CN111112121A - Chinese herbal medicine size grading screening device and method - Google Patents
Chinese herbal medicine size grading screening device and method Download PDFInfo
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- CN111112121A CN111112121A CN201911398393.5A CN201911398393A CN111112121A CN 111112121 A CN111112121 A CN 111112121A CN 201911398393 A CN201911398393 A CN 201911398393A CN 111112121 A CN111112121 A CN 111112121A
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- chinese medicinal
- traditional chinese
- conveying belt
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- chinese herbal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
Abstract
The invention discloses a Chinese herbal medicine size grading and screening device which is provided with a conveying belt for conveying Chinese herbal medicines, wherein the conveying belt comprises a conveying section and a sorting section, a pre-orienting device is arranged above the conveying belt between the conveying section and the sorting section, the pre-orienting device is composed of two baffles which gradually narrow along the conveying direction, an upper mounting bracket is arranged above the outlet of the pre-orienting device, an image collector for downwards collecting image information at the outlet of the pre-orienting device is fixed on the upper mounting bracket, at least two distributing cylinders extending towards the conveying belt are arranged along the side surface of the sorting section, a distributing push rod is fixed at the end part of a cylinder rod of each distributing cylinder, and a photoelectric detection sensor for collecting whether the Chinese herbal medicines pass through the conveying belt is fixed beside each distributing cylinder. The device improves the production efficiency and the measurement precision, reduces the measurement cost and ensures the stability of the traditional Chinese medicine in the process of size measurement and quality classification.
Description
Technical Field
The invention relates to the field of traditional Chinese medicine size measurement and quality grading, in particular to the field of traditional Chinese medicine size measurement and quality grading through point cloud fitting and an algorithm.
Background
The price value difference of the traditional Chinese medicinal materials in different years is large, and the appearance size of the traditional Chinese medicinal materials is obviously changed, so that the method has important significance in size measurement and quality grading of the traditional Chinese medicinal materials. The existing size measurement method is to measure by manually utilizing tools such as a ruler and the like, the measurement efficiency is low, the accuracy and the stability of repeated measurement results are easily influenced, the traditional Chinese medicine size measurement method corresponds to rare traditional Chinese medicines, and the quality of the traditional Chinese medicines is easily influenced in the manual measurement process, so that the loss of the traditional Chinese medicines is caused. In recent years, with the development of 3-dimensional point cloud technology, people start to measure parameters by using a point cloud image acquired by a laser profiler during industrial measurement, which is a new technology. The new technology can solve many problems in the industrial detection link through the point cloud image so as to replace a backward manual detection method and improve the detection efficiency and the industrial automation level. Moreover, the 3-dimensional point cloud is used for detecting products to be detected without contacting, damage can not be caused, the detection precision is high, and the intelligent detection device is more intelligent.
Disclosure of Invention
The invention aims to solve the technical problem of realizing an automatic on-line measurement and grading screening device for Chinese herbal medicine sizes and a data processing method.
In order to achieve the purpose, the invention adopts the technical scheme that: a Chinese herbal medicine size classifying and screening device is provided with a transmission belt for transporting Chinese herbal medicines, the transmission belt comprises a conveying section and a sorting section, a pre-orienting device is arranged above the transmission belt between the conveying section and the sorting section, the pre-orienting device is composed of two baffle plates which gradually narrow along the conveying direction, an upper mounting bracket is arranged above the outlet of the pre-orienting device, an image collector for collecting image information at the outlet of the device in a downward direction is fixed on the upper mounting bracket, at least two distributing cylinders extending to the conveying belt are arranged along the side surface of the sorting section, a distributing push rod is fixed at the end of a cylinder rod of each distributing cylinder, and a photoelectric detection sensor for collecting whether the Chinese herbal medicines pass through the conveying belt is fixed beside each distributing cylinder.
The device comprises a pre-orienting device, a conveying belt and an image collector, wherein a lower mounting support positioned on the lower surface of the conveying belt is arranged below an outlet of the pre-orienting device, the image collector for collecting image information at the outlet of the pre-orienting device upwards is fixed on the lower mounting support, and the conveying belt is made of transparent materials.
The transmission band is provided with an upper layer band and a lower layer band, and the lower layer band positioned at the preset direction device is supported by a pre-tightening roller to be bent downwards, so that a space for accommodating the lower mounting bracket and the image collector is formed between the upper layer band and the lower layer band.
