Stereoscanning-based dried mushroom irradiation pest killing device and method

Abstract

The invention discloses a dried mushroom irradiation insecticidal device and method based on stereo scanning, and the method comprises the steps: placing dried mushrooms on an objective table, and enabling the dried mushrooms to enter a three-dimensional stereo scanning module; scanning a single batch of dried mushrooms by using a three-dimensional scanning module, constructing a three-dimensional model, and marking worm egg area coordinates and stacking density; the control system outputs a cooperative control instruction to the electron beam emission unit and the four-axis adjusting table, and the electron gun group adopts a gridding partition irradiation strategy to increase the dose in an egg dense area, reduce the dose in a sensitive part and suspend emission in a gap area; and the four-axis adjusting table can enable the objective table to rotate, lift and translate, so as to ensure that the shiitake mushrooms can be irradiated at all angles. According to the invention, the insect egg hiding area on the dried mushroom can be accurately identified, the electron beam emission unit performs targeted irradiation according to the scanning result, the dosage of the insect egg dense area is increased, the insect eggs can be effectively killed, the problem that the traditional uniform irradiation insect killing is not thorough is solved, and the insect killing quality is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of irradiation technology, and particularly relates to a dry Lentinula edodes irradiation and insect killing device and method based on stereoscopic scanning. BACKGROUND

[0002] Dry Lentinula edodes is easily contaminated by insect eggs such as grain moths and flour mites during airing and storage. Traditional treatment methods are mostly chemical fumigation and high-temperature treatment, but chemical fumigation is easy to leave harmful substances, affecting food safety; high-temperature treatment will damage the nutritional components (such as polysaccharides and amino acids) of Lentinula edodes. With the development of irradiation technology, more and more industries tend to use irradiation technology, and dry Lentinula edodes is gradually irradiated by electron beams for insect killing.

[0003] However, the traditional electron beam irradiation and insect killing device mostly adopts uniform irradiation, cannot accurately control the dose for the hiding area of insect eggs, and leads to incomplete insect killing due to insufficient dose in some areas or affects the quality of Lentinula edodes due to excessive dose in some areas. At the same time, the dynamic recognition of the morphological characteristics and stacking state of dry Lentinula edodes is lacking, and energy is wasted seriously. SUMMARY

[0004] In order to solve the above problems, the application provides a dry Lentinula edodes irradiation and insect killing device and method based on stereoscopic scanning, which can recognize the insect egg area, target irradiation, and improve the insect killing quality.

[0005] Therefore, the technical scheme of the application is: a dry Lentinula edodes irradiation and insect killing device based on stereoscopic scanning, comprising a carrier table, a moving mechanism, a three-dimensional stereoscopic scanning module, an electron beam emitting unit and a control system, the moving mechanism comprises a linear moving module, a four-axis adjustment table is arranged on the linear moving module, and the carrier table is arranged on the four-axis adjustment table; the moving mechanism drives the carrier table to move between a feeding area, a scanning area and an irradiation area, and the four-axis adjustment table can adjust the X / Y / Z axis direction displacement and the rotation orientation of the carrier table; the three-dimensional stereoscopic scanning module is located in the scanning area and comprises multiple industrial cameras and an infrared sensing unit, and is used for acquiring images of dry Lentinula edodes and recognizing insect egg areas; the electron beam emitting unit is located in the irradiation area and is composed of multiple independently controlled electron guns; and the control system can output a cooperative control instruction to the electron beam emitting unit and the four-axis adjustment table according to the distribution of the insect egg area obtained by the three-dimensional stereoscopic scanning module.

[0006] On the basis of the above scheme and as a preferred scheme of the above scheme: the three-dimensional stereoscopic scanning module comprises three groups of industrial cameras, which are arranged at a 45° angle on the top and both sides, respectively; the three-dimensional stereoscopic scanning module further comprises a data processing unit, and the data processing unit is used for calculating the stacking density of insect eggs.

[0007] As a preferred solution of the above-mentioned solution: the electron beam emitting unit is composed of 12 groups of independently controlled electron guns, and the control system can control the dose and deflection angle of each group of electron guns.

