Pneumatic posture adjusting type machine-picked tea leaf sorting equipment based on spectrum detection

Abstract

The invention discloses pneumatic posture adjusting type machine-picked tea leaf sorting equipment based on spectrum detection. The pneumatic posture adjusting type machine-picked tea leaf sorting equipment comprises a rack, a walking module, a feeding module, a vibration conveying module, a posture adjusting and sorting module, a collecting module and a quality detection module. The posture adjusting and sorting module is used for adjusting the posture of the machine-picked tea leaves in a pneumatic mode and sorting the machine-picked tea leaves at different grades; the collecting module comprises a common tea leaf collecting mechanism and a special-grade tea leaf collecting mechanism; the quality detection module comprises an infrared spectrum detection device for detecting machine-picked tea leaves in the special-grade tea leaf collecting mechanism and a sorting air nozzle for blowing the machine-picked tea leaves which do not meet the special-grade tea leaf standard in the special-grade tea leaf collecting mechanism away from the special-grade tea leaf collecting mechanism. The machine-picked tea leaf sorting equipment can automatically sort machine-picked tea leaves, especially can automatically sort high-quality special-grade tea leaves, improves the production efficiency and reduces the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection. Background Art

[0002] Tea greens refer to the fresh young leaves picked from tea trees and are used as raw materials for processing into dry tea (finished tea). The selection of tea greens is crucial for the quality of tea and is one of the important factors affecting the grading of tea. For example, the picking standard for super-grade Tieguanyin tea is one bud with two leaves, and the standards for green tea and black tea are the bud tips, etc. With the modernization and large-scale development of the tea industry, picking by tea picking machines can improve the picking efficiency. Machine-picked tea greens refer to the tea greens picked by tea picking machines. Since there are significant differences in the quality of machine-picked tea greens, manual or traditional machines are required for sorting. Manual sorting has low efficiency and high costs, while the sorting accuracy of traditional machines is limited, and manual sorting is still required for high-quality super-grade tea, wasting labor. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned existing problems and provide a pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection. This machine-picked tea green sorting equipment can automatically sort machine-picked tea greens, and can especially achieve automatic sorting for high-quality super-grade tea, improving production efficiency and reducing costs.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection, comprising a frame, a traveling module, a feeding module, a vibration transmission module, an attitude adjustment and sorting module, a collection module, and a quality detection module; wherein,

[0006] The traveling module is arranged at the bottom of the frame and is used for the movement of the machine-picked tea green sorting equipment; the attitude adjustment and sorting module is arranged inside the frame; the vibration transmission module is arranged between the upper end of the attitude adjustment and sorting module and the feeding module; the vibration transmission module is used for vibrating and dispersing the machine-picked tea greens and conveying them into the attitude adjustment and sorting module; the attitude adjustment and sorting module adjusts the attitude of the machine-picked tea greens by pneumatic means and sorts the machine-picked tea greens into different grades; the collection module includes an ordinary tea green collection mechanism and a super-grade tea green collection mechanism, and the super-grade tea green collection mechanism is arranged below the attitude adjustment and sorting module; the quality detection module is arranged on the super-grade tea green collection mechanism, and the quality detection module includes an infrared spectral detection device for detecting the machine-picked tea greens in the super-grade tea green collection mechanism and a sorting air nozzle for blowing the machine-picked tea greens that do not meet the super-grade tea green standard out of the super-grade tea green collection mechanism.

[0007] The working principle of the above-mentioned pneumatic attitude adjustment type machine-picked tea sorting equipment based on spectral detection is as follows:

[0008] The machine-picked tea is first conveyed to the vibration conveyor module through the feeding module. The vibration conveyor module vibrates and disperses the piled-up machine-picked tea conveyed by the feeding module and then conveys it. Then, the dispersed machine-picked tea falls freely into the attitude adjustment and sorting module. The attitude adjustment and sorting module will adjust the attitude of the machine-picked tea in a pneumatic manner according to the leaf attitude of the machine-picked tea to prevent the side of the machine-picked tea from facing up, resulting in missed selection; the attitude adjustment and sorting module simultaneously sorts the machine-picked tea and sorts the machine-picked tea into different grades. The machine-picked tea of ordinary grade will fall into the ordinary tea collection mechanism for collection, and the superfine machine-picked tea will fall into the superfine tea collection mechanism for collection. The infrared spectral detection device will detect the inclusions of the machine-picked tea in the superfine tea collection mechanism. If the machine-picked tea that does not meet the superfine tea standard is detected, it will be blown away from the superfine tea collection mechanism, so as to realize the automatic sorting of high-quality superfine tea.

[0009] A preferred embodiment of the present invention, wherein, the superfine tea collection mechanism includes a collection mounting plate, a collection guide groove provided on the collection mounting plate, and a superfine tea conveyor belt provided at the bottom of the collection guide groove; a non-superfine tea conveyor belt is provided on one side of the superfine tea conveyor belt; the infrared spectral detection device includes a first light source provided on the collection mounting plate and a near-infrared spectral detection probe; the near-infrared spectral detection probe is located above the superfine tea conveyor belt. In the above structure, after being screened by the attitude adjustment and sorting module, the machine-picked tea that belongs to single buds, single leaves, and relatively small one-bud-one-leaf will fall into the collection guide groove and then fall into the superfine tea conveyor belt through the guidance of the collection guide groove; the superfine tea conveyor belt will convey the machine-picked tea, and the near-infrared spectral detection probe located above it will detect the inclusions of the machine-picked tea, such as the content of tea polyphenols, caffeine, amino acids, and moisture content, and evaluate a comprehensive index. If the comprehensive index meets the superfine tea standard, it will be conveyed out of the machine-picked tea sorting equipment by the superfine tea conveyor belt for collection. If the comprehensive index does not meet the superfine tea standard, the sorting air nozzle will spray air to blow the machine-picked tea that does not meet the superfine tea standard onto the non-superfine tea conveyor belt and be conveyed out of the machine-picked tea sorting equipment for collection, realizing the superfine sorting of machine-picked tea.

[0010] Furthermore, a communication groove is provided between the superfine tea conveyor belt and the non-superfine tea conveyor belt, the purpose of which is to better blow the machine-picked tea that does not meet the superfine tea standard from the superfine tea conveyor belt onto the non-superfine tea conveyor belt.

