roller to move towards the upper surface of the third conveying belt.

[0104] In the present embodiment, the first movable support 56 is connected with the first fixed frame and the second fixed frame through a linear guide rail. The circumferentially arranged suction cups are needle type structures and are used to adsorb the edges of the cloth through negative pressure. The inner sides of the clamping jaws of the two third clamping cylinders are provided with anti-slip patterns. The spreading flat plate is an aluminum alloy platform and the surface thereof is subjected to an anodizing treatment to reduce the friction coefficient. The lifting cylinder adopts a double rod structure to ensure stable lifting.

[0105] Preferably, the conveying roller 521 is coated with a layer of silicone, and the glue coating roller 522 is made of stainless steel and has a uniform glue pattern; the glue storage tank 523 is equipped with a liquid level sensor and a heating device; the outer layer of the glue pressing roller is made of high-temperature resistant silicone, and the sixth driving unit is a servo electric cylinder for precise pressure control. Preferably, the suction cup is designed with partition control and can be selectively turned on and off to adapt to different sizes of cloth; the gap between the glue coating rollers 522 is adjusted synchronously through a worm and gear mechanism.

[0106] In operation, the lifting cylinder lifts the cloth on the cloth spreading flat plate to the working height of the suction cup, the first moving support 56 drives the first clamp 541 to adsorb the cloth and move it to the conveying roller 521 of the glue coating group 52. After the glue coating roller 522 uniformly transfers the glue liquid in the glue storage tank 523 to the surface of the cloth, the clamping cylinder of the second moving support 57 clamps the front end of the cloth and pulls it to the glue pressing station. The sixth driving unit controls the glue pressing roller to press down, so that the glued cloth is firmly bonded with the bamboo strip mold on the third conveying belt.

[0107] The embodiment realizes continuous and automatic operation of cloth processing through modular design: the lifting and positioning of the cloth spreading group 51 ensures the accuracy of the cloth grabbing position; the double glue coating rollers 522 of the glue coating group 52 realize uniform glue coating; and the pressure adjustable design of the glue pressing group 53 adapts to different thicknesses of material combinations. The embodiment significantly improves production efficiency and product consistency, and the uniformity of glue layer thickness makes the bonding strength more stable, while avoiding problems such as cloth wrinkles or glue liquid pollution caused by manual operation.

[0108] In a second aspect, the embodiment also provides a bamboo strip sorting method, which is suitable for the sorting device of the first aspect, and the method comprises:

[0109] The bamboo strips are flatly conveyed to the second conveying group by the first conveying group;

[0110] The visual detection unit collects multi-angle images of the bamboo strips on the second conveying group to obtain image information;

[0111] The control unit identifies defects in the image information, determines whether the bamboo strips have surface defects, identifies the front state and back state of the bamboo strips, and generates a detection result;

[0112] According to the detection result, the sorting assembly performs a sorting operation: when the back bamboo strip without defects is identified, the mechanical claw is controlled to grab the bamboo strip to the second conveying belt; when the front bamboo strip without defects is identified, the mechanical claw is controlled to grab the bamboo strip to the first conveying belt; and when the bamboo strip with defects is identified, the bamboo strip is kept on the second conveying group for continuous conveying to the waste area;

[0113] The turning assembly performs a 180-degree turning operation on the back bamboo strip conveyed by the second conveying belt to turn it into a front state;

[0114] The control of the gluing assembly performs the cloth process on the finished sorting bamboo strips, including:

[0115] The cloth on the cloth spreading assembly is transferred to the glue applying assembly by the first clamp for double-sided glue applying;

[0116] The cloth after glue applying is transferred to the glue pressing assembly by the second clamp and is pressed with the bamboo strips output by the turnover assembly.

[0117] In the embodiment, the multi-angle image acquisition refers to acquiring the surface images of the bamboo strips from the vertical and horizontal directions by the detection units of the first and second extension sections, for fully capturing the features of the front and back surfaces of the bamboo strips. The defect recognition is realized by a convolutional neural network, in which the crack features are extracted by high-frequency component analysis, the wormhole defects are based on local texture anomaly detection, and the mold spots are recognized by color space conversion. The determination of the front and back surface states is based on the geometric features of the trapezoidal cross section, and when the long bottom edge is upward, it is determined as the front surface state, and when the short bottom edge is upward, it is determined as the back surface state.

