Gastrodia elata double-sided detecting and grading equipment based on machine vision

Abstract

The utility model discloses gastrodia elata double-sided detecting and grading equipment based on machine vision, which comprises a feeding conveying mechanism used for conveying gastrodia elata to be detected to a visual detection mechanism, and the visual detection mechanism can obtain double-sided image data of the gastrodia elata to be detected and send the double-sided image data to a control system, the control system can be used for grading the to-be-detected gastrodia elata according to the double-sided image data; the conveying and sorting mechanism is provided with four stages of sorting and receiving boxes, and the control system can control the conveying and sorting mechanism to collect the to-be-detected gastrodia elata into the sorting and receiving boxes of the corresponding stages according to the stages of the to-be-detected gastrodia elata. Automatic sorting and grading of the gastrodia elata are achieved through the feeding conveying mechanism, the visual detection mechanism, the conveying and sorting mechanism and the control system, and the gastrodia elata is collected according to the corresponding grades. And the production efficiency is remarkably improved and the labor intensity is reduced through the overall automatic sorting process.

Description

Technical Field

[0001] The utility model relates to the technical field of traditional Chinese medicine sorting, in particular to a Gastrodia elata double-sided detection and grading device based on machine vision. Background Technique

[0002] Gastrodia elata is a precious traditional Chinese medicine and is widely used because it can treat symptoms such as headache, epilepsy, and convulsions. Fresh Gastrodia elata is oval in shape, with longitudinal wrinkles and multiple transverse ring patterns arranged by latent buds. Sometimes, brown mycelial cords can be seen; there is a parrot-beak-shaped bud or residual stem base in red-brown to dark-brown at the top; and there is a round umbilical scar at the bottom. There are significant price differences and component content differences for Gastrodia elata of different grades in the market. The quality, size, shape, and appearance of Gastrodia elata are the main bases for grading and screening Gastrodia elata.

[0003] The sorting methods of Gastrodia elata include manual sorting and mechanical sorting. Manual sorting is mainly carried out by manual visual inspection and manual operation. The sorting results are affected by subjective factors, and the sorting efficiency is low, the labor intensity is high, and misclassification problems are likely to occur during the sorting process. Mechanical sorting mostly uses the method of weighing, with a single grading standard and extremely poor grading accuracy.

[0004] In view of this, how to provide a mechanical sorting device with high sorting accuracy for Gastrodia elata is an urgent problem to be solved by those skilled in the art. Content of the Utility Model

[0005] The purpose of the utility model is to provide a Gastrodia elata double-sided detection and grading device based on machine vision to solve the problems existing in the prior art, realize mechanical automatic sorting of Gastrodia elata, and improve the sorting accuracy of Gastrodia elata grades.

[0006] To achieve the above purpose, the utility model provides the following scheme: The utility model provides a Gastrodia elata double-sided detection and grading device based on machine vision, including:

[0007] A feeding and conveying mechanism;

[0008] A visual detection mechanism, the feeding and conveying mechanism is connected to the feeding end of the visual detection mechanism, and the feeding and conveying mechanism is used to convey the Gastrodia elata to be detected to the visual detection mechanism;

[0009] A conveying and sorting mechanism, the visual detection mechanism can obtain double-sided image data of the Gastrodia elata to be detected and send the double-sided image data to a control system, and the control system can perform grading and sorting on the Gastrodia elata to be detected according to the double-sided image data; the conveying and sorting mechanism is connected to the discharging end of the visual detection mechanism, the conveying and sorting mechanism has four-level sorting and collecting bins, and the control system can control the conveying and sorting mechanism to collect the Gastrodia elata to be detected into the corresponding-level sorting and collecting bins according to the grade of the Gastrodia elata to be detected.

[0010] Further, the feeding and conveying mechanism includes:

[0011] A first bracket;

[0012] A feeding conveyor belt, the outer frame of the feeding conveyor belt is fixedly arranged on the first bracket, a feeding stepping motor is arranged inside the outer frame, and the feeding stepping motor drives the feeding conveyor belt.