[0011] Preferably, the attitude adjustment and sorting module includes a high-speed camera device arranged on the top of the frame, a multi-component sorting drum group arranged inside the frame, and a pneumatic mechanism; the high-speed camera device includes a plurality of high-speed cameras, and the multi-component sorting drum group is arranged along the vertical direction; each sorting drum group includes two sorting drums; the pneumatic mechanism includes attitude adjustment air nozzles arranged on each sorting drum. In the above structure, each sorting drum group can correspondingly sort out machine-picked tea greens of different grades; the number of high-speed cameras can be two, which are located directly above the falling trajectory of the machine-picked tea greens. The high-speed cameras are used to monitor the leaf attitude of the machine-picked tea greens during the falling process in real time. If the front or back of the leaf of the machine-picked tea green faces upward, the attitude adjustment air nozzles on the sorting drum are not triggered to spray air; if the side of the leaf of the machine-picked tea green faces upward, the attitude adjustment air nozzles on the sorting drum are triggered to spray air, and the airflow adjusts the leaf attitude of the machine-picked tea green to ensure that the front or back of the leaf of the machine-picked tea green faces upward, greatly reducing the situation of missed selection caused by the side of the leaf facing upward and passing through the sorting drum.

[0012] Preferably, the sorting drum includes a drum support shaft, a drum body arranged on the drum support shaft, and multiple rows of push rods arranged on the drum body. The number of push rods in each row is multiple; there are also multiple rows of attitude adjustment air nozzles on each sorting drum, and the number of attitude adjustment air nozzles in each row is also multiple. Each row of attitude adjustment air nozzles is arranged in one-to-one correspondence with each row of push rods; the multiple push rods and the multiple attitude adjustment air nozzles are arranged alternately. In the above structure, the two sorting drums in the sorting drum group are located on both sides of the falling trajectory of the machine-picked tea greens; there are two groups of the sorting drum group. The sorting drum group located at the upper level mainly sorts out the branches and tea greens with more than one bud and three leaves in the machine-picked tea greens, and the sorting drum group located at the lower level mainly sorts out the tea greens with one bud and two leaves and one bud and three leaves in the machine-picked tea greens, so as to realize the sorting of machine-picked tea greens of different quality grades. By rotating the two sorting drums, the push rods will sort the machine-picked tea greens. The multiple push rods and the multiple attitude adjustment air nozzles are arranged alternately, which is convenient for adjusting the attitude of the selected machine-picked tea greens, and the structure is also very compact.

[0013] Preferably, from top to bottom, the distance between the push rods of the sorting drum group gradually decreases; the push rods in the two sorting drums of each sorting drum group are arranged staggeredly. The purpose is that from top to bottom, the distance between the push rods in each sorting drum group is different. The distance between the push rods in the sorting drum group located at the upper level is larger, and the distance between the push rods in the sorting drum group located at the lower level is smaller, so that machine-picked tea greens of different grades can be screened out; the push rods in the two sorting drums of each sorting drum group are arranged staggeredly, which can make the structure more compact, prevent interference when the two sorting drums move, and prevent missed selection of machine-picked tea greens.

[0014] Preferably, the ordinary tea green collecting mechanism includes a plurality of ordinary tea green collecting components, and the plurality of ordinary tea green collecting components are arranged in one-to-one correspondence with the multi-component sorting roller group; each ordinary tea green collecting component includes an ordinary tea green conveyor belt arranged at the bottom of the frame, a first sorting drainage trough arranged between one side of the sorting roller group and the ordinary tea green conveyor belt, a collecting drainage plate arranged on the other side of the sorting roller group, and a second sorting drainage trough arranged between the collecting drainage plate and the ordinary tea green conveyor belt. In the above structure, each ordinary tea green collecting component corresponds to ordinary machine-picked tea greens of different grades. There are two groups of the sorting roller group, so there are also two ordinary tea green collecting components; the machine-picked tea greens sorted by each group of sorting roller groups will be discharged from both sides. One side is discharged into the first sorting drainage trough, guided by the first sorting drainage trough, and slides onto the ordinary tea green conveyor belt. The machine-picked tea greens on the other side will be discharged into the collecting drainage plate, fall into the second sorting drainage trough after passing through the collecting drainage plate, and then flow into the ordinary tea green conveyor belt, and are jointly conveyed out of the machine-picked tea green sorting equipment for collection.

[0015] Further, in order to facilitate the collection of ordinary machine-picked tea greens, the discharge end of the ordinary tea green conveyor belt is lifted by a certain height (i.e., the discharge end is located in the middle of the frame); the ordinary tea green conveyor belt includes a horizontal section, a lifting section, and a horizontal discharge section connected in sequence; the discharge end is located in the horizontal discharge section, and a drainage guide plate is arranged on the discharge end to facilitate guiding the machine-picked tea greens. The first sorting drainage trough is connected to the horizontal section, and the second sorting drainage trough is connected to the horizontal discharge section. By setting the first sorting drainage trough, the collecting drainage plate, the collecting drainage plate, and the second sorting drainage trough, the structure can be very compact and the layout can be very reasonable. The collecting drainage plate is installed on the frame through a collecting support plate.

[0016] Preferably, the feeding module includes a corrugated edge conveyor belt arranged obliquely, feeding baffle plates arranged on both sides of the corrugated edge conveyor belt, and a feeding driving device; the corrugated edge conveyor belt includes a base belt, corrugated edges arranged on both sides of the base belt, and a plurality of cross partitions arranged on the base belt. In the above structure, the feeding baffle plates play a guiding and blocking role to prevent the machine-picked tea greens from slipping during the feeding process. The corrugated edges move together with the base belt and play a role in blocking the machine-picked tea greens. After the machine-picked tea greens are fed into the feeding module, the cross partitions will perform the first diversion on the tea greens piled up together, so as to ensure that the machine-picked tea greens are better conveyed upward.

[0017] Preferably, the vibration conveying module includes a vibrating conveyor and a feeding conveyor belt; the vibrating conveyor is located between the feeding conveyor belt and the corrugated sidewall conveyor belt; the vibrating conveyor includes a vibrating conveying trough, a vibration source arranged below the vibrating conveying trough, and an elastic support device arranged between the vibrating conveying trough and the vibration source. The depth of the vibrating conveying trough is 10 cm, the vibration source includes a vibration motor and an exciter, and the elastic support device is installed between the vibrating conveying trough and the vibration source. The elastic support device includes a helical spring and a leaf spring, which can achieve good support and vibration effects, and can conduct a second diversion of the machine-picked tea greens conveyed by the corrugated sidewall conveyor belt, reducing the negative impact of the unsatisfactory sorting caused by the accumulation of machine-picked tea greens. The feeding conveyor belt is installed at the rear lower part of the vibrating conveyor, and the feeding conveyor belt and the vibrating conveyor can be connected by an inclined deflector to prevent the machine-picked tea greens from falling into the gap during the conveying process. One end of the inclined deflector is connected to the end of the vibrating conveyor, and the other end is connected to the front end of the feeding conveyor belt. After being conveyed by the feeding conveyor belt, the machine-picked tea greens fall into the sorting area (posture adjustment and sorting module) in the form of a projectile motion.