[0118] The sorting operation is performed by the Delta mechanical arm 35, and the motion trajectory is generated in real time based on the position coordinates of the conveying belt. In the turnover operation, the first and second clamping cylinders 452 and 461 adsorb the mold, and then drive the first and second turntables 42 and 43 to complete 180-degree rotation by the third driving unit 44. In the glue applying operation of the cloth process, the uniform transfer of the glue solution is realized by the gap pressure control of the upper and lower glue applying rollers 522, and the pressing force of the glue pressing roller is adaptively adjusted according to the thickness of the bamboo strips. Preferably, the defect recognition adopts a multi-scale feature fusion technology, which can simultaneously detect millimeter-level cracks and micron-level mold spots; the turnover angle error is controlled within ±0.5°, ensuring the positioning accuracy of the subsequent cloth process.

[0119] The embodiment realizes the automatic recognition and classification processing of the front and back surface states of the bamboo strips through the cooperation of visual detection and mechanical sorting. When the bamboo strips are conveyed to the detection station by the conveying assembly 1, the multi-angle image acquisition system synchronously acquires the surface features of the bamboo strips, and the control unit generates sorting instructions in real time based on the image analysis results. The mechanical arm 35 accurately sorts the bamboo strips to the corresponding conveying belt according to the instructions, and the back surface bamboo strips are corrected in direction by the turnover assembly 4 and then flow into the cloth process together with the front surface bamboo strips. The embodiment solves the problems of low efficiency and high misjudgment rate of traditional manual sorting, improves the accuracy of bamboo strip sorting through automatic assembly line operation, shortens the processing time of a single batch, and especially for the front and back surface recognition algorithm of the trapezoidal cross section bamboo strip, effectively overcomes the misjudgment problem caused by similar cross section features in the prior art, and provides a reliable material basis for the subsequent cloth process.

[0120] In some embodiments, the control unit performs defect recognition on the image information, determines whether the bamboo strip has surface defects, and identifies the front surface state and the back surface state of the bamboo strip, generates a detection result, including:

[0121] The original image data collected by the visual detection unit is preprocessed to obtain standardized images, and the preprocessing includes size normalization and gray scale equalization processing.

[0122] The standardized images are input into a convolutional neural network feature extraction module to extract bamboo strip surface features through multi-layer convolution and pooling operations, and generate a bamboo strip feature map.

[0123] Based on the bamboo strip feature map, a trapezoidal cross-section is identified, and the contour feature points of the bamboo strip side are extracted through an edge detection algorithm, including long bottom edge vertices, short bottom edge vertices and two side waist edge endpoints. The contour feature points include long bottom edge vertices, short bottom edge vertices and two side waist edge endpoints, and the front and back states of the bamboo strip are determined through regression calculation, wherein the long bottom edge upwards is determined as the front state, and the short bottom edge upwards is determined as the back state.

[0124] Defect detection analysis is performed on the bamboo strip feature map, different levels of surface defect features are extracted through a multi-scale feature fusion module, and the defect recognition results are output after feature reorganization and classification. The defects include cracks, worm holes, mold spots and black knot defects.

[0125] According to the front and back state recognition results and the defect recognition results, a detection result containing sorting instructions is generated, including front defect-free sorting instructions, back defect-free sorting instructions and defect rejection instructions.

[0126] In this embodiment, the size normalization processing refers to uniformly scaling the original image to 512x512 pixel resolution, and maintaining the geometric features of the bamboo strip unchanged through a bicubic interpolation algorithm. The gray scale equalization processing uses a limited contrast adaptive histogram equalization method to enhance the local contrast of the bamboo strip surface texture. The multi-layer convolution and pooling operation uses a ResNet34 network structure, wherein the third layer convolution kernel focuses on the bamboo knot area feature, and the fifth layer convolution kernel focuses on the edge continuity feature. The edge detection algorithm uses an improved Canny operator to obtain continuous contour feature points through non-maximum suppression and double threshold processing. The multi-scale feature fusion module consists of three parallel branches, which use 3x3, 5x5 and 7x7 convolution kernels to sample the feature map, and reorganize the feature response through channel attention mechanism. Preferably, the crack recognition introduces a direction gradient histogram to assist in judgment, the worm hole detection combines morphological closing operation to eliminate artifacts, and the mold spot recognition uses HSV color space conversion to enhance the color difference feature.