[0008] Another technical solution of the present application is a three-dimensional scanning-based irradiation sterilization method for dried shiitake mushrooms, comprising the following steps: S1, placing dried shiitake mushrooms on a loading platform to ensure that the dried shiitake mushrooms enter the three-dimensional scanning module in a single row and non-overlapping state; S2, using the three-dimensional scanning module to complete the scanning of a single batch of dried shiitake mushrooms, constructing a three-dimensional model, and marking the coordinates of the egg area and the stacking density; specifically: S2.1, after the dried shiitake mushrooms enter the scanning area, 3 groups of industrial cameras synchronously collect images, the top camera captures the umbrella cover profile and the gill distribution, and the side camera records the stem length and overall morphology; S2.2, the infrared sensing unit scans the surface of the shiitake mushrooms, and identifies the egg metabolic heat area through temperature difference resolution; S2.3, the data processing unit extracts the morphology parameters through an edge detection algorithm, calculates the stacking density and divides the levels; S2.4, combining the morphological characteristics and infrared signals, locating the potential egg hiding area: focusing on marking the gill gap, the connection between the umbrella cover and the stem, and the position below the damaged epidermis, and recording the three-dimensional coordinates; S2.5, the three-dimensional modeling engine fuses the above data to construct a three-dimensional model containing morphological characteristics, stacking state and egg area marking, and the model data is transmitted in real time to the control system through Ethernet; S3, after the control system receives the three-dimensional model data, matches the egg area coordinates with the lethal dose, generates a target irradiation coordinate list; adjusts the electron beam focal length according to the stacking density level, marks the sensitive parts of the shiitake mushrooms, sets the dose down coefficient, and outputs the cooperative control instructions to the electron beam emitting unit and the four-axis adjustment table; S4, according to the control system instructions, the electron gun group adopts a grid partition irradiation strategy, increases the dose by 10-20% for the egg dense area, reduces the dose by 10-20% for the sensitive parts, and suspends the emission for the gap area; S5, the four-axis adjustment table can rotate, lift and translate the loading platform to ensure that the shiitake mushrooms can be irradiated from all angles.

[0009] As a preferred solution of the above-mentioned solution: it further comprises S6, using a low-energy X-ray scanner to scan the irradiated dried shiitake mushrooms, judging the egg inactivation effect through image gray scale analysis; if the shiitake mushrooms do not meet the standard, the system automatically traces the three-dimensional scanning data and irradiation parameters of this batch, corrects the subsequent processing parameters of the same batch through machine learning algorithm, and forms a closed-loop optimization.

[0010] On the basis of the above scheme and as a preferred scheme of the above scheme: in step S2.3, the surface three-dimensional point cloud of the dried shiitake mushroom is reconstructed, and the projection area ratio calculation accuracy is verified by a standard module, and the error is less than or equal to 5%; for the point cloud information missing area, the system is defaulted as a "high density area"; the scanning module outputs a "stacking confidence coefficient", and if the coefficient is low, the control system will process the coverage area as a high density area.

[0011] On the basis of the above scheme and as a preferred scheme of the above scheme: in step S2.4, the image segmentation algorithm adopts a deep learning model combined with a U-Net architecture, and the training data includes thousands of multi-angle images of dried shiitake mushrooms labeled with gill gap, damage and confirmed eggs; the positioning result is output as a "confidence score", and the central control system only processes the egg area for the area with a confidence score greater than or equal to 0.7, and the low confidence area can trigger a high-resolution image secondary scanning review.

[0012] On the basis of the above scheme and as a preferred scheme of the above scheme: the step S4 comprises the following steps: S4.1, divide the conveying table into 6 grids of 10cm*10cm, and each group of electron guns is responsible for 2 grids; S4.2, the control system allocates electron gun resources in the order of "egg area> stacking dense area> ordinary area", to ensure that the egg area is preferentially covered; S4.3, the micro magnetic focusing device built in the electron gun can correct the electron beam deflection angle in real time according to the rotation angle of the dried shiitake mushroom, to ensure that the irradiation direction is always perpendicular to the surface of the target area; S4.4, each group of electron guns is equipped with a dose monitoring sensor to feedback the actual irradiation value in real time, and if the deviation from the target value exceeds the threshold value, the electron beam intensity is immediately adjusted by a high-voltage power supply.