[0018] Preferably, the machine-picked tea green sorting equipment further includes a human-machine interaction module and an electronic control module; the human-machine interaction module is used to send working instructions to the feeding module, the vibration conveying module, the posture adjustment and sorting module, the collection module, and the quality detection module and display the working status; the electronic control module is used to provide electric energy to the human-machine interaction module, the feeding module, the vibration conveying module, the posture adjustment and sorting module, the collection module, and the quality detection module and control the start and stop.

[0019] Preferably, the posture adjustment and sorting module identifies the falling posture of the machine-picked tea greens through a deep learning model.

[0020] The tea green color RGB images required by the deep learning model are collected using a self-built tea green morphology detection platform. Select some images with good shooting quality, and perform preprocessing on them, including mirroring, flipping, grayscaling, adding Gaussian noise, etc., to complete sample augmentation. Construct a dataset, annotate it, standardize the label format, and divide the label types into five categories: one bud with one leaf, one bud with two leaves, one bud with three leaves, branches, and broken leaves. Improve the algorithm based on YOLOv5, introduce the DSConv convolutional module into the Head part of the network, replace the C3 modules of the 17th, 20th, and 23rd layers respectively as the Detect input, introduce the RepGFPN structure into the Neck part of the network, replace the 13th layer of the network with a residual structure, and set the number of channels to 512. Introduce the SE attention mechanism into the end of the Backbone part of the network, introduce Wise IOU into the loss calculation part of the network, replace the original CIOU to calculate the loss function, randomly divide the dataset into a training set, a validation set, and a test set in a ratio of 7:2:1, and add them to the improved algorithm for multiple rounds of training until the detection accuracy reaches 99%.

[0021] The built-in model of the near-infrared spectroscopy detection device is a tea green inclusion detection model. The construction process of this tea green inclusion detection model is as follows: First, obtain the spectral data of tea green through an agricultural product spectrometer, and perform filtering processing on the spectral data using a filtering method. Then, select a part of the tea green samples, and measure the tea polyphenol content, moisture content, caffeine content, amino acid content, etc. of the tea green leaf part through chemical property tests. Use the spectral data as the input sample features, convert the tea green inclusion components into a comprehensive score according to a ratio as the output sample features, and annotate its label. The label format is special grade, first grade, medium grade, and low grade. Construct a prediction model for the tea green spectral data and the comprehensive score of tea green inclusions through the partial least squares method. Divide the samples into a training set and a validation set in a ratio of 7:3 and perform training. Place the trained model in the near-infrared spectroscopy detection device to detect tea green, and compare the results of measuring the tea green inclusion content through chemical property tests. If the results differ greatly, on this basis, expand the sample size to be measured, and measure the spectral data and inclusion content of the new samples. Repeat the above tea green inclusion detection model construction process until the correlation coefficient between the measurement result of the tea green inclusion detection model and the actual result reaches 0.95 or above.

[0022] The present invention has the following beneficial effects compared with the prior art:

[0023] 1. A pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection in the present invention. The attitude adjustment and sorting module adjusts the attitude of machine-picked tea greens pneumatically according to the leaf attitudes of machine-picked tea greens, preventing the sides of machine-picked tea greens from facing upwards and causing the situation of missed selection. The attitude adjustment and sorting module simultaneously sorts machine-picked tea greens, separating machine-picked tea greens into different grades, and can automatically sort machine-picked tea greens, improving production efficiency and reducing costs.

[0024] 2. A pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection in the present invention. The infrared spectral detection device detects the inclusions of machine-picked tea greens in the special-grade tea green collection mechanism. If machine-picked tea greens that do not meet the special-grade tea green standard are detected, they are blown away from the special-grade tea green collection mechanism, thereby realizing the automatic sorting of high-quality special-grade tea leaves and further improving production efficiency.

[0025] 3. In the preferred solution of the present invention, the machine-picked tea green sorting equipment is based on deep learning and spectral detection technologies. The operating speeds of each module can be adjusted through the human-machine interaction module. For machine-picked tea greens of different varieties and different growth levels, corresponding adjustments can be made to each module, making the machine-picked tea green sorting equipment have stronger universality. In addition, the human-machine interaction module can also display information such as the working status of the machine-picked tea green sorting equipment, the sorting situation of machine-picked tea greens of different qualities, and cost prediction in real time. Compared with traditional tea green sorting machines, the present invention has a higher level of intelligence and is more convenient to operate.

[0026] 4. In the preferred solution of the present invention, the machine-picked tea green sorting equipment integrates machine vision and pneumatic technologies, enabling machine-picked tea greens to keep their front or back sides facing upwards during the falling process. Compared with traditional tea green sorting machines using drum sorting technologies, the present invention can reduce the phenomenon of the sides of machine-picked tea greens facing upwards during the falling process, thereby greatly reducing the missed selection rate of machine-picked tea greens and improving the sorting efficiency.

[0027] 5. In the preferred solution of the present invention, near-infrared spectral detection technology is integrated. In addition to performing ordinary sorting using sorting drums, pneumatic mechanisms, and high-speed cameras, it can also perform component detection on single buds, one bud with one leaf, and particularly small single leaves for further sorting to screen out special-grade tea greens that can be used to produce famous and high-quality teas, improving production benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a three-dimensional structural schematic diagram of one specific embodiment of a pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection in the present invention.

[0029] Figure 2 It is a three-dimensional structural schematic diagram of the machine-picked tea green sorting equipment in the present invention from another perspective direction.

[0030] Figure 3 This is a structural schematic diagram of one side view of the machine-picked tea green sorting equipment in the present invention.

[0031] Figure 4 This is a structural schematic diagram of another side view of the machine-picked tea green sorting equipment in the present invention.

[0032] Figure 5 This is a three-dimensional structural schematic diagram of the hidden part structure of the machine-picked tea green sorting equipment in the present invention.

[0033] Figure 6 This is a three-dimensional structural schematic diagram of the special-grade tea green collection mechanism and the quality detection module in the present invention.

[0034] Figure 7 This is a three-dimensional structural schematic diagram of the attitude adjustment and sorting module in the present invention.

[0035] Figure 8 This is a top view of the attitude adjustment and sorting module in the present invention.

[0036] Figure 9 This is a side view of the attitude adjustment and sorting module in the present invention.

[0037] Figure 10 This is a structural schematic diagram of the tea green morphology detection platform in the present invention.

[0038] Figure 11 This is a structural schematic diagram of the improved YOLOv5 network in the present invention.