[0013] Further, the vision detection mechanism includes:

[0014] A transparent plate, the transparent plate is inclined, its higher end is the feeding end and is connected with the feeding conveyor belt, and its lower end is the discharging end;

[0015] An image acquisition mechanism, the image acquisition mechanism is arranged on the upper and lower sides of the transparent plate. When the gastrodia elata to be detected passes through the image acquisition mechanism, the image acquisition mechanism can capture and obtain the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system.

[0016] Further, the image acquisition mechanism includes:

[0017] A second bracket, the second bracket is arranged adjacent to the transparent plate, and the second bracket extends towards the transparent plate to form a support rod;

[0018] A first clamping mechanism, the first clamping mechanism is fixedly arranged on the support rod, a first CCD industrial camera is fixedly arranged on the first clamping mechanism, and the shooting end of the first CCD industrial camera faces the transparent plate;

[0019] A second clamping mechanism, the second clamping mechanism is fixedly arranged on the support rod, a second CCD industrial camera is fixedly arranged on the second clamping mechanism, and the shooting end of the second CCD industrial camera faces the transparent plate: the first CCD industrial camera and the second CCD industrial camera are respectively located on the upper and lower sides of the transparent plate and are correspondingly arranged, and the first CCD industrial camera and the second CCD industrial camera can capture and obtain the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system.

[0020] Further, the image acquisition mechanism further includes:

[0021] A first light source clamping mechanism, the first light source clamping mechanism is fixedly arranged on the support rod, a first LED ring light source is fixedly arranged on the first light source clamping mechanism, the first LED ring light source is located between the first CCD industrial camera and the transparent plate, and the shooting path of the first CCD industrial camera passes through the inner hole of the first LED ring light source;

[0022] A second light source clamping mechanism, which is fixedly arranged on the support rod. A second LED ring light source is fixedly arranged on the second light source clamping mechanism. The second LED ring light source is located between the second CCD industrial camera and the transparent plate, and the shooting path of the second CCD industrial camera passes through the inner hole of the second LED ring light source.

[0023] Furthermore, the conveying and sorting mechanism includes:

[0024] A sorting and transporting conveyor belt, the outer frame of which is fixedly arranged on the third bracket. The sorting and transporting conveyor belt is connected to the lower end of the transparent plate. The gastrodia elata to be detected can slide onto the sorting and transporting conveyor belt along the transparent plate by its own gravity. The sorting and transporting conveyor belt is driven by a sorting stepping motor;

[0025] An electric control push rod mechanism, there are four of which and are arranged at intervals on one side of the sorting and transporting conveyor belt; Four-level sorting and receiving bins correspond to the electric control push rod mechanism one by one and are arranged on the other side of the sorting and transporting conveyor belt. The control system can control the electric control push rod mechanism to collect the gastrodia elata to be detected into the sorting and receiving bins of the corresponding level according to the level of the gastrodia elata to be detected.

[0026] Furthermore, the electric control push rod mechanism includes: a solenoid valve, a pneumatic push rod and a baffle. The solenoid valve is arranged at the air inlet end of the pneumatic push rod. The pneumatic push rod is fixedly connected to the baffle. The telescopic direction of the pneumatic push rod corresponds to the sorting and receiving bin. The solenoid valve is electrically connected to the control system.

[0027] Furthermore, the control system includes:

[0028] An air compressor, which is communicated with the air inlet end of the pneumatic push rod;

[0029] An electric control cabinet, which is electrically connected to the first CCD industrial camera, the second CCD industrial camera, the air compressor, the solenoid valve, the feeding stepping motor and the sorting stepping motor;

[0030] A first photoelectric sensor, which is arranged on the feeding and transporting conveyor belt. When the gastrodia elata to be detected passes through the first photoelectric sensor, the first photoelectric sensor sends a signal to the electric control cabinet. After receiving the signal, the electric control cabinet determines a first interval time according to the output power of the feeding stepping motor. After the first interval time, it controls the first CCD industrial camera and the second CCD industrial camera to shoot and obtain the double-sided image data of the gastrodia elata to be detected;

[0031] A second optoelectronic sensor is provided on the sorting and transporting conveyor belt and close to the discharging end. When the gastrodia elata to be detected passes by the second optoelectronic sensor, the second optoelectronic sensor sends a signal to the electric control cabinet. After receiving the signal, the electric control cabinet determines a second interval time based on the grade of the gastrodia elata to be detected and the output power of the sorting stepping motor. After the second interval time, it controls the solenoid valve to open and controls the air compressor to supply air to the pneumatic push rod, and the pneumatic push rod pushes the gastrodia elata to be detected into the sorting and collecting bins corresponding to the grades.