[0013] On the basis of the above scheme and as a preferred scheme of the above scheme: in step 4.2, when multiple high-priority areas request the same electron gun resource, the system schedules according to the "shortest path, remaining time" algorithm to ensure that the key target is preferentially processed and deadlocks are avoided, and the "dynamic compensation" of adjacent gun groups is started.

[0014] On the basis of the above scheme and as a preferred scheme of the above scheme: in step S5, when the object table enters the irradiation area, it is first calibrated with the laser positioning point and the electron gun coordinate system to ensure that the three-dimensional model coordinates and the actual position are completely matched; for the gill gap, the object table is first rotated to the gill upward, and the electron gun group is lowered in synchronization to make the electron beam vertically enter the gap.

[0015] Compared with the prior art, the present application has the following advantages: With the industrial camera and infrared sensing unit, the hiding area of the insect eggs on the dry shiitake mushrooms, such as the gill gap, the connection between the umbrella cover and the stem, etc. can be accurately identified. The electron beam emitting unit targets the irradiation according to the scanning results, and the dose is increased in the insect egg dense area, which can effectively kill the insect eggs and solve the problem of incomplete killing of insect eggs in the traditional uniform irradiation, and improve the insect killing quality; the sensitive parts of the shiitake mushrooms can be marked, and the dose is reduced for irradiation, which avoids the damage to the nutritional ingredients of the shiitake mushrooms caused by the high irradiation dose, and can better retain the nutritional ingredients in the shiitake mushrooms, and also reduces the influence on the flavor of the shiitake mushrooms.

[0016] The three-dimensional scanning is used to obtain the shape characteristics and stacking state of the dry shiitake mushrooms, the grid partition irradiation strategy is adopted by the electron gun group, the electron beam is suspended in the gap area, the irradiation is accurately carried out according to the actual situation of the dry shiitake mushrooms, and the resources are dispatched according to the shortest path and the remaining time algorithm, so that the dry shiitake mushrooms can be quickly and efficiently irradiated, the energy waste is effectively reduced, and the energy utilization efficiency is improved. The control system cooperates with the four-axis adjustment table to realize the accurate displacement and rotation of the object table, and cooperates with the electron gun to correct the deflection angle in real time, so that the irradiation direction is perpendicular to the target area, and the degree of automation and accurate control is high.

[0017] 3, the low-energy X-ray scanner is used to scan the dry shiitake mushrooms after irradiation, the image gray scale analysis is used to judge the inactivation effect of the insect eggs, the machine learning algorithm is used to correct the subsequent processing parameters of the same batch, a closed loop optimization is formed, and the irradiation insect killing effect and quality can be continuously improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The method flowchart of the present application is shown in the figure; Figure 2 The method flowchart of the secondary review of the present application is shown in the figure; Figure 3 The structural schematic diagram of the present application is shown in the figure.

[0019] In the figure, the straight line moving module 1, the four-axis adjustment table 2, the object table 3, the industrial camera 4, the infrared sensing unit 5, the electron beam emitting unit 6, the electron gun 61, the shielding cover 7, the low-energy X-ray scanner 8 and the shielding room 9 are marked. DETAILED DESCRIPTION

[0020] Referring to the drawings. The three-dimensional scanning-based dry Lentinula edodes irradiation insect killing device described in this embodiment comprises a carrier table, a moving mechanism, a three-dimensional scanning module, an electron beam emitting unit and a control system. The moving mechanism comprises a linear moving module 1, and a four-axis adjustment table 2 is arranged on the linear moving module. The carrier table 3 is arranged on the four-axis adjustment table 2. The moving mechanism drives the carrier table 3 to move between a feeding area, a scanning area and an irradiation area. The four-axis adjustment table 2 can adjust the X / Y / Z axis direction displacement and the rotation orientation of the carrier table 3. The linear moving module 1 and the four-axis adjustment table 2 are both mature technologies. As long as the linear moving module 1 can drive the carrier table 3 to move, the four-axis adjustment table 2 can drive the carrier table 3 to fine-tune the distance in the X / Y / Z axis direction and drive the carrier table 3 to rotate by an angle.