[0039] Figure 12 This is a schematic diagram of the absorbance-wavelength of the tea green sample in the present invention. Detailed implementation manners

[0040] In order to enable those skilled in the art to well understand the technical solution of the present invention, the present invention will be further described below in conjunction with embodiments and drawings, but the implementation manners of the present invention are not limited thereto.

[0041] See Figures 1 - 4 , this embodiment discloses a pneumatic attitude adjustment type machine-picked tea green sorting equipment based on spectral detection, including a frame 1, a human-computer interaction module, an electric control module 2, a walking module, a feeding module 3, a vibration transmission module 4, an attitude adjustment and sorting module 5, a collection module, and a quality detection module.

[0042] See Figures 1 - 4, the walking module is arranged at the bottom of the rack 1 and is used for the movement of the machine-picked tea green sorting equipment; the walking module includes eight universal wheels 7, and the eight universal wheels 7 are respectively installed on the left and right sides of the bottom of the rack 1. The distance between two adjacent universal wheels 7 on each side is one-third of the length of the rack 1 in the front-rear direction. The universal wheels 7 closest to the front and rear sides of the rack 1 are equipped with brakes 8. When moving the machine-picked tea green sorting equipment, the brakes 8 should be released, and when fixing the machine-picked tea green sorting equipment, the brakes 8 should be closed to prevent the machine-picked tea green sorting equipment from sliding.

[0043] See Figures 1 - 4 , the human-machine interaction module is used to send working instructions to the feeding module 3, the vibration transmission module 4, the posture adjustment and sorting module 5, the collection module, and the quality inspection module and display the working status.

[0044] See Figures 1 - 4 , the electronic control module 2 is used to supply electrical energy to the human-machine interaction module, the feeding module 3, the vibration transmission module 4, the posture adjustment and sorting module 5, the collection module, and the quality inspection module and control the start and stop.

[0045] See Figures 1 - 4 , the feeding module 3 is arranged at the front end of the rack 1, and the vibration transmission module 4 is arranged at the rear end of the feeding module 3; the posture adjustment and sorting module 5 is arranged inside the rack 1; the vibration transmission module 4 is arranged between the upper end of the posture adjustment and sorting module 5 and the feeding module 3; the vibration transmission module 4 is used to vibrate and disperse the machine-picked tea greens conveyed by the feeding module 3 and convey them into the posture adjustment and sorting module 5; the posture adjustment and sorting module 5 identifies the falling postures of the machine-picked tea greens through a deep learning model; the posture adjustment and sorting module 5 adjusts the postures of the machine-picked tea greens in a pneumatic manner to ensure that the machine-picked tea greens fall into the posture adjustment and sorting module 5 in the best posture (the front or back of the leaves of the machine-picked tea greens facing up), and sorts the machine-picked tea greens into different grades, that is, sorts out machine-picked tea greens of different grades. In this embodiment, the grades are divided into ordinary-grade machine-picked tea greens and special-grade machine-picked tea greens, and the ordinary-grade machine-picked tea greens have two grades.

[0046] See Figures 1 - 6, the collection module includes a common tea green collection mechanism 9, a special-grade tea green collection mechanism 10, and a fifth power supply. The fifth power supply is connected to the electronic control module 2. The special-grade tea green collection mechanism 10 is arranged below the attitude adjustment and sorting module 5; the quality detection module is arranged on the special-grade tea green collection mechanism 10. The quality detection module includes an infrared spectrum detection device 6 for detecting the machine-picked tea greens (special-grade machine-picked tea greens) in the special-grade tea green collection mechanism 10, and a sorting air nozzle 14 for blowing the machine-picked tea greens that do not meet the special-grade tea green standard in the special-grade tea green collection mechanism 10 away from the special-grade tea green collection mechanism 10. The machine-picked tea greens that meet the special-grade tea green standard are special-grade machine-picked tea greens.

[0047] See Figures 1 - 5 , the electronic control module 2 is installed at the bottom of the frame 1 and includes a central power management device, a voltage conversion device, a power monitoring device, a communication control device, a heat dissipation device, and a circuit protection device, etc. The above devices are all integrated. The voltage conversion device is responsible for the electric drive of each module (such as the human-computer interaction module, the feeding module 3, the vibration transmission module 4, the attitude adjustment and sorting module 5, the collection module, and the quality detection module). When the voltage exceeds the monitoring threshold, the power monitoring device will trigger a protection mechanism. The communication control device uses bus communication. The heat dissipation device includes a radiator, a fan, a cold plate, and heat pipes, etc., to prevent damage to the circuit and components caused by excessive temperature and play a heat dissipation role. The circuit protection device includes an overcurrent protector, which can prevent damage to the machine-picked tea green sorting equipment due to short circuit, excessive current, etc. The electronic control module 2 is electrically connected to the human-computer interaction module, the feeding module 3, the vibration transmission module 4, the quality detection module, the attitude adjustment and sorting module 5, and the collection module, and is responsible for providing electrical energy to each power-consuming module and controlling the start and stop.

[0048] See Figures 1 - 5, the human-machine interaction module includes a display unit, a data acquisition unit, a drive unit, and a control unit. The display unit includes an intelligent serial screen 11, which is installed at a position in front and above on the left or right side of the frame 1, and is used to send working instructions to the machine-picked tea green sorting equipment and display the working status. Specifically, it is used to send start-stop instructions to the machine-picked tea green sorting equipment, control the rotation speed of the sorting drum 5-2, adjust the jet force of the attitude adjustment air nozzle 5-3, and adjust the conveying speed of the corrugated edge conveyor belt 3-1, etc., and display information such as the weight of machine-picked tea greens of different qualities after sorting and the revenue prediction; the data acquisition unit includes four weighing sensors, which are respectively installed below four diversion guide plates 16, and the four diversion guide plates 16 are made of polyamide materials; the drive unit includes a first power supply and a transformer, etc., and the control unit includes a STM32 single-chip microcomputer and a Raspberry Pi single-board computer based on Linux. The control unit is connected to the electric control module 2 for unified management and control.

[0049] See Figures 1 - 6 , the special-grade tea green collection mechanism 10 includes a collection mounting plate 10-1 fixed on the frame 1, a collection guide groove 10-2 provided on the collection mounting plate 10-1, and a special-grade tea green conveyor belt 10-3 provided at the bottom of the collection guide groove 10-2; a non-special-grade tea green conveyor belt 16 is provided on one side of the special-grade tea green conveyor belt 10-3.

