Convex and Concave Surface Detection System for Bamboo Pieces Based on Linear Laser and Image Fusion

In this study, we propose a method based on linear laser and image fusion to detect the convex and concave surfaces of bamboo pieces. The aim of the study is to further automate the processing of bamboo products (mainly bamboo chopsticks, toothpicks and bamboo mats). We derive the expression for the laser arc on the surface of the bamboo piece to obtain the optimum angle of irradiation. In order to deal with the outliers on the laser arc, we propose an outlier removal algorithm based on the first-order difference method. To determine the result of the convex and concave surface of the bamboo piece, we use a quadratic polynomial regression method. Finally we use this inspection system to flip the bamboo pieces so that all the pieces are fed to the next production stage with the same side. The experimental results show that this method has a detection error rate of less than 1‰ and is able to replace manual flipping to a certain extent and is suitable for industrial production.