[0032] An industrial control computer is integrally provided with a display screen. The industrial control computer is electrically connected to the electric control cabinet and can display a human-machine interaction interface, double-sided image data and grades of the gastrodia elata to be detected on the display screen.

[0033] The present utility model discloses the following technical effects:

[0034] 1. Automatic sorting: Through the feeding and conveying mechanism, the vision detection mechanism, the conveying and sorting mechanism and the control system, the automatic sorting and grading of gastrodia elata are realized and collected separately according to the corresponding grades. The overall automatic sorting process significantly improves the production efficiency and reduces the labor intensity.

[0035] 2. High-precision detection: By using the CCD industrial camera in the vision detection mechanism, high-definition image data of both sides of the gastrodia elata can be obtained, providing a basis for accurate sorting. By setting the LED ring light source, uniform illumination is provided for image acquisition, enhancing the image quality and helping to improve the accuracy of image recognition.

[0036] 3. Improved accuracy of gastrodia elata sorting: The device can simultaneously obtain double-sided images of the gastrodia elata, increasing the detection dimension, which helps the control system to more comprehensively evaluate the quality, size, shape and appearance of the gastrodia elata and then accurately sort and grade the gastrodia elata. Using the control system to automatically sort and grade according to the image data can reduce the interference of human subjective factors, improve the consistency and reliability of sorting, help to ensure the quality of the final product, and meet the needs of the market and consumers. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0038] Figure 1 It is a three-dimensional structural schematic diagram of the present utility model.

[0039] Figure 2It is a three-dimensional structural schematic diagram of the feeding and conveying mechanism of the present utility model.

[0040] Figure 3 It is a three-dimensional structural schematic diagram of the vision detection mechanism of the present utility model.

[0041] Figure 4 It is a structural schematic diagram of the image acquisition mechanism of the present utility model.

[0042] Figure 5 It is a three-dimensional structural schematic diagram of the control system of the present utility model.

[0043] Figure 6 It is a three-dimensional structural schematic diagram of the conveying and sorting mechanism of the present utility model.

[0044] Figure 7 It is the control circuit diagram of the present utility model.

[0045] Among them, 1. Feeding and conveying mechanism; 2. Vision detection mechanism; 3. Control system; 4. Conveying and sorting mechanism; 101. First photoelectric sensor; 102. Feeding conveyor belt; 103. First bracket; 104. Feeding stepping motor; 201. First clamping mechanism; 202. First CCD industrial camera; 203. First light source clamping mechanism; 204. First LED ring light source; 205. Transparent plate; 206. Second bracket; 207. Second clamping mechanism; 208. Second CCD industrial camera; 209. Second light source clamping mechanism; 210. Second LED ring light source; 301. Industrial control computer; 302. Electric control cabinet; 303. Air compressor; 304. Fourth bracket; 401. Solenoid valve; 402. Baffle; 403. Pneumatic push rod; 404. Second photoelectric sensor; 405. Sorting conveyor belt; 406. Third bracket; 407. Sorting and receiving box; 408. Sorting stepping motor. Specific embodiments

[0046] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0047] To make the above objects, features, and advantages of the present utility model more obvious and understandable, the present utility model will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as Figures 1-6, an embodiment of the present utility model provides a double-sided detection and grading device for gastrodia elata based on machine vision, comprising: a feeding conveyor mechanism 1; a vision detection mechanism 2, the feeding conveyor mechanism 1 is connected to the feeding end of the vision detection mechanism 2, and the feeding conveyor mechanism 1 is used to convey the gastrodia elata to be detected to the vision detection mechanism 2; a conveying and sorting mechanism 4, the vision detection mechanism 2 can acquire the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system 3, and the control system 3 can perform grading and sorting on the gastrodia elata to be detected according to the double-sided image data; the conveying and sorting mechanism 4 is connected to the discharging end of the vision detection mechanism 2, and the conveying and sorting mechanism 4 has a four-stage sorting and receiving box 407, and the control system 3 can control the conveying and sorting mechanism 4 to collect the gastrodia elata to be detected into the sorting and receiving box 407 corresponding to the grade according to the grade of the gastrodia elata to be detected.