[0021] The three-dimensional scanning module is arranged in the scanning area and comprises three groups of industrial cameras 4, an infrared sensing unit 5, a data processing unit and a three-dimensional modeling engine. The three groups of industrial cameras 4 can be selected from 50 million pixels and are arranged at the top and the left and right sides of the scanning area at an angle of 45°, respectively. The infrared sensing unit 5 is selected from an 8-14 μm wavelength infrared scanner with a scanning frequency of 100 Hz. The data processing unit is an edge computing module with a GPU.

[0022] The electron beam emitting unit 6 is arranged in the irradiation area and is composed of 12 groups of independently controlled electron guns 61. Six groups of X-axis direction and six groups of Y-axis direction are distributed in a cross shape. Each group of electron guns is provided with a magnetic focusing device, a dose adjusting module and a deflection driving mechanism. The focusing accuracy of the magnetic focusing device is ±0.2 mm. The dose adjusting module can be continuously adjusted in the range of 2-10 kGy. The deflection driving mechanism can realize an angle deflection of ±30° with a response time of less than 50 ms. The function of the electron gun is a mature technology, and thus will not be described here.

[0023] Meanwhile, the irradiation area further comprises a shielding cover 7. The shielding cover shell adopts a composite structure of a lead alloy with a thickness of 5 mm and a high polymer shielding material with a thickness of 10 mm. The shielding efficiency reaches 99.9%, and the weight is reduced by 30% compared with the traditional lead shielding.

[0024] The control system is composed of an industrial-grade PLC (programmable logic controller) and an AI algorithm module and is internally provided with an “irradiation parameter database”. The “irradiation dose database” is established through preliminary experiments. Different varieties (such as 808 and 939) and different sizes (umbrella cover diameter 30-80 mm) of dry Lentinula edodes samples are collected. The sensitive threshold (10% as the critical point of obvious browning, fragmentation or nutrient loss) of different parts (cap, gill and stem) of the samples to electron beam irradiation is tested under standard temperature and humidity. At the same time, the 100% lethal dose of common insect eggs (such as tobacco beetle eggs and rice weevil eggs) is determined. After the experimental data are statistically processed, a multi-dimensional lookup table is formed.

[0025] At the same time, a secondary review area is also provided, which comprises a low-energy X-ray scanner 8, which is placed in a separate shielding room 9, and the X-ray source can only be activated after the sample completely enters the sealed cavity. The cavity door is provided with an electromagnetic safety interlocking device, and the ray cannot be started when the door is not closed.

[0026] The specific insecticidal method comprises the following steps: S1, the sieved dry Lentinula edodes is placed on the loading platform, and the dry Lentinula edodes is ensured to enter the three-dimensional scanning module in a single row and non-overlapping state, and the feeding speed can be adjusted through the linear movement module.

[0027] S2, the three-dimensional scanning module is used to complete the scanning of a single batch of dry Lentinula edodes, a three-dimensional model is constructed, and the coordinates of the egg area and the stacking density are marked; specifically: S2.1, after the dry Lentinula edodes enters the scanning area, 3 groups of industrial cameras synchronously collect images, the top camera captures the cap profile and the gill distribution, and the side camera records the stem length and overall morphology, and the image resolution reaches 0.05 mm / pixel; S2.2, the infrared sensing unit scans the surface of the Lentinula edodes, and identifies the egg metabolic heat area (the temperature of the egg aggregation area is 0.8-1.5°C higher than that of the surrounding area) through a temperature difference resolution of 0.5°C; a miniature infrared thermal imager with a thermal sensitivity (NETD) of ≤0.05°C is selected, the scanning distance is controlled to be 10-20 cm, and the scanning environment temperature is stabilized at 20±2°C, so that the temperature difference area of ≥0.5°C can be effectively identified. For the case that the bottom or edge of the stacked Lentinula edodes causes weak temperature difference signal due to heat dissipation, the system automatically starts multi-angle supplementary scanning or adjusts the infrared gain.