[0050] See Figures 1 - 6, the infrared spectrum detection device 6 includes a first light source 6-1, a near-infrared spectrum detection probe 6-2 and a second power source arranged on the collection mounting plate 10-1. The near-infrared spectrum detection probe 6-2 is an optical fiber probe, and the first light source 6-1 uses a tungsten halogen light source; the near-infrared spectrum detection probe 6-2 is located above the superfine tea green conveyor belt 10-3; the second power source is connected to the electronic control module 2. In the above structure, after being screened by the attitude adjustment and sorting module 5, the machine-picked tea greens that are single buds, single leaves, and relatively small one-bud-one-leaf will fall into the collection guide groove 10-2, and after being guided by the collection guide groove 10-2, they will fall into the superfine tea green conveyor belt 10-3; the superfine tea green conveyor belt 10-3 will convey the machine-picked tea greens, and the near-infrared spectrum detection probe 6-2 located above it will detect the inclusions of the machine-picked tea greens such as the content of tea polyphenols, caffeine, amino acids, and moisture content, and judge a comprehensive index. If the comprehensive index meets the superfine tea green standard, it will be conveyed out of the machine-picked tea green sorting equipment by the superfine tea green conveyor belt 10-3 for collection. If the comprehensive index does not meet the superfine tea green standard, the sorting air nozzle 14 will spray air to blow the machine-picked tea greens that do not meet the superfine tea green standard onto the non-superfine tea green conveyor belt 16 and be conveyed out of the machine-picked tea green sorting equipment for collection, realizing the superfine sorting of machine-picked tea greens. The sorting air nozzle 14 can be two, and is arranged on the side of the superfine tea green conveyor belt 10-3 away from the non-superfine tea green conveyor belt 16.

[0051] See Figure 6 , a communication groove 15 is provided between the superfine tea green conveyor belt 10-3 and the non-superfine tea green conveyor belt 16. The communication groove 15 connects the superfine tea green conveyor belt 10-3 and the non-superfine tea green conveyor belt 16. The purpose is to better blow the machine-picked tea greens that do not meet the superfine tea green standard from the superfine tea green conveyor belt 10-3 onto the non-superfine tea green conveyor belt 16, and the machine-picked tea greens that do not meet the superfine tea green standard enter the non-superfine tea green conveyor belt 16 through the communication groove 15.

[0052] See Figures 1 - 9, the attitude adjustment and sorting module 5 includes a high-speed camera device arranged on the top of the frame 1, a multi-component sorting roller group arranged inside the frame 1, a pneumatic mechanism, and a third power supply; the high-speed camera device includes a plurality of high-speed cameras 5-1, a second light source, and a fourth power supply, and the multi-component sorting roller group is arranged along the vertical direction; each sorting roller group includes two sorting rollers 5-2; the pneumatic mechanism includes an attitude adjustment air nozzle 5-3 arranged on each sorting roller 5-2; the third power supply and the fourth power supply are connected to the electronic control module 2. In the above structure, each sorting roller group can correspondingly sort out machine-picked tea greens of different grades; the number of high-speed cameras 5-1 can be two, located directly above the falling trajectory of the machine-picked tea greens. The high-speed cameras 5-1 are used to monitor the leaf attitude of the machine-picked tea greens during the falling process in real time. If the front or back of the leaf of the machine-picked tea green is facing up, the attitude adjustment air nozzle 5-3 on the sorting roller 5-2 is not triggered to spray air; if the side of the leaf of the machine-picked tea green is facing up, the attitude adjustment air nozzle 5-3 on the sorting roller 5-2 is triggered to spray air, and the airflow adjusts the leaf attitude of the machine-picked tea green to ensure that the front or back of the leaf of the machine-picked tea green is facing up, greatly reducing the situation of missed selection caused by the side of the leaf facing up and passing through the sorting roller 5-2.

[0053] See Figures 1 - 9 , the high-speed camera 5-1 adopts a high-definition 4K camera, and the second light source adopts an incandescent light source. Since the machine-picked tea green sorting equipment adopts a closed structure and there is no light inside, an incandescent light source is needed to supplement the light for the internal environment to assist the high-speed camera 5-1 to work better. The sorting roller group is driven by a motor 5-4, and the motor 5-4 is an adjustable-speed stepper motor. The speed control signal line is connected to the STM32 single-chip microcomputer in the human-computer interaction module.

[0054] See Figures 1 - 9The sorting roller 5-2 includes a roller support shaft 5-21, a roller body 5-22 arranged on the roller support shaft 5-21, and multiple rows of levers 5-23 arranged on the roller body 5-22, and each row of levers 5-23 has multiple levers 5-23; each sorting roller 5-2 is also provided with multiple rows of posture adjustment air nozzles 5-3, and each row of posture adjustment air nozzles 5-3 has multiple posture adjustment air nozzles 5-3, and each row of posture adjustment air nozzles 5-3 is arranged one-to-one with each row of levers 5-23; multiple levers 5-23 and multiple posture adjustment air nozzles 5-3 are alternately arranged. In the above structure, the two sorting rollers 5-2 in the sorting roller group are located on both sides of the falling trajectory of the machine-picked tea leaves; there are two groups of sorting roller groups, the sorting roller group located at the upper level mainly sorts the branches and stems, and the tea leaves with one bud and three leaves or more among the machine-picked tea leaves, and the sorting roller group located at the lower level mainly sorts the tea leaves with one bud and two leaves, and one bud and three leaves among the machine-picked tea leaves, thereby realizing the sorting of machine-picked tea leaves of different quality grades. By rotating the two sorting rollers 5-2, the lever 5-23 will sort the machine-picked tea leaves, and a plurality of levers 5-23 and a plurality of posture adjustment air nozzles 5-3 are alternately arranged, which is convenient for adjusting the posture of the machine-picked tea leaves, and the structure is also very compact.

[0055] See also Figures 1 - 9 The pneumatic mechanism also includes a compressor 5-5, an air pipeline and a regulating valve. The posture adjustment air nozzle 5-3 is a throat-type nozzle, which is installed on the roller body 5-22, and the jet direction of the posture adjustment air nozzle 5-3 faces outward. The air pipeline is arranged inside the roller support shaft 5-21 and the roller body 5-22, and the air pipeline connects the compressor 5-5 and the posture adjustment air nozzle 5-3, and the jet force of the posture adjustment air nozzle 5-3 is controlled by the regulating valve.

[0056] See also Figures 1 - 9 , from top to bottom, the distance between the levers 5-23 of the sorting roller group gradually decreases; the distance between the levers 5-23 refers to the distance between two adjacent levers 5-23 in the same row of levers; the levers 5-23 in the two sorting rollers 5-2 of each group of sorting roller groups are mutually staggered. The purpose is that from top to bottom, the distance between the levers 5-23 in each group of sorting roller groups is different, the distance between the levers 5-23 in the upper sorting roller group is larger, and the distance between the levers 5-23 in the lower sorting roller group is smaller, so that different grades of machine-picked green tea can be screened out; the mutually staggered arrangement of the levers 5-23 in the two sorting rollers 5-2 of each group of sorting roller groups can make the structure more compact, the two sorting rollers 5-2 will not interfere with each other when moving, and it can also prevent the machine-picked green tea from being missed.