[0049] As Figure 2 shown, the feeding conveyor mechanism 1 includes: a first bracket 103; a feeding conveyor belt 102, the outer frame of the feeding conveyor belt 102 is fixedly arranged on the first bracket 103, and a feeding stepping motor 104 is arranged inside the outer frame, and the feeding stepping motor 104 drives the feeding conveyor belt 102.

[0050] As Figure 3 and Figure 4 shown, the vision detection mechanism 2 includes: a transparent plate 205, the transparent plate 205 is a transparent acrylic plate, the transparent plate 205 is inclined, and the inclination angle is adjusted according to the weight, size and other actual requirements of the gastrodia elata, generally 30°-60°. Its higher end is the feeding end and is connected to the feeding conveyor belt 102, and its lower end is the discharging end; an image acquisition mechanism, the image acquisition mechanism is arranged on the upper and lower sides of the transparent plate 205, and when the gastrodia elata to be detected passes through the image acquisition mechanism, the image acquisition mechanism can take pictures to acquire the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system 3.

[0051] The image acquisition mechanism includes: a second support bracket 206, which is arranged adjacent to the transparent plate 205 and extends towards the transparent plate 205 to form a support rod; a first clamping mechanism 201, which is fixedly arranged on the support rod, and a first CCD industrial camera 202 is fixedly arranged on the first clamping mechanism 201, and the shooting end of the first CCD industrial camera 202 faces the transparent plate 205; a second clamping mechanism 207, which is fixedly arranged on the support rod, and a second CCD industrial camera 208 is fixedly arranged on the second clamping mechanism 207, and the shooting end of the second CCD industrial camera 208 faces the transparent plate 205: the first CCD industrial camera 202 and the second CCD industrial camera 208 are respectively located on the upper and lower sides of the transparent plate 205 and are arranged correspondingly, and the first CCD industrial camera 202 and the second CCD industrial camera 208 can shoot and obtain the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system 3. A first light source clamping mechanism 203, which is fixedly arranged on the support rod, and a first LED ring light source 204 is fixedly arranged on the first light source clamping mechanism 203, and the first LED ring light source 204 is located between the first CCD industrial camera 202 and the transparent plate 205 and the shooting path of the first CCD industrial camera 202 passes through the inner hole of the first LED ring light source 204; a second light source clamping mechanism 209, which is fixedly arranged on the support rod, and a second LED ring light source 210 is fixedly arranged on the second light source clamping mechanism 209, and the second LED ring light source 210 is located between the second CCD industrial camera 208 and the transparent plate 205 and the shooting path of the second CCD industrial camera 208 passes through the inner hole of the second LED ring light source 210. The shooting paths of the first CCD industrial camera 202, the shooting path of the second CCD industrial camera 208, the center of the first LED ring light source 204, and the center of the second LED ring light source 210 are located on the same straight line, and this straight line is perpendicular to the transparent plate 205, and the intersection with the transparent plate 205 is approximately located in the middle of the transparent plate 205.

[0052] Such as Figure 6As shown, the transfer and sorting mechanism 4 includes: a sorting and transporting conveyor belt 405, the outer frame of the sorting and transporting conveyor belt 405 is fixedly arranged on the third support 406, the sorting and transporting conveyor belt 405 is connected to the lower end of the transparent plate 205, and the gastrodia elata to be detected can slide onto the sorting and transporting conveyor belt 405 along the transparent plate 205 by its own gravity. The sorting and transporting conveyor belt 405 is driven by a sorting stepping motor 408; an electric control push rod mechanism, there are four electric control push rod mechanisms and they are arranged at intervals on one side of the sorting and transporting conveyor belt 405; the four-stage sorting and receiving box 407 corresponds to the electric control push rod mechanism one by one and is arranged on the other side of the sorting and transporting conveyor belt 405. The control system 3 can control the electric control push rod mechanism to collect the gastrodia elata to be detected into the sorting and receiving box 407 of the corresponding level according to the level of the gastrodia elata to be detected. The electric control push rod mechanism includes: a solenoid valve 401, a pneumatic push rod 403 and a baffle 402. The solenoid valve 401 is arranged at the air inlet end of the pneumatic push rod 403. The pneumatic push rod 403 is fixedly connected to the baffle 402. The telescopic direction of the pneumatic push rod 403 corresponds to the sorting and receiving box 407. The solenoid valve 401 is electrically connected to the control system 3.