[0127] The embodiment realizes accurate recognition of bamboo strip state through multi-level image processing. After eliminating the interference of light and angle in the preprocessing stage, the deep features extracted by the convolutional network serve both the cross-section recognition and the defect detection. In the recognition of trapezoidal cross-section, the regression calculation is based on the least square fitting of the contour feature points to accurately distinguish the spatial orientation of the long bottom edge and the short bottom edge. In the defect detection, the multi-scale feature fusion effectively takes into account the recognition needs of both the global morphological abnormalities and the local texture defects, especially for defects such as black joints that are similar to normal bamboo joint features. The embodiment significantly improves the recognition accuracy through high-level semantic feature comparison. The embodiment converts the fuzzy judgment of traditional manual inspection into quantifiable image feature analysis, making the sorting decision traceable, and significantly improves the detection efficiency through parallel processing of cross-section state and defect features.

[0128] In some implementations, the trapezoidal cross-section recognition is based on the bamboo strip feature map. The edge detection algorithm is used to extract the contour feature points of the bamboo strip side edge, and the regression calculation is used to determine the front state and the back state of the bamboo strip, including:

[0129] Gaussian filter denoising is performed on the bamboo strip feature map, and the Sobel operator is used to calculate the image gradient amplitude and direction. The edge contour of the bamboo strip is extracted based on non-maximum suppression and double-threshold hysteresis processing to obtain a set of continuous edge pixels.

[0130] Douglas-Peucker algorithm is used to perform polygon approximation on the edge contour to recognize two parallel bottom edge lines and two non-parallel waist edge lines of the trapezoidal cross-section. The least square method is used to fit the equations of the edge lines and calculate the intersection coordinates of the four edges to determine the coordinates of the two end points of the long bottom edge, the coordinates of the two end points of the short bottom edge, and the coordinates of the intersection point of the two waist edges.

[0131] A trapezoidal geometric feature regression model is established to calculate the length ratio of the long bottom edge to the short bottom edge, the slope difference of the two waist edges, and the angle between the trapezoidal axis and the vertical direction of the image. According to the geometric feature parameters, the state is determined. When the long bottom edge is located in the upper region of the image and the length ratio is greater than 1.5, it is determined as the front state. When the short bottom edge is located in the upper region of the image and the length ratio is less than 0.8, it is determined as the back state.

[0132] In the embodiment, Gaussian filter denoising is used to eliminate image noise caused by bamboo strip surface texture. By adjusting the Gaussian kernel parameters, the balance between denoising effect and edge preservation level is achieved. When calculating the image gradient using the Sobel operator, the joint detection in the horizontal and vertical directions is used to enhance the continuity features of the trapezoidal edge. Non-maximum suppression preserves the local extreme points in the gradient direction, and double-threshold processing ensures the complete connection of the real edge.

[0133] The Douglas-Peucker algorithm retains the key vertexes of the trapezoidal contour by setting a compression threshold, and a higher weight is given to the base line segment in the least square fitting to improve the fitting accuracy. The trapezoidal geometric feature regression model comprehensively considers parameters such as length ratio, slope difference and spatial orientation, wherein the length ratio judgment threshold is set according to the bamboo processing standard to accurately distinguish the front and back states. Preferably, when the bamboo strip is slightly rotated, the model automatically performs angle compensation calculation to ensure the accuracy of state judgment.

[0134] The embodiment realizes accurate identification of the front and back of the bamboo strip through multi-level geometric feature analysis. The edge detection and polygon approximation processing convert the complex contour into a standard trapezoidal geometric element. The geometric feature regression model comprehensively considers feature parameters in multiple dimensions to effectively overcome the identification difficulties caused by individual differences and position offsets of the bamboo strip. In particular, by establishing a strict length ratio judgment standard, the reliability of front and back identification is ensured. The embodiment converts manual experience judgment into a standardized geometric feature calculation process, which not only improves the identification accuracy, but also provides stable technical support for subsequent automatic sorting processes. The entire identification process does not require manual intervention, realizing the intelligentization and standardization of bamboo strip state judgment.