[0057] See also Figures 1 - 9, during operation, the two sorting drums 5-2 of each sorting drum group rotate in opposite directions, and each lever 5-23 has the same length. The position of the attitude adjustment air nozzle 5-3 on one sorting drum 5-2 corresponds to the position of the lever 5-23 on the other sorting drum 5-2 to ensure the sorting accuracy.

[0058] See Figures 1 - 9 , the ordinary tea green collection mechanism 9 includes a plurality of ordinary tea green collection components, and the plurality of ordinary tea green collection components are arranged in one-to-one correspondence with the multi-group sorting drum groups; each ordinary tea green collection component includes an ordinary tea green conveyor belt 9-1 arranged at the bottom of the frame 1, a first sorting diversion groove 9-2 arranged between one side of the sorting drum group and the ordinary tea green conveyor belt 9-1, a collection diversion plate 9-3 arranged on the other side of the sorting drum group, and a second sorting diversion groove 9-4 arranged between the collection diversion plate 9-3 and the ordinary tea green conveyor belt 9-1. In the above structure, each ordinary tea green collection component corresponds to ordinary machine-picked tea greens of different grades. There are two groups of sorting drum groups, so there are also two ordinary tea green collection components; the machine-picked tea greens sorted by each sorting drum group are discharged from both sides. One side is discharged into the first sorting diversion groove 9-2, and through the guidance of the first sorting diversion groove 9-2, it slides onto the ordinary tea green conveyor belt 9-1. The machine-picked tea greens on the other side are discharged into the collection diversion plate 9-3, and after passing through the collection diversion plate 9-3, they fall into the second sorting diversion groove 9-4, and then merge into the ordinary tea green conveyor belt 9-1 and are conveyed out of the machine-picked tea green sorting equipment for collection together. The sizes of the two first sorting diversion grooves 9-2 and the second sorting diversion grooves 9-4 are different and are adjusted according to requirements.

[0059] See Figures 1 - 9, there are two sets of sorting drum groups in this embodiment, and there are also two corresponding common tea green collection components. The machine-picked tea greens of ordinary grades are divided into two grades. The machine-picked tea greens with branches and more than three leaves per bud are one grade, and the machine-picked tea greens with two leaves per bud and three leaves per bud are one grade. Each sorting drum 5-2 has six rows of dial rods 5-23 and six rows of attitude adjustment air nozzles 5-3; in each set of sorting drum groups, each row of dial rods 5-23 of one sorting drum 5-2 has four dial rods 5-23, and each row of attitude adjustment air nozzles 5-3 has five; each row of dial rods 5-23 of the other sorting drum 5-2 has five dial rods 5-23, and each row of attitude adjustment air nozzles 5-3 has four. The sorting drum group located at the upper end will sort the machine-picked tea greens. The machine-picked tea greens with branches and more than three leaves per bud will be blocked by the sorting drum group at the upper end. The blocked machine-picked tea greens will be moved to both sides as the sorting drum group moves, and finally fall into the corresponding common tea green collection component for collection. Other machine-picked tea greens will pass through the sorting drum group and enter the sorting drum group at the lower end; the sorting drum group at the lower end will block the machine-picked tea greens with two leaves per bud and three leaves per bud. The blocked machine-picked tea greens will be moved as the sorting drum group moves, and finally fall into the corresponding common tea green collection component for collection. The remaining machine-picked tea greens will fall into the special-grade tea green collection mechanism 10.

[0060] See Figures 1 - 9 , in order to facilitate the collection of machine-picked tea greens of ordinary grades, the discharge end of the common tea green conveyor belt 9-1 will be lifted by a certain height (i.e., the discharge end is located in the middle of the frame 1); the common tea green conveyor belt 9-1 includes a horizontally connected section, a lifting section, and a horizontal discharge section in sequence; the discharge end is located in the horizontal discharge section, and a diversion guide plate 16 is provided on the discharge end to facilitate guiding the machine-picked tea greens. The first sorting diversion trough 9-2 is connected to the horizontal section, and the second sorting diversion trough 9-4 is connected to the horizontal discharge section. By setting the first sorting diversion trough 9-2, the collection diversion plate 9-3, the collection diversion plate 9-3, and the second sorting diversion trough 9-4, the structure can be very compact and the layout can be very reasonable. The collection diversion plate 9-3 is installed on the frame 1 through a collection support plate.

[0061] See Figure 6 , diversion guide plates 16 are provided at the discharge ends of the special-grade tea green conveyor belt 10-3 and the non-special-grade tea green conveyor belt 16.

[0062] See Figures 1 - 5The feed module 3 includes an inclined corrugated sidewall conveyor belt 3-1, feed baffles 3-2 arranged on both sides of the corrugated sidewall conveyor belt 3-1, and a feed drive device; the corrugated sidewall conveyor belt 3-1 includes a base belt 3-11, corrugated sidewalls arranged on both sides of the base belt 3-11, and a plurality of transverse partitions 3-12 arranged on the base belt 3-11. The feed drive device is used to drive the corrugated sidewall conveyor belt 3-1 to move, and the corrugated sidewall conveyor belt 3-1 is connected to the electric control module 2 for unified management and control. In the above structure, the corrugated sidewall conveyor belt 3-1 is arranged at the front end of the frame 1 at an inclination angle of 45°; the surface of the base belt 3-11 is covered with a layer of food-grade rubber to reduce the mechanical damage caused by the machine-picked green tea during the feeding process; the feeding baffle 3-2 is a 1mm thick stainless steel plate, which plays a guiding and blocking role to prevent the machine-picked green tea from slipping during the feeding process, and the corrugated sidewall moves with the base belt 3-11 to block the machine-picked green tea. The partition 3-12 is rectangular, made of soft food-grade rubber material, and fixed on the outer surface of the base belt 3-11 at a spacing of 15cm; after the machine-picked green tea is fed into the feeding module 3, the partition 3-12 will divert the piled-up green tea for the first time, thereby ensuring that the machine-picked green tea is better transported upward.