[0053] As Figure 5As shown in the figure, the control system 3 includes: an air compressor 303, which is connected to the intake end of the pneumatic push rod 403; an electric control cabinet 302, which is electrically connected to the first CCD industrial camera 202, the second CCD industrial camera 208, the first LED ring light source 204, the second LED ring light source 210, the air compressor 303, the solenoid valve 401, the feeding stepping motor 104 and the sorting stepping motor 408; a first photoelectric sensor 101, which is arranged on the feeding conveyor belt 102. When the gastrodia elata to be detected passes through the first photoelectric sensor 101, the first photoelectric sensor 101 sends a signal to the electric control cabinet 302. After receiving the signal, the electric control cabinet 302 determines the first interval time according to the output power of the feeding stepping motor 104. After the first interval time, it controls the first CCD industrial camera 202 and the second CCD industrial camera 208 to take pictures to obtain the double-sided image data of the gastrodia elata to be detected; a second photoelectric sensor 404, which is arranged on the sorting conveyor belt 405 and close to the discharge end. When the gastrodia elata to be detected passes through the second photoelectric sensor 404, the second photoelectric sensor 404 sends a signal to the electric control cabinet 302. After receiving the signal, the electric control cabinet 302 determines the second interval time according to the grade of the gastrodia elata to be detected and the output power of the sorting stepping motor 408. After the second interval time, it controls the solenoid valve 401 to open and controls the air compressor 303 to supply air to the pneumatic push rod 403, and the pneumatic push rod 403 pushes the gastrodia elata to be detected into the sorting and receiving box 407 of the corresponding grade; an industrial computer 301, which is integrally provided with a display screen. The industrial computer 301 is electrically connected to the electric control cabinet 302 and can display the human-machine interaction interface, the double-sided image data and the grade of the gastrodia elata to be detected on the display screen. The industrial computer 301, the electric control cabinet 302 and the air compressor 303 are all fixedly arranged on the fourth bracket 304.

[0054] The specific working process is as follows:

[0055] The Gastrodia elata to be detected is manually placed at intervals on the feeding and transporting conveyor belt 102 and moves towards the transparent plate 205. When the Gastrodia elata to be detected passes through the first photoelectric sensor 101 during the movement, the first photoelectric sensor 101 sends a signal to the electric control cabinet 302. After receiving the signal, the electric control cabinet 302 determines the first interval time according to the output power of the feeding stepping motor 104. The output power of the stepping motor can represent the moving speed of the Gastrodia elata to be detected. According to this moving speed, the time for the Gastrodia elata to be detected to reach the feeding end of the transparent plate 205 can be calculated. The inclination of the transparent plate 205 is fixed, and the time for the Gastrodia elata to be detected to reach the two CCD industrial cameras from the feeding end can also be calculated. Based on the summary of the above times, the time for the Gastrodia elata to be detected to move from the first photoelectric sensor 101 to the two CCD industrial cameras can be calculated. After the first interval time, the Gastrodia elata to be detected reaches the two CCD industrial cameras. At the same time, the electric control cabinet 302 controls the first CCD industrial camera 202 and the second CCD industrial camera 208 to capture the double-sided image data of the Gastrodia elata to be detected and sends the double-sided image data to the electric control cabinet 302.

[0056] The electric control cabinet 302 has a network detection model based on deep learning, which can quickly extract and identify the image features of Gastrodia elata and fuse them, and then judge the grade to which the Gastrodia elata belongs and store the individual information and grade information of each Gastrodia elata.