[0135] By adopting the above technical scheme, the present application is different from the prior art and has the following beneficial effects: the visual detection unit 2 is used to collect multi-angle images of the bamboo strip, and the control unit is used for defect identification and front and back state judgment, thereby realizing automatic detection of surface defects of the bamboo strip and accurate identification of the front and back state. The sorting assembly 3 automatically performs sorting operation according to the detection result, and the front bamboo strip and the back bamboo strip without defects are respectively conveyed to the corresponding conveying belt, and the turning assembly 4 is used to unify the direction of the bamboo strip, thereby realizing automatic classification and processing of the bamboo strip. The gluing assembly 5 is designed in a modular manner to complete the cloth gluing and pressing process, thereby ensuring the quality stability of the cloth gluing process. The entire system realizes multi-station collaborative operation, thereby significantly improving the accuracy and production efficiency of the bamboo strip sorting, and providing a reliable material basis for subsequent processing.

[0136] The above technical scheme realizes the standardization of the bamboo strip sorting and cloth gluing process through automatic assembly line operation, overcomes the problems of unstable quality and low efficiency in traditional manual operation, and is particularly suitable for large-scale production of bamboo products.

[0137] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or software functional unit.

[0138] If the integrated unit is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0139] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application. Any equivalent device or equivalent process transformation, or direct or indirect application in other related technical fields based on the content of the present application specification and drawings are also included in the patent protection scope of the present application.

Claims

1. A bamboo strip sorting device, characterized in that, include: The conveying assembly includes a first conveying group and a second conveying group. The first conveying group is used to lay bamboo strips flat, and the second conveying group is used to convey bamboo strips to a preset sorting area. The first conveying group and the second conveying group are connected in sequence. A visual inspection unit is installed in the second conveying group, and the visual inspection unit is used to detect defects in the bamboo strips; The control unit is electrically connected to the vision detection unit; A sorting component is disposed in the preset sorting area and connected to the output end of the second conveyor group. The sorting component includes a mechanical claw and a sorting conveyor belt group. The mechanical claw is used to grab bamboo strips into the sorting conveyor belt group. The sorting conveyor belt group includes a defect conveyor belt, a first conveyor belt, and a second conveyor belt. The defect conveyor belt is used to transport bamboo strips containing defects. The first conveyor belt and the defect conveyor belt are arranged side by side, and the first conveyor belt is connected to the output end of the second conveyor group. The second conveyor belt is arranged side by side with the first conveyor group and is used to transport qualified bamboo strips. A flipping component, connected to the second conveyor belt, is used to flip the bamboo strips; An adhesive applicator is connected to the output end of the flipping assembly. The adhesive applicator includes a fabric spreading group, an adhesive coating group, an adhesive pressing group, and a clamping group. The clamping group includes a first clamp and a second clamp. The first clamp can move between the fabric spreading group and the adhesive coating group. The first clamp is used to transport the fabric from the fabric spreading group to the adhesive coating group. The second clamp can move on the adhesive pressing group. The second clamp is used to transport the fabric output from the adhesive coating group to the adhesive pressing end of the adhesive pressing group. The adhesive pressing group is connected to the output end of the flipping assembly. The bamboo strip is placed below the fabric, and the adhesive pressing end is used to press the fabric and the bamboo strip together.

2. The bamboo strip sorting device according to claim 1, characterized in that, The first conveyor group includes: The first frame has a first side and a second side that are arranged opposite to each other; A first chain is provided on the first side, and a plurality of first protrusions are provided on the first chain at intervals, the distance between two adjacent first protrusions being adapted to the width of the bamboo strip; The second chain is provided on the second side. Multiple second protrusions are spaced apart on the second chain. The distance between two adjacent second protrusions is adapted to the width of the bamboo strip. A bamboo strip is engaged between two adjacent first protrusions and two adjacent second protrusions. The first drive unit is connected to the first chain and the second chain to drive the first chain and the second chain to rotate.

3. The bamboo strip sorting device according to claim 2, characterized in that, The second conveyor group includes: The second frame has a third side and a fourth side that are arranged opposite to each other; The first belt is disposed on the third side; The second belt is disposed on the fourth side; The second drive unit is connected to the first belt and the second belt drive to drive the first belt and the second belt to rotate; The visual detection unit includes: A detection base is mounted on the second frame. The detection base has a first extension section and a second extension section. The first extension section is perpendicular to the first belt and is arranged in a vertical direction. The second extension section is perpendicular to the first belt and is arranged in a horizontal direction. A first detection unit is disposed in the first extension section, and the first detection unit is used to acquire bamboo strip images at a first preset angle. The second detection unit is disposed in the second extension section, and the second detection unit is used to acquire images of bamboo strips at a second preset angle.