The device is provided with a controller, the image collector outputs induction signals to the controller, each photoelectric detection sensor outputs induction signals to the controller, and the controller outputs driving signals to each material distribution cylinder.
The image collector is a laser profiler, an area array structure tube three-dimensional sensor or an industrial camera.
Each material distributing push rod is provided with a slide way positioned on the other side of the conveying belt, and a material receiving basket is arranged at the sliding bottom end.
The grading and screening method based on the Chinese herbal medicine size grading and screening device comprises the following steps:
1) after the transmission belt works, the image collector acquires images of the traditional Chinese medicinal materials passing through the outlet of the preset device in real time;
2) classifying the Chinese medicinal material images according to set specifications after the Chinese medicinal material images are analyzed;
3) when the photoelectric detection sensor senses the traditional Chinese medicinal materials, whether the traditional Chinese medicinal materials passing through at present are in the specification of the classification of the material distribution push rod is judged, if yes, the material distribution cylinder is driven to complete one telescopic action, and if not, the material distribution cylinder does not act.
In the step 1), the upper and lower image collectors collect point cloud data of the upper and lower surfaces of the traditional Chinese medicinal materials, and the point cloud data of the upper and lower surfaces of each traditional Chinese medicinal material are fused and converted to the same coordinate system.
And 2) acquiring traditional Chinese medicine parameters according to the fused point cloud data, and comparing the traditional Chinese medicine parameters with a set parameter table to acquire the specification classification of the traditional Chinese medicine.
In the step 3), each specification classification of the Chinese medicinal materials is provided with a corresponding material separating cylinder, after each classification of one Chinese medicinal material is carried out by taking the transmission direction of a transmission belt as a reference, an accumulative value is obtained by 'passing the Chinese medicinal material number' of the material separating cylinder corresponding to the specification +1 (if the traditional accumulative value is 29, the traditional accumulative value is updated to 30), an action is assigned to the accumulative value (an assignment action is carried out by 30), an accumulative value is obtained by 'passing the Chinese medicinal material number' of the material separating cylinder positioned in front of the material separating cylinder +1, and an inactive action is assigned to the accumulative value;
when the photoelectric detection sensor senses that the traditional Chinese medicinal materials pass through, counting is carried out, assignment of a corresponding accumulated value of a material distribution cylinder responsible for the photoelectric detection sensor is obtained according to the counting, if the assignment is 'action', the material distribution cylinder completes one telescopic action, and if the assignment is 'non-action', the material distribution cylinder does not act.
The invention adopts a non-contact three-dimensional point cloud acquisition technology and a three-dimensional point cloud analysis and processing technology to quickly and accurately realize the measurement of the size parameters of the traditional Chinese medicinal materials such as codonopsis pilosula and the like; meanwhile, the traditional Chinese medicinal materials are automatically sorted and placed by the material distribution cylinder, so that the measuring time is shortened compared with the traditional manual measuring and sorting mode, the production efficiency and the measuring precision are improved, the measuring cost is reduced, and the stability of the traditional Chinese medicinal materials in the size measuring and quality grading processes is ensured.
Drawings
The following is a brief description of the contents of each figure and the symbols in the figures in the description of the invention:
FIG. 1 is a schematic view of the external structure of a device for classifying and screening Chinese herbal medicines;
FIG. 2 is a schematic view of the internal connection of the apparatus for classifying and screening Chinese herbal medicine sizes;
the labels in the above figures are: 1. automatic conveyor line support; 2. a material distributing push rod; 3. a material distributing cylinder; 4. a photoelectric detection sensor; 5. installing a bracket; 6. a pre-orientation device; 7. chinese medicinal materials; 8. a slideway; 9. a receiving basket; 10. a drive motor; 11. a conveyor belt; 12. supporting the rollers; 13. a bottom laser profiler; 14. a lower mounting bracket; 15. pre-tightening the roller; 16. a top laser profiler.
Detailed Description
The following description of the embodiments with reference to the drawings is provided to describe the embodiments of the present invention, and the embodiments of the present invention, such as the shapes and configurations of the components, the mutual positions and connection relationships of the components, the functions and working principles of the components, the manufacturing processes and the operation and use methods, etc., will be further described in detail to help those skilled in the art to more completely, accurately and deeply understand the inventive concept and technical solutions of the present invention.