[0028] S2.3, the data processing unit extracts the morphology parameters (cap diameter 3-8 cm, stem length 2-5 cm, thickness 0.3-1 cm) through an edge detection algorithm, calculates the stacking density, and divides the stacking density into grades according to the stacking density: low density <30%, medium density 30%-60%, and high density >60%; The three-dimensional point cloud of the Lentinula edodes surface is reconstructed, and the projection area ratio calculation accuracy is verified by a standard module, and the error is ≤5%. For the point cloud information missing area, such as the shadow area formed by the serious stacking of the Lentinula edodes, the system is set as a “high-density area” by default; the scanning module will output a “stacking confidence coefficient” to reflect the calculation reliability. If the coefficient is low, the control system will uniformly process the covered area as a high-density area, that is, to apply a compensation of 1.15 times the basic dose.

[0029] S2.4, combined with the morphological characteristics and the infrared signal, the potential egg hiding area is located: the gill gap (width 0.1-0.3 mm), the connection between the cap and the stem, and the position under the damaged epidermis are marked, and the three-dimensional coordinates (accuracy ±0.1 mm) are recorded. The image segmentation algorithm adopts a deep learning model combined with the U-Net architecture, and the training data includes thousands of multi-angle images of dried shiitake mushrooms labeled with gill slit, damage, and confirmed insect eggs, including different lighting and contamination conditions. The positioning result is output as a "confidence score", with a confidence score of 0-1. The confidence score is mainly based on the target area size, temperature difference signal strength, and texture abnormality.

[0030] The central control system only processes areas with a confidence score ≥ 0.7 as insect egg areas. Low-confidence areas can trigger a secondary scan for review.

[0031] If live insect eggs are detected in a low-confidence area during secondary review, the system automatically lowers the confidence threshold for such areas and marks corresponding features, such as specific morphological damage, for enhanced warning in subsequent batches.

[0032] S2.5, The three-dimensional modeling engine integrates the above data to construct a three-dimensional model containing morphological features, stacking status, and insect egg area markers. The model data is transmitted in real-time to the control system via Ethernet.

[0033] S3, The control system matches the best basic dose parameters in the database based on the shiitake mushroom variety code obtained from the scanning module, real-time three-dimensional model, stacking density level, and potential insect egg area coordinates. The required dose increase is calculated dynamically based on the insect egg area coverage and depth; the incident angle is adjusted or a dose gradient compensation algorithm is used based on the location of the insect egg area; and a dose multiplier compensation is performed based on the stacking density. Specifically: S3.1, Match the insect egg area coordinates with the lethal dose to generate a list of targeted irradiation coordinates; the potential insect egg area coordinates are directly mapped to the aiming coordinates of the electron gun to ensure that the electron beam center coincides with the insect egg area; the insect egg density level is divided by infrared signal strength (strong / medium / weak), corresponding to 1.2 times, 1.0 times, and 0.8 times the reference dose (the reference dose is preset to 5 kGy based on the common insect egg lethal threshold).

[0034] S3.2, Adjust the electron beam focal length based on the stacking density level, for example, enable "layered irradiation mode" in high-density areas, and adjust the electron beam focal length from 5 cm to 3 cm to avoid energy attenuation when penetrating the stacked layers.

[0035] S3.3, Label sensitive areas of shiitake mushrooms and set a dose down coefficient; sensitive areas of shiitake mushrooms, such as the surface of the umbrella and the tip of the stem, automatically trigger a 20% dose reduction and shorten the irradiation time (from 1.5 seconds to 1.0 seconds).