4. The bamboo strip sorting device according to claim 1, characterized in that, The first conveyor belt is located on the other side of the defect conveyor belt. The first conveyor belt is used to transport qualified bamboo strips placed face up, and the second conveyor belt is used to transport qualified bamboo strips placed face down. The number of adhesive application components is two, one of which is connected to the first conveyor belt, and the other is connected to the output end of the flipping component; The sorting component also includes: The third frame includes a first top support and a first bottom support. The top support is disposed above the sorting conveyor belt group, and the sorting conveyor belt group is disposed on the first bottom support. A sorting base is mounted on the third frame, and a robotic arm is mounted on the sorting base. The robotic arm is configured as a Delta robotic arm. A clamping drive unit is disposed at the moving end of the robotic arm. The clamping drive unit has a first clamping arm and a second clamping arm, which are arranged opposite to each other.

5. The bamboo strip sorting device according to claim 1, characterized in that, The flipping component includes: Flip-top base; The flipping bracket includes a first turntable and a second turntable, which are arranged opposite to each other and can rotate relative to the flipping base. The first turntable has a first opening and the second turntable has a second opening. The first opening and the second opening are coaxial. A third drive unit is disposed on the flip base, and the third drive unit is drivenly connected to the first turntable, and the first turntable is drivenly connected to the second turntable; The first translation group is disposed between the first turntable and the second turntable, and the first translation group is provided with a first clamping end; The second translation group is set between the first turntable and the second turntable. The second translation group is arranged opposite to the first translation group. The second translation group is provided with a second clamping end. The first clamping end and the second clamping end can be used to clamp the bamboo strips.

6. The bamboo strip sorting device according to claim 5, characterized in that, The first translation group includes: The first translation support is positioned between the first turntable and the second turntable; The fourth drive unit is mounted on the first translation bracket; Multiple first rollers are movably mounted on the first translation bracket, and the first rollers are connected to the fourth drive unit in a transmission manner. The first clamping cylinder is mounted on the first translation bracket and is located on one side of the first roller. The moving end of the first clamping cylinder is the first clamping end. The second translation group includes: The second translation support is positioned between the first turntable and the second turntable; The fifth drive unit is mounted on the second translation bracket; Multiple second rollers are movably mounted on the second translation bracket, and the second rollers are connected to the fifth drive unit in a transmission manner. The second clamping cylinder is mounted on the second translation bracket and is located on one side of the second roller. The moving end of the second clamping cylinder is the second clamping end.

7. The bamboo strip sorting device according to claim 1, characterized in that, The clamping assembly includes: The fixed bracket includes a first fixed bracket, a second fixed bracket and a third fixed bracket. The first fixed bracket is equipped with a spreading assembly, the second fixed bracket is equipped with an adhesive applicator, and the third fixed bracket is equipped with an adhesive pressing assembly. A first movable support is disposed on the first fixed frame and the second fixed frame, and the first movable support is movable relative to the first fixed frame and the second fixed frame; The first clamp consists of multiple suction cups arranged in the circumferential direction of the first movable bracket. The multiple suction cups are used to pick up the flat fabric and transport it to the gluing group. The second movable support is disposed on the third fixed frame, and the second movable support is movable relative to the third fixed frame; The second clamp consists of at least two third clamping cylinders, with the two third clamping cylinders arranged side by side; The exhibition group includes: A flat fabric tray is placed on the first fixed frame to hold the flat fabric. A lifting cylinder is connected to the spreading plate in a transmission manner, and the lifting cylinder is used to lift the spreading plate. The adhesive application assembly includes: Multiple conveyor rollers are spaced apart on the second fixed frame for placing and conveying flat fabric; Two glue-applying rollers are arranged opposite each other in a vertical direction. One of the glue-applying rollers is flush with the conveying roller. A flat piece of fabric is placed between the two glue-applying rollers. The other side of the glue-applying roller is placed within the moving area of ​​the third clamping cylinder. A glue storage tank is located below a glue-applying roller that is flush with the conveying roller, and the glue-applying roller is partially immersed in the glue liquid in the glue storage tank; The adhesive bonding assembly includes: A pressure roller is mounted on the third fixed frame, and the third clamping cylinder is used to clamp one end of the fabric and move it below the pressure roller. A third conveyor belt is mounted on the third fixed frame and positioned below the pressure roller. The third conveyor belt is connected to the output end of the flipping assembly. A sixth drive unit is disposed on the third fixed frame. The adhesive roller is connected to the sixth drive unit, and the sixth drive unit is used to drive the adhesive roller to move toward the upper surface of the third conveyor belt.