As shown in fig. 1 and 2, the device for classifying and screening the sizes of the Chinese herbal medicines comprises an automatic conveying line support 1, a material distributing push rod 2, a material distributing cylinder 3, a photoelectric detection sensor 4, an upper mounting support 5, a preset direction device 6, Chinese herbal medicines 7, a slideway 8, a material receiving basket 9, a driving motor 10, a conveying belt 11, a supporting roller 12, a lower mounting support 14, a pre-tightening roller 15 and an image collector.
The image collector preferably selects a bottom laser profiler 13 and a top laser profiler 16, and can also be replaced by an area array structure tube three-dimensional sensor, so that the scanning efficiency can be improved, and the requirement on the control precision of the conveying speed can be reduced; the device can be changed into a quality grading device for grading by weight or plane size and the like by replacing the laser profile instrument in the device with other types of sensors such as a force sensor, an industrial camera and the like;
automatic transfer chain support 1: the automatic conveying line bracket 1 is used for mounting a belt conveying line, a material distributing cylinder 3, a sensor and the like;
a material distributing push rod 2: the material-distributing push rod 2 is arranged at the tail end of the material-distributing cylinder 3 and is used for pushing the measured traditional Chinese medicinal materials 7 to the corresponding slide way 8 so as to be sent into the correct material-receiving basket 9;
a material distributing cylinder 3: the material distributing cylinders 3 push the traditional Chinese medicinal materials 7 into correct slideways 8 to complete grading screening when the traditional Chinese medicinal materials 7 of corresponding grades pass through the material distributing push rods 2 according to action instructions of a control system, different numbers of material distributing cylinders 3 can be used in each device according to the grading number, and each material distributing cylinder 3 corresponds to one photoelectric detection sensor 4, one slideway 8 and one material receiving basket 9;
the photodetection sensor 4: the photoelectric detection sensor 4 is used for detecting whether the traditional Chinese medicinal materials 7 reach the material distributing cylinder 3 or not and pushing the material;
and an upper mounting bracket 5: the upper mounting bracket 5 adopts a door-type beam structure, the height of the upper mounting bracket can be flexibly adjusted according to the measuring range of the laser profiler, and a top laser profiler 16 can be mounted on the upper mounting bracket;
the pre-orientation device 6: the pre-orienting device 6 primarily sorts and orients the traditional Chinese medicines stacked on the upper conveying belt through a gradually narrowed baffle structure, so that only a single traditional Chinese medicine 7 enters the scanning range of the top laser profiler 16 every time;
and (3) Chinese medicinal materials 7: the traditional Chinese medicinal materials 7 are the operation objects of the invention which need to be measured in size and graded, and batch traditional Chinese medicinal materials 7 can be put into the device for size measurement and grading at one time in order to improve the material distribution efficiency;
a slideway 8: the slideway 8 is arranged at the opposite side of the material distributing cylinder 3 and has the function of correctly guiding the traditional Chinese medicinal materials 7 pushed down by the material distributing push rod 2 into the corresponding material receiving basket 9;
a receiving basket 9: the receiving basket 9 is placed at the discharge port of the slide way 8 and used for receiving the graded Chinese medicinal materials 7, and after the receiving basket 9 is full, the receiving basket 9 can be manually taken out for further processing and the empty receiving basket 9 is replaced to continue working.
Driving the motor 10: the conveyor belt driving motor 10 is used for driving the conveyor belt to rotate, so that the traditional Chinese medicine 7 is driven to complete point cloud scanning through the top laser profiler 16 and the bottom laser profiler 13;
conveying a belt: the conveyor belt can carry the traditional Chinese medicinal materials 7 through the pre-orientation device 6 to complete the pre-orientation of the traditional Chinese medicinal materials 7, and the point cloud scanning is completed through the top laser profiler 16 and the bottom laser profiler 13; the conveyor belt is preferably made of transparent wear-resistant materials, the transparency ensures that laser emitted by the bottom laser profile can penetrate through the surface of the traditional Chinese medicinal material 7 scanned by the conveyor belt, and the wear resistance ensures that the light transmittance of the conveyor belt cannot be weakened after long-time use, so that the accuracy of system measurement data is ensured;
supporting the roller 12: the supporting rollers 12 are used for supporting the conveyor belt and preventing the conveyor belt from loosening and sagging due to insufficient pre-tightening force;
bottom laser profiler 13: the bottom laser profiler 13 is arranged on a lower mounting bracket 14 below the conveyor belt and used for scanning the lower half part of the three-dimensional point cloud of the traditional Chinese medicinal material 7 from the bottom, and the bottom point cloud and the top point cloud collected by the top laser profiler 16 jointly form complete three-dimensional point cloud data of the traditional Chinese medicinal material 7;