[0036] S3.4, Output coordinated control instructions to the electron beam emission unit and four-axis adjustment table.

[0037] S4. According to the control system instructions, the electron gun group adopts a grid partition irradiation strategy, increases the dose by 20% in the egg dense area, reduces the dose by 20% in the sensitive area, and suspends the emission in the gap area; S4.1, divide the conveying table into 6 grids of 10cm x 10cm, and each group of electron guns is responsible for 2 grids; the grid is a dynamic logical division. The working surface of the core irradiation area is virtually divided into logical grids with an area of 50cm x 30cm, and the minimum grid unit size can be dynamically adjusted according to the size of the shiitake mushrooms and the distribution of eggs (range: 5mm x 5mm to 20mm x 20mm). The 12 groups of electron guns are dynamically assigned by the control system to be responsible for the grid, and there is no fixed physical correspondence. S4.2, the allocation of electron gun resources follows the "proximity principle", that is, the nearest idle gun group and the highest priority (egg area > stacking dense area > ordinary area) are called first to ensure that the egg area is covered first; for example, if there is an egg area and an ordinary area in the same grid, 2 groups of electron guns will be called to handle them respectively to avoid dose interference.

[0038] When multiple high-priority areas request the same electron gun resource, the system uses the "shortest path, remaining time" algorithm to schedule to ensure that critical targets are given priority and to avoid deadlocks, while starting the "dynamic compensation" of adjacent gun groups.

[0039] S4.3, the built-in micro magnetic focusing device of the electron gun can real-time correct the electron beam deflection angle according to the rotation angle of the dry shiitake mushrooms, ensuring that the irradiation direction is always perpendicular to the target area surface, and improving the energy utilization rate.

[0040] S4.4, each group of electron guns is equipped with a dose monitoring sensor to provide real-time feedback of the actual irradiation value, and if the deviation from the target value exceeds 5%, the beam intensity will be adjusted immediately through the high-voltage power supply.

[0041] S5, the four-axis adjustment table can make the carrier rotate around the Z axis by ±30° and lift along the Z axis by ±5cm, ensuring that each angle of the shiitake mushrooms can be irradiated; when the carrier enters the irradiation area, it is first calibrated with the electron gun coordinate system through laser positioning points to ensure that the three-dimensional model coordinates and the actual position are completely matched; for the gill gap, the carrier is first rotated to the gill upwards (about 15° inclination angle), and the electron gun group is lowered by 2cm at the same time, so that the electron beam is perpendicular to the gap, solving the "dead angle problem" of traditional irradiation.

[0042] S6, secondary review: a low-energy X-ray scanner is used to scan the irradiated dry shiitake mushrooms, and the egg inactivation effect is judged by image gray scale analysis; when the live eggs have complete tissue structure, their transmission image shows a certain gray scale value; while the eggs killed by electron beams are disintegrated and dehydrated, the transmission image gray scale is significantly reduced. The system presets a gray scale change threshold, which is based on the experimental calibration of the type of eggs, and when the result is lower than the threshold, it is determined to meet the standard.

[0043] If the detected Lentinus edodes does not meet the standard, i.e., the proportion of non-killed insect eggs in Lentinus edodes is greater than 0.5%, the system automatically traces the three-dimensional scanning data and irradiation parameters of the batch, and corrects the subsequent processing parameters of the same batch through a machine learning algorithm, such as increasing the corresponding area dose by 5%, to form a closed-loop optimization.

[0044] If the re-inspection finds that the insect eggs at a specific coordinate position are not killed (recorded as a failure point), the system automatically traces the source, and the steps are as follows: S6.1, retrieve the original data of the Lentinus edodes in the scanning module: insect egg confidence, location, and stacking density; S6.2, query the actual received dose at the position, the data coming from the built-in dose monitoring sensor of the electron gun; S6.3, calculate the deviation between the target dose and the actual dose at the position; S6.4, analyze possible reasons, such as obstruction of the electron beam path, deviation in stacking density calculation, and insufficient basic dose setting; S6.5, if the dose is insufficient due to obstruction, mark similar obstruction structures in subsequent batches, and automatically increase the dose in the covered area of the structure; if the penetration is insufficient due to underestimation of the stacking density, automatically increase the basic dose compensation coefficient for the stacking density level; if it is not recognized due to too low scanning confidence, automatically lower the confidence threshold of the feature area.