8. A method for sorting bamboo strips, characterized in that, The method, applicable to the sorting apparatus according to any one of claims 1-7, comprises: The bamboo strips are laid flat and conveyed to the second conveyor group via the first conveyor group; The visual detection unit performs multi-angle image acquisition on the bamboo strips of the second conveying group to obtain the acquired image information. The control unit performs defect identification on the image information, determines whether there are surface defects in the bamboo strip, and identifies the front and back of the bamboo strip to generate detection results. Based on the detection results, the sorting component is controlled to perform sorting operations. When a bamboo strip with no defects on the reverse side is identified, the mechanical claw is controlled to grab the bamboo strip onto the second conveyor belt. When a bamboo strip with no defects on the front side is identified, the mechanical claw is controlled to grab the bamboo strip onto the first conveyor belt. When a bamboo strip with defects is identified, the bamboo strip is kept on the second conveyor group and continues to be conveyed to the waste area. The flipping component is controlled to perform a 180-degree flipping operation on the reverse bamboo strips conveyed by the second conveyor belt, so that they are turned to the front state. Controlling the adhesive application assembly to perform the adhesive application process on the sorted bamboo strips includes: The fabric on the spreading group is transferred to the gluing group for double-sided gluing using the first clamp; The glued fabric is transferred to the pressing assembly via the second clamp and pressed together with the bamboo strips output from the flipping component.

9. The bamboo strip sorting method according to claim 8, characterized in that, The control unit performs defect identification on the image information, determines whether there are surface defects in the bamboo strips, and identifies the front and back of the bamboo strips, generating detection results, including: The original image data collected by the visual detection unit is acquired, and the original image data is preprocessed to obtain a standardized image. The preprocessing includes size normalization and grayscale equalization. The standardized image is input into the convolutional neural network feature extraction module, and the surface features of the bamboo strip are extracted through multi-layer convolution and pooling operations to generate a bamboo strip feature map. Based on the bamboo strip feature map, trapezoidal cross-section recognition is performed. The contour feature points of the bamboo strip side are extracted by the edge detection algorithm. The contour feature points include the long bottom edge vertex, the short bottom edge vertex and the two side waist edge endpoints. The front and back states of the bamboo strip are determined by regression calculation. The long bottom edge facing up is determined to be the front state and the short bottom edge facing up is determined to be the back state. The bamboo strip feature map is subjected to defect detection analysis. The surface defect features at different levels are extracted by a multi-scale feature fusion module. After feature recombination and classification, the defect identification results are output. The defects include cracks, wormholes, mold spots and black knots. Based on the front and back state recognition results and defect recognition results, a detection result containing sorting instructions is generated. The sorting instructions include a front defect-free sorting instruction, a back defect-free sorting instruction, and a defect rejection instruction.

10. The bamboo strip sorting method according to claim 9, characterized in that, Based on the bamboo strip feature map, trapezoidal cross-section recognition is performed. An edge detection algorithm is used to extract the contour feature points of the bamboo strip's sides, and regression calculations are used to determine the front and back states of the bamboo strip, including: The bamboo strip feature map is subjected to Gaussian filtering for noise reduction, and the Sobel operator is used to calculate the image gradient magnitude and direction. Based on non-maximum suppression and double threshold hysteresis processing, the bamboo strip edge contour is extracted to obtain a continuous set of edge pixels. The Douglas-Peucker algorithm is used to approximate the polygonal contour of the trapezoidal cross section by identifying the two parallel base segments and two non-parallel waist segments. The least squares method is used to fit the equations of each side line and calculate the coordinates of the intersection of the four sides to determine the coordinates of the two endpoints of the long base, the two endpoints of the short base, and the intersection of the extensions of the two waists. A trapezoidal geometric feature regression model is established to calculate the length ratio of the long base to the short base, the slope difference between the two sides, and the angle between the central axis of the trapezoid and the perpendicular direction of the image. Based on the geometric feature parameters, the state is determined. When the long base is located in the upper region of the image and the length ratio is greater than 1.5, it is determined to be a frontal state. When the short base is located in the upper region of the image and the length ratio is less than 0.8, it is determined to be a reversed state.

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