[0063] See also Figures 1 - 5 The vibration transmission module 4 includes a vibration conveyor 4-1 and a feeding conveyor belt 4-2; the vibration conveyor 4-1 is located between the feeding conveyor belt 4-2 and the corrugated sidewall conveyor belt 3-1; the vibration conveyor 4-1 includes a vibration conveying trough 4-11, a vibration source 4-12 arranged below the vibration conveying trough 4-11, an elastic support device 4-13 arranged between the vibration conveying trough 4-11 and the vibration source 4-12, and a sixth power supply; the sixth power supply is connected to the electronic control module 2 for unified management and control. The depth of the vibrating conveyor trough 4-11 is 10 cm, the vibration source 4-12 includes a vibration motor and an exciter, and the elastic support device 4-13 is installed between the vibrating conveyor trough 4-11 and the vibration source 4-12. The elastic support device 4-13 includes a spiral spring and a leaf spring, which can play a good supporting and vibrating effect, and can perform a second diversion of the machine-picked green tea conveyed by the corrugated sidewall conveyor belt 3-1, thereby reducing the negative impact of unsatisfactory sorting caused by the accumulation of machine-picked green tea. The feeding conveyor belt 4-2 is installed at the rear and lower part of the vibrating conveyor 4-1. The feeding conveyor belt 4-2 and the vibrating conveyor 4-1 can be connected by an inclined guide plate to prevent the machine-picked green tea from falling into the gap during the conveying process. One end of the inclined guide plate is connected to the end of the vibrating conveyor 4-1, and the other end is connected to the front end of the feeding conveyor belt 4-2. After being conveyed by the feeding conveyor belt 4-2, the machine-picked green tea falls into the sorting area (posture adjustment sorting module 5) in the form of horizontal throwing motion.

[0064] See also Figures 1 - 5, the frame 1 adopts a closed box structure. Except for one feeding port and four discharging ports, the rest are all enclosed. The front end of the corrugated side conveyor belt 3-1 is located at the feeding port, and the four diversion guide plates 16 are respectively located at the four discharging ports. There are switchable doors on the front and rear sides of the frame 1, which should be locked during the normal operation of the machine-picked tea green sorting equipment and opened during maintenance for convenient replacement of components.

[0065] See Figures 1 - 5 , the built-in model of the near-infrared spectroscopy detection device 6 is a tea green inclusion detection model. The deep learning model in this embodiment is a deep learning model based on YOLOv5, and the tea green inclusion detection model is a tea green inclusion detection model based on near-infrared spectroscopy. The tea green color RGB images required by the deep learning model are collected using a self-built tea green morphology detection platform.

[0066] See Figures 1 - 5 and Figures 10 - 12 , the tea green morphology detection platform includes an outer box 35, an inner box handle 36, an inner box 37, a camera 38, a third light source 39, an outer box handle 40, a carrier table 41, support columns 42, and a computer 43. The inner box 37 is placed on the inner base of the outer box 35. The outer box 35 plays a role in protecting and supporting the inner box 37. The inner box handle 36 and the outer box handle 40 are respectively installed on both sides of the inner box 37 and the outer box 35 for easy installation and disassembly. The camera 38 is installed at the center of the support plate on the top of the inner box, perpendicular to the carrier table 41. The third light source 39 uses an incandescent light source and is installed on the four side walls of the inner box 37 to be responsible for supplementing light to the tea green and improving the shooting effect of the camera 38. The support columns 42 are installed at the four top corners of the base of the outer box 35 to support the tea green morphology detection platform and facilitate the pushing and pulling of the carrier table 41. The computer 43 is connected to the camera 38 and is responsible for shooting tea green images (tea green color RGB images) and saving them.

[0067] See Figure 10 , the outer box 35 is used to place the light source controller, which is convenient for wiring layout. At the same time, the hard metal material can protect the inner box 37. There are four support columns 42 at the four top corners of the base of the outer box 35 to ensure the stability of the tea green morphology detection platform and facilitate the pushing and pulling of the carrier table 41.

[0068] See Figure 10 , the inner box 37 is placed on the inner base of the outer box 35. The wiring of the camera 38 and the light source 39 on it is arranged on the inner wall of the outer box 35. The third light source 39 uses an incandescent light source and is installed on the four side walls of the inner box 37 to be responsible for supplementing light to the tea green and improving the shooting effect of the camera 38.

[0069] See Figure 10, the stage 41 is designed as a push - pull drawer - type structure, with two wheels installed on each of the two sides to reduce friction with the ground. The camera 38 is fixed on the top of the inner box 37, and the lens always remains perpendicular to the stage 41, with a vertical distance of 450 mm. During shooting, a black background board or background boards of other colors can be placed on the stage 41 according to requirements. Fresh tea leaves are placed on the background board in sequence. The computer 43 uses the MVS software to control the camera 38 for shooting. After shooting a set of images, the stage 41 is pulled out, a new batch of fresh tea leaves is replaced and shooting is carried out again until all shooting work is completed.

[0070] See Figures 10 - 12 , a total of 500 sets of fresh tea leaf images are taken using the camera 38 and the computer 43. Each set of fresh tea leaf images contains ten fresh tea leaves. The taken fresh tea leaf images are pre - processed, including mirroring, flipping, grayscale conversion, adding Gaussian noise, etc., to complete sample augmentation. After augmentation, the dataset has a total of 1000 sets, a collection of 10000 fresh tea leaf images. These are labeled, and the label format is standardized. The label types are divided into five categories: one bud with one leaf, one bud with two leaves, one bud with three leaves, branches, and broken leaves. The labeled tags and the image dataset are imported into the YOLOv5 model and the model is improved. The schematic diagram of the improved YOLOv5 network structure is as Figure 11 shown. The DSConv convolution module is introduced into the Head part of the network, replacing the C3 modules of the 17th, 20th, and 23rd layers respectively as the Detect input. The RepGFPN structure is introduced into the Neck part of the network, replacing the 13th layer of the network with a residual structure and setting the number of channels to 512. The SE attention mechanism is introduced at the very end of the Backbone part of the network. The Wise IOU is introduced into the loss calculation part of the network to replace the original CIOU for calculating the loss function. The dataset is randomly divided into a training set, a validation set, and a test set in a ratio of 7:2:1 and added to the improved algorithm for multiple rounds of training until the detection accuracy reaches 99%.