[0057] The Gastrodia elata to be detected continues to slide down along the transparent plate 205 and enters the sorting and transporting conveyor belt 405. When the Gastrodia elata to be detected passes through the second photoelectric sensor 404 during the movement on the sorting and transporting conveyor belt 405, the second photoelectric sensor 404 sends a signal to the electric control cabinet 302. After receiving the signal, the electric control cabinet 302 determines the second interval time according to the grade of the Gastrodia elata to be detected and the output power of the sorting stepping motor 408. For example, when the Gastrodia elata is of grade 1, the grade-1 sorting and receiving box 407 is located at Figure 6 the rightmost position. The electric control cabinet 302 determines the speed of the sorting and transporting conveyor belt 405 according to the output power of the sorting stepping motor 408 and calculates the time for the Gastrodia elata to be detected to move from the second photoelectric sensor 404 to the grade-1 sorting and receiving box 407. After the second interval time, the Gastrodia elata to be detected reaches the position of the grade-1 sorting and receiving box 407. The electric control cabinet 302 controls the solenoid valve 401 to open, and at the same time controls the air compressor 303 to supply air to the pneumatic push rod 403. The pneumatic push rod 403 pushes the Gastrodia elata to be detected into the grade-1 sorting and receiving box 407 through the baffle 402. The pneumatic push rod 403 resets and prepares for the next pushing operation, completing the grading and collection of Gastrodia elata.

[0058] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0059] The embodiments described above are only descriptions of the preferred modes of the present utility model, and do not limit the scope of the present utility model. Without departing from the design spirit of the present utility model, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present utility model shall fall within the protection scope determined by the claims of the present utility model.

Claims

1. A gastrodia elata double-sided detection and grading device based on machine vision, characterized in that, Including: Loading and conveying mechanism (1); Visual inspection mechanism (2), the feeding end of the loading and conveying mechanism (1) is connected to the feeding end of the visual inspection mechanism (2), and the loading and conveying mechanism (1) is used to convey the Gastrodia elata to be inspected to the visual inspection mechanism (2); Transfer and sorting mechanism (4), the visual inspection mechanism (2) can obtain the double-sided image data of the Gastrodia elata to be inspected and send the double-sided image data to the control system (3), and the control system (3) can perform grading and sorting on the Gastrodia elata to be inspected according to the double-sided image data; the transfer and sorting mechanism (4) is connected to the discharging end of the visual inspection mechanism (2), the transfer and sorting mechanism (4) has a four-level sorting and collecting box (407), and the control system (3) can control the transfer and sorting mechanism (4) to collect the Gastrodia elata to be inspected into the sorting and collecting box (407) of the corresponding level according to the level of the Gastrodia elata to be inspected; the transfer and sorting mechanism (4) includes: Sorting and transporting conveyor belt (405), the outer frame of the sorting and transporting conveyor belt (405) is fixedly arranged on the third bracket (406), the sorting and transporting conveyor belt (405) is connected to the discharging end of the visual inspection mechanism (2), and the sorting and transporting conveyor belt (405) is driven by a sorting stepping motor (408); Electric control push rod mechanism, there are a plurality of electric control push rod mechanisms and they are arranged at intervals on one side of the sorting and transporting conveyor belt (405); the four-level sorting and collecting box (407) corresponds to the electric control push rod mechanism one by one and is arranged on the other side of the sorting and transporting conveyor belt (405), and the control system (3) can control the electric control push rod mechanism to collect the Gastrodia elata to be inspected into the sorting and collecting box (407) of the corresponding level according to the level of the Gastrodia elata to be inspected.

2. The double-sided detection and grading device for gastrodia elata based on machine vision according to claim 1, characterized in that, The electric control push rod mechanism includes: solenoid valve (401), pneumatic push rod (403) and baffle (402), the solenoid valve (401) is arranged at the air inlet end of the pneumatic push rod (403), the pneumatic push rod (403) is fixedly connected to the baffle (402), the telescopic direction of the pneumatic push rod (403) corresponds to the sorting and collecting box (407), and the solenoid valve (401) is electrically connected to the control system (3).

3. The double-sided detection and grading device for gastrodia elata based on machine vision according to claim 2, characterized in that, The loading and conveying mechanism (1) includes: First bracket (103); Loading and transporting conveyor belt (102), the outer frame of the loading and transporting conveyor belt (102) is fixedly arranged on the first bracket (103), a feeding stepping motor (104) is arranged inside the outer frame, and the feeding stepping motor (104) drives the loading and transporting conveyor belt (102).