[0045] S6.6, record all correction actions to form a failure mode and effect analysis log.

[0046] The re-inspection results, including whether it meets the standard or not, and corresponding parameters such as species, size, irradiation dose, insect egg position, and actual effect, will be automatically recorded in the database for optimizing the dose model and continuously updating the sensitive threshold and lethal dose data through a machine learning algorithm.

[0047] The above is only a preferred embodiment of the present application, and the protection scope of the present application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the present application should be considered within the protection scope of the present application. It should be noted that for ordinary technical personnel in the technical field, some improvements and refinements without departing from the principles of the present application should also be considered within the protection scope of the present application.

Claims

1. A stereoscopic scanning based irradiation device for killing insects in dried Lentinula edodes, characterized in that: The application relates to a three-dimensional scanning and irradiation device for dry Lentinula edodes, which comprises a carrier table, a moving mechanism, a three-dimensional scanning module, an electron beam emitting unit and a control system, wherein the moving mechanism comprises a linear moving module, a four-axis adjusting table is arranged on the linear moving module, and the carrier table is arranged on the four-axis adjusting table; the moving mechanism drives the carrier table to move between a feeding area, a scanning area and an irradiation area; the four-axis adjusting table can adjust the X / Y / Z axis direction displacement and the rotating position of the carrier table; the three-dimensional scanning module is arranged in the scanning area and comprises multiple industrial cameras and an infrared sensing unit, which are used for acquiring dry Lentinula edodes images and identifying insect egg areas; the electron beam emitting unit is arranged in the irradiation area and is composed of multiple independently controlled electron guns; and the control system can output a cooperative control instruction to the electron beam emitting unit and the four-axis adjusting table according to the insect egg area distribution obtained by the three-dimensional scanning module. The three-dimensional scanning module comprises three groups of industrial cameras which are arranged at a 45-degree angle on the top and the left and right sides respectively; the three-dimensional scanning module further comprises a data processing unit which is used for calculating the insect egg stacking density.

2. The three-dimensional scanning based dry Lentinula edodes irradiation insect killing device according to claim 1, characterized in that: The electron beam emitting unit is composed of 12 groups of independently controlled electron guns, and the control system can control the dose and deflection angle of each group of electron guns.

3. The three-dimensional scanning based dry Lentinula edodes irradiation insect killing device according to claim 1, characterized in that: The application further discloses a three-dimensional scanning and irradiation method for dry Lentinula edodes, which comprises the following steps:

4. A method for irradiation disinfestation of dried Lentinula edodes based on stereoscopic scanning, characterized in that: S1, placing dry Lentinula edodes on the carrier table to ensure that the dry Lentinula edodes enter the three-dimensional scanning module in a single row and non-overlapping state; S2, using the three-dimensional scanning module to complete the scanning of a single batch of dry Lentinula edodes, constructing a three-dimensional model, and marking the insect egg area coordinates and the stacking density; specifically: S2.1, after the dry Lentinula edodes enter the scanning area, the three groups of industrial cameras synchronously acquire images, the top camera captures the umbrella cover profile and the gill distribution, and the side camera records the stem length and the overall morphology; S2.2, the infrared sensing unit performs global scanning on the surface of the Lentinula edodes, and identifies the insect egg metabolic heat area through temperature difference resolution; S2.3, the data processing unit extracts the morphology parameters through an edge detection algorithm, calculates the stacking density and divides the stacking density into grades; S2.4, combining the morphology characteristics and the infrared signal, locating the potential insect egg hiding area: focusing on marking the gill gap, the umbrella cover and the stem connection, the damaged epidermis and the like, and recording the three-dimensional coordinates thereof; S2.5, a three-dimensional modeling engine fuses the above data, constructs a three-dimensional model containing the morphology characteristics, the stacking state and the insect egg area marking, and transmits the model data to the control system in real time through an Ethernet; S3, after receiving the three-dimensional model data, the control system matches the insect egg area coordinates with the lethal dose, generates a target irradiation coordinate list, adjusts the electron beam focal length according to the stacking density grade, marks the sensitive parts of the Lentinula edodes, sets a dose down coefficient, and outputs a cooperative control instruction to the electron beam emitting unit and the four-axis adjusting table; S4, according to the control system instruction, the electron gun group adopts a grid partition irradiation strategy, increases the dose of the insect egg dense area by 10-20%, reduces the dose of the sensitive parts by 10-20%, and suspends the emission in the gap area; S5, the four-axis adjusting table can rotate, lift and translate the carrier table, so that each angle of the Lentinula edodes can be irradiated. ​ 5. The method for irradiation disinfestation of dry Lentinula edodes based on stereoscan according to claim 4, characterized in that: S6, using a low-energy X-ray scanner to scan the irradiated dried Lentinula edodes, and determining the inactivation effect of insect eggs by image gray scale analysis; if the dried Lentinula edodes does not meet the standard, the system automatically traces the three-dimensional scanning data and irradiation parameters of the batch, corrects the subsequent processing parameters of the same batch through a machine learning algorithm, and forms a closed-loop optimization.

6. The method for irradiation disinfestation of dry Lentinula edodes based on stereoscan according to claim 4, characterized in that: In the step S2.3, the three-dimensional point cloud of the dried Lentinula edodes is reconstructed, and the projection area ratio calculation accuracy is verified by a standard module, with an error of less than or equal to 5%. For the area where the point cloud information is missing, the system is set as a "high-density area" by default. The scanning module outputs a "stacking confidence coefficient", and if the coefficient is low, the control system will process the covered area as a high-density area.

7. The method according to claim 4, wherein the method is carried out by using a stereoscopic scanning system. In the step S2.4, the image segmentation algorithm uses a deep learning model combined with a U-Net architecture, and the training data includes thousands of multi-angle images of dried Lentinula edodes with labeled gill gap, damage, and confirmed insect eggs. The positioning result is output as a "confidence score", and the central control system only processes the insect egg area for areas with a confidence score greater than or equal to 0.

7. Low-confidence areas can trigger a secondary scan for high-resolution image review.

8. The method for irradiation disinfestation of dry Lentinula edodes based on stereoscan according to claim 4, characterized in that: The step S4 includes the following steps: S4.1, divide the conveying table into 6 grids of 10cm x 10cm, and each group of electron guns is responsible for 2 grids; S4.2, the control system allocates electron gun resources in the order of "insect egg area > stacking dense area > ordinary area" to ensure that the insect egg area is covered first; S4.3, the micro magnetic focusing device built into the electron gun can real-time correct the electron beam deflection angle according to the rotation angle of the dried Lentinula edodes, to ensure that the irradiation direction is always perpendicular to the surface of the target area; S4.4, each group of electron guns is equipped with a dose monitoring sensor to real-time feedback the actual irradiation value, and if the deviation from the target value exceeds the threshold, the electron beam intensity is immediately adjusted through the high-voltage power supply.

9. The method according to claim 8, wherein the method is carried out by using a stereoscopic scanning system. In the step 4.2, when multiple high-priority areas request the same electron gun resource, the system schedules according to the "shortest path, remaining time" algorithm to ensure that critical targets are prioritized and deadlocks are avoided, while starting the "dynamic compensation" of adjacent gun groups.

10. The method for irradiation disinfestation of dry Lentinula edodes based on stereoscan according to claim 4, characterized in that: In the step S5, when the sample stage enters the irradiation area, it is first calibrated with the laser positioning point and the electron gun coordinate system to ensure that the three-dimensional model coordinates and the actual position are completely matched; for the gill gap, the sample stage is first rotated to the gill upward, and the electron gun group is lowered in synchronization to make the electron beam vertically enter the gap.

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