lower mounting bracket 14: the lower mounting bracket 14 is mounted below the automatic conveying line bracket 1, adopts a door-type structure design, the height of the lower mounting bracket can be flexibly adjusted according to the measuring range of the laser profiler, and the bottom laser profiler 13 is mounted on the lower mounting bracket;
pre-tightening the roller 15: the pre-tightening roller 15 is arranged below the lower mounting bracket 14 and is used for changing the trend of a local conveying line and providing enough mounting space for mounting the lower mounting bracket 14 and the bottom laser profiler 13; meanwhile, the pre-tightening force of the conveyor belt can be flexibly adjusted by finely adjusting the upper and lower positions of the conveyor belt;
top laser profiler 16: the top laser profiler 16 is arranged on the upper mounting bracket 5 and is used for scanning the three-dimensional point cloud of the upper half part of the traditional Chinese medicine 7 from the upper part, and the top three-dimensional point cloud and the bottom point cloud collected by the bottom laser profiler 13 jointly form complete traditional Chinese medicine 7-point three-dimensional cloud data
The data processing method of the invention comprises the following steps: firstly, point cloud data collected by an upper laser profiler and a lower laser profiler are fused and converted to the same coordinate system according to the position relation of a sensor, then 2 groups of point cloud data are merged into a group of point cloud data, the principal direction and the central axis of the merged point cloud are obtained through principal component analysis and calculation, meanwhile, the minimum bounding box of the merged point cloud is obtained through calculation, calculating and dividing projection point coordinates of the smallest enclosing frame of the merged point cloud on the central axis of the merged point cloud to obtain front and back 2 end point cloud data of the merged point cloud perpendicular to the central axis, calculating the enclosing curve perimeter of the 2 end point cloud data, selecting end face point cloud data with larger circumference according to the designation of a user, calculating and dividing according to the designated position of the user to obtain designated end face point cloud data of the designated position, wherein the designated end face point cloud data is perpendicular to the central axis, and calculating to obtain the circumference of an outer wrapping curve of the designated end face point cloud data, namely the size of the tested traditional Chinese medicinal material 7.
The working process of the traditional Chinese medicine 7 size measuring and grading device is as follows: after a device driving motor 10 is started, firstly, Chinese medicinal materials 7 which are not graded are placed into a preset directional device 6 manually or by other automatic conveying devices, the Chinese medicinal materials 7 in the preset directional device 6 are sequentially taken out by a transparent conveying belt and pass through an upper laser profiler and a lower laser profiler of a point cloud scanning area to respectively scan partial point clouds of the Chinese medicinal materials 7 from the top and the bottom, after the scanning is finished, the data are subjected to size measurement by a point cloud processing method, medicinal material grading is finished before the Chinese medicinal materials 7 continuously move to a material distributing cylinder 3, grading signals are sent to the material distributing cylinder 3 of the corresponding grade, and when a photoelectric detection sensor 4 of the corresponding grade detects that the Chinese medicinal materials 7 reach a powder material area, the material distributing cylinder 3 is controlled to push the Chinese medicinal materials 7 to a corresponding material receiving basket 9 to.
The invention has been described above with reference to the accompanying drawings, it is obvious that the invention is not limited to the specific implementation in the above-described manner, and it is within the scope of the invention to apply the inventive concept and solution to other applications without substantial modification.
Claims (10)
1. The utility model provides a chinese herbal medicine size classified screening device, the device is equipped with the transmission band that is used for transporting chinese-medicinal material, its characterized in that: the conveying belt comprises a conveying section and a sorting section, a pre-orienting device is arranged above the conveying belt between the conveying section and the sorting section, the pre-orienting device is composed of two baffles which gradually narrow along the conveying direction, an upper mounting support is arranged above the outlet of the pre-orienting device, an image collector which downwards collects image information at the outlet of the pre-orienting device is fixed on the upper mounting support, at least two material distributing cylinders which extend to the conveying belt are arranged along the side surface of the sorting section, a material distributing push rod is fixed at the end part of a cylinder rod of each material distributing cylinder, and a photoelectric detection sensor which is used for collecting whether traditional Chinese medicinal materials pass through the conveying belt is fixed beside each material distributing cylinder.