[0071] See Figures 10 - 12 , the construction process of the near - infrared spectroscopy fresh tea leaf inclusion detection model is as follows:

[0072] First, the spectral data of fresh tea leaves is obtained through an agricultural product spectrometer. The schematic diagram of the absorbance - wavelength of the fresh tea leaf sample is as Figure 12As shown, the spectral data is filtered by a filtering method to improve the signal-to-noise ratio and the analyzability of the data. Then, 200 tea green samples are randomly selected, and the tea polyphenol content, moisture content, caffeine content, amino acid content, etc. of the tea green leaf part of this variety are determined through chemical property tests. The spectral data is used as the input sample feature, and the tea green inclusion components are converted into a comprehensive score according to the proportion as the output sample feature, with a full score of 100 points, and labels are marked for them. The label format is special grade (90 points and above), first-class (80 - 90 points), medium (60 - 80 points), and low-class (below 60 points). The tea green spectral data and the comprehensive score of the tea green inclusions are used to construct a prediction model by the partial least squares method. The samples are divided into a training set and a validation set in a ratio of 7:3 and trained. The trained near-infrared spectroscopy tea green inclusion detection model is built into the near-infrared spectroscopy detection device 6 to detect the tea green, and the results of measuring the tea green inclusion content by chemical property tests are compared. If the results differ greatly, that is, the correlation coefficient between the measurement result and the actual result is less than 0.95, then on this basis, the sample size to be measured is expanded by 30 tea green samples each time, and the spectral data and inclusion content of the new samples are measured, and the above process of constructing the near-infrared spectroscopy tea green inclusion detection model is repeated until the correlation coefficient between the measurement result of the near-infrared spectroscopy tea green inclusion detection model and the actual result reaches 0.95 and above.

[0073] The above is a preferred embodiment of the present invention, but the embodiments of the present invention are not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A pneumatic attitude-adjustable machine for sorting freshly picked tea leaves based on spectral detection, characterized in that, It includes a frame, a traveling module, a feeding module, a vibrating conveyor module, an attitude adjustment and sorting module, a collection module, and a quality inspection module; among them, The traveling module is arranged at the bottom of the frame and is used for the movement of the machine-picked tea sorting equipment; the attitude adjustment and sorting module is arranged inside the frame; the vibrating conveyor module is arranged between the upper end of the attitude adjustment and sorting module and the feeding module; the vibrating conveyor module is used for vibrating and dispersing the machine-picked tea and conveying it into the attitude adjustment and sorting module; the attitude adjustment and sorting module adjusts the attitude of the machine-picked tea by pneumatic means and sorts the machine-picked tea into different grades; the collection module includes a common tea collection mechanism and a special-grade tea collection mechanism, and the special-grade tea collection mechanism is arranged below the attitude adjustment and sorting module; the quality inspection module is arranged on the special-grade tea collection mechanism, and the quality inspection module includes an infrared spectrum detection device for detecting the machine-picked tea in the special-grade tea collection mechanism and a sorting air nozzle for blowing the machine-picked tea that does not meet the special-grade tea standard in the special-grade tea collection mechanism away from the special-grade tea collection mechanism.

2. The pneumatic attitude adjustment type machine tea green sorting equipment based on spectral detection according to claim 1, wherein The special-grade tea collection mechanism includes a collection mounting plate, a collection guide groove arranged on the collection mounting plate, and a special-grade tea conveyor belt arranged at the bottom of the collection guide groove; a non-special-grade tea conveyor belt is arranged on one side of the special-grade tea conveyor belt; the infrared spectrum detection device includes a first light source arranged on the collection mounting plate and a near-infrared spectrum detection probe; the near-infrared spectrum detection probe is located above the special-grade tea conveyor belt.

3. The pneumatic attitude adjustment type machine for sorting picked tea leaves based on spectral detection according to claim 1 or 2, characterized in that, The attitude adjustment and sorting module includes a high-speed camera device arranged at the top of the frame, a multi-component sorting drum group arranged inside the frame, and a pneumatic mechanism; the high-speed camera device includes a plurality of high-speed cameras, and the multi-component sorting drum group is arranged along the vertical direction; each component of the sorting drum group includes two sorting drums; the pneumatic mechanism includes attitude adjustment air nozzles arranged on each sorting drum.

4. The pneumatic attitude adjustment type machine tea green sorting equipment based on spectral detection according to claim 3, characterized in that, The sorting drum includes a drum support shaft, a drum body arranged on the drum support shaft, and multiple rows of dial rods arranged on the drum body, and the number of dial rods in each row is multiple; there are also multiple rows of attitude adjustment air nozzles on each sorting drum, and the number of attitude adjustment air nozzles in each row is also multiple. Each row of attitude adjustment air nozzles is arranged in one-to-one correspondence with each row of dial rods; multiple dial rods and multiple attitude adjustment air nozzles are arranged alternately.

5. The pneumatic attitude adjustment type machine for sorting picked tea leaves based on spectral detection according to claim 4, wherein, From top to bottom, the distance between the dial rods of the sorting drum group gradually decreases; the dial rods in the two sorting drums of each component of the sorting drum group are arranged in a staggered manner.

6. The pneumatic attitude adjustment type machine for sorting picked tea leaves based on spectral detection according to claim 3, wherein, The common tea collection mechanism includes a plurality of common tea collection components, and the plurality of common tea collection components are arranged in one-to-one correspondence with the multi-component sorting drum group; each common tea collection component includes a common tea conveyor belt arranged at the bottom of the frame, a first sorting diversion groove arranged between one side of the sorting drum group and the common tea conveyor belt, a collection diversion plate arranged on the other side of the sorting drum group, and a second sorting diversion groove arranged between the collection diversion plate and the common tea conveyor belt.

7. The pneumatic attitude adjustment type machine tea green sorting equipment based on spectral detection according to claim 1, characterized in that, The feeding module includes a corrugated edge conveyor belt arranged obliquely, feeding baffles arranged on both sides of the corrugated edge conveyor belt, and a feeding driving device; the corrugated edge conveyor belt includes a base belt, corrugated edges arranged on both sides of the base belt, and a plurality of cross partitions arranged on the base belt.

8. A pneumatic attitude adjustment type fresh tea shoot sorting equipment based on spectral detection according to claim 7, characterized in that The vibration conveying module includes a vibrating conveyor and a feeding conveyor belt; the vibrating conveyor is located between the feeding conveyor belt and the corrugated edge conveyor belt; the vibrating conveyor includes a vibrating conveying trough, a vibration source arranged below the vibrating conveying trough, and an elastic support device arranged between the vibrating conveying trough and the vibration source.

9. The pneumatic attitude adjustment type machine tea green sorting equipment based on spectral detection according to claim 1, characterized in that The machine-picked tea green sorting equipment further includes a human-machine interaction module and an electric control module; the human-machine interaction module is used to send working instructions to the feeding module, the vibration conveying module, the attitude adjustment and sorting module, the collection module, and the quality detection module and display the working status; the electric control module is used to provide electric energy to the human-machine interaction module, the feeding module, the vibration conveying module, the attitude adjustment and sorting module, the collection module, and the quality detection module and control the start and stop.

10. The pneumatic attitude-adjustable machine tea shoot sorting equipment based on spectral detection according to claim 1, characterized in that, The attitude adjustment and sorting module identifies the falling attitude of the machine-picked tea green through a deep learning model.

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