4. The double-sided detection and grading device for gastrodia elata based on machine vision according to claim 3, wherein, The visual inspection mechanism (2) includes: Transparent plate (205), the transparent plate (205) is inclined, its higher end is the feeding end and is connected to the loading and transporting conveyor belt (102), and its lower end is the discharging end; An image acquisition mechanism is provided on both the upper and lower sides of the transparent plate (205). When the gastrodia elata to be detected passes through the image acquisition mechanism, the image acquisition mechanism can capture the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system (3).

5. The dual-sided detection and grading device for gastrodia elata based on machine vision according to claim 4, characterized in that The image acquisition mechanism includes: A second bracket (206) is adjacent to the transparent plate (205), and the second bracket (206) extends towards the transparent plate (205) to form a support rod; A first clamping mechanism (201) is fixedly arranged on the support rod. A first CCD industrial camera (202) is fixedly arranged on the first clamping mechanism (201), and the shooting end of the first CCD industrial camera (202) faces the transparent plate (205); A second clamping mechanism (207) is fixedly arranged on the support rod. A second CCD industrial camera (208) is fixedly arranged on the second clamping mechanism (207), and the shooting end of the second CCD industrial camera (208) faces the transparent plate (205). The first CCD industrial camera (202) and the second CCD industrial camera (208) are respectively located on the upper and lower sides of the transparent plate (205) and are correspondingly arranged. The first CCD industrial camera (202) and the second CCD industrial camera (208) can capture the double-sided image data of the gastrodia elata to be detected and send the double-sided image data to the control system (3).

6. The dual-sided detection and grading device for gastrodia elata based on machine vision according to claim 5, wherein, The image acquisition mechanism further includes: A first light source clamping mechanism (203) is fixedly arranged on the support rod. A first LED ring light source (204) is fixedly arranged on the first light source clamping mechanism (203). The first LED ring light source (204) is located between the first CCD industrial camera (202) and the transparent plate (205), and the shooting path of the first CCD industrial camera (202) passes through the inner hole of the first LED ring light source (204); A second light source clamping mechanism (209) is fixedly arranged on the support rod. A second LED ring light source (210) is fixedly arranged on the second light source clamping mechanism (209). The second LED ring light source (210) is located between the second CCD industrial camera (208) and the transparent plate (205), and the shooting path of the second CCD industrial camera (208) passes through the inner hole of the second LED ring light source (210).

7. The double-sided detection and grading device for gastrodia elata based on machine vision according to claim 6, wherein, The control system (3) includes: An air compressor (303) is communicated with the air inlet end of the pneumatic push rod (403); Electric control cabinet (302), the electric control cabinet (302) is electrically connected to the first CCD industrial camera (202), the second CCD industrial camera (208), the air compressor (303), the solenoid valve (401), the feeding stepping motor (104) and the sorting stepping motor (408); The first photoelectric sensor (101), the first photoelectric sensor (101) is arranged on the feeding conveyor belt (102). When the gastrodia elata to be detected passes through the first photoelectric sensor (101), the first photoelectric sensor (101) sends a signal to the electric control cabinet (302). After receiving the signal, the electric control cabinet (302) determines the first interval time according to the output power of the feeding stepping motor (104). After the first interval time, it controls the first CCD industrial camera (202) and the second CCD industrial camera (208) to take double-sided image data of the gastrodia elata to be detected; The second photoelectric sensor (404), the second photoelectric sensor (404) is arranged on the sorting conveyor belt (405) and close to the discharge end. When the gastrodia elata to be detected passes through the second photoelectric sensor (404), the second photoelectric sensor (404) sends a signal to the electric control cabinet (302). After receiving the signal, the electric control cabinet (302) determines the second interval time according to the grade of the gastrodia elata to be detected and the output power of the sorting stepping motor (408). After the second interval time, it controls the solenoid valve (401) to open and controls the air compressor (303) to supply air to the pneumatic push rod (403), and the pneumatic push rod (403) pushes the gastrodia elata to be detected into the sorting and receiving box (407) of the corresponding grade; Industrial control computer (301), the industrial control computer (301) is integrally provided with a display screen. The industrial control computer (301) is electrically connected to the electric control cabinet (302) and can display a human-computer interaction interface, double-sided image data and grade of the gastrodia elata to be detected on the display screen. The industrial control computer (301), the electric control cabinet (302) and the air compressor (303) are all fixedly arranged on the fourth bracket (304).

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