2. The apparatus for classifying and screening Chinese herbal medicine size according to claim 1, wherein: the device comprises a pre-orienting device, a conveying belt and an image collector, wherein a lower mounting support positioned on the lower surface of the conveying belt is arranged below an outlet of the pre-orienting device, the image collector for collecting image information at the outlet of the pre-orienting device upwards is fixed on the lower mounting support, and the conveying belt is made of transparent materials.
3. The apparatus for classifying and screening the sizes of Chinese herbal medicines according to claim 2, wherein: the transmission band is provided with an upper layer band and a lower layer band, and the lower layer band positioned at the preset direction device is supported by a pre-tightening roller to be bent downwards, so that a space for accommodating the lower mounting bracket and the image collector is formed between the upper layer band and the lower layer band.
4. The apparatus for classifying and screening Chinese herbal medicine size according to claim 3, wherein: the device is provided with a controller, the image collector outputs induction signals to the controller, each photoelectric detection sensor outputs induction signals to the controller, and the controller outputs driving signals to each material distribution cylinder.
5. The apparatus for classifying and screening Chinese herbal medicine size according to claim 1, 2, 3 or 4, wherein: the image collector is a laser profiler, an area array structure tube three-dimensional sensor or an industrial camera.
6. The apparatus for classifying and screening Chinese herbal medicine size according to claim 5, wherein: each material distributing push rod is provided with a slide way positioned on the other side of the conveying belt, and a material receiving basket is arranged at the sliding bottom end.
7. The classifying and screening method based on the Chinese herbal medicine size classifying and screening device of any one of claims 1 to 6, characterized in that:
1) after the transmission belt works, the image collector acquires images of the traditional Chinese medicinal materials passing through the outlet of the preset device in real time;
2) classifying the Chinese medicinal material images according to set specifications after the Chinese medicinal material images are analyzed;
3) when the photoelectric detection sensor senses the traditional Chinese medicinal materials, whether the traditional Chinese medicinal materials passing through at present are in the specification of the classification of the material distribution push rod is judged, if yes, the material distribution cylinder is driven to complete one telescopic action, and if not, the material distribution cylinder does not act.
8. The method of claim 7, wherein: in the step 1), the upper and lower image collectors collect point cloud data of the upper and lower surfaces of the traditional Chinese medicinal materials, and the point cloud data of the upper and lower surfaces of each traditional Chinese medicinal material are fused and converted to the same coordinate system.
9. The method of claim 7, wherein: and 2) acquiring traditional Chinese medicine parameters according to the fused point cloud data, and comparing the traditional Chinese medicine parameters with a set parameter table to acquire the specification classification of the traditional Chinese medicine.
10. The method of claim 7, wherein: in the step 3), each specification classification of the Chinese medicinal materials is provided with a corresponding material distribution cylinder, after each classification of one Chinese medicinal material is carried out by taking the transmission direction of a transmission belt as a reference, an accumulated value is obtained by 'passing the Chinese medicinal material number' +1 of the material distribution cylinder corresponding to the specification, an action 'is assigned to the accumulated value, an accumulated value is obtained by' passing the Chinese medicinal material number '+ 1 of the material distribution cylinder positioned in front of the material distribution cylinder, and an action' is assigned to the accumulated value;
when the photoelectric detection sensor senses that the traditional Chinese medicinal materials pass through, counting is carried out, assignment of a corresponding accumulated value of a material distribution cylinder responsible for the photoelectric detection sensor is obtained according to the counting, if the assignment is 'action', the material distribution cylinder completes one telescopic action, and if the assignment is 'non-action', the material distribution cylinder does not act.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911398393.5A CN111112121A (en) | 2019-12-30 | 2019-12-30 | Chinese herbal medicine size grading screening device and method |
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| CN201911398393.5A CN111112121A (en) | 2019-12-30 | 2019-12-30 | Chinese herbal medicine size grading screening device and method |
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| CN111112121A true CN111112121A (en) | 2020-05-08 |
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| CN201911398393.5A Pending CN111112121A (en) | 2019-12-30 | 2019-12-30 | Chinese herbal medicine size grading screening device and method |
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Cited By (6)
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| CN111842203A (en) * | 2020-08-06 | 2020-10-30 | 福建诚壹实业有限公司 | Centralized sorting, classifying and transferring system for refrigeration house |
| CN112495841A (en) * | 2021-02-04 | 2021-03-16 | 中国科学院自动化研究所 | Traditional Chinese medicine sorting system based on neural network |
| CN113998225A (en) * | 2021-11-15 | 2022-02-01 | 无锡慧动利信息科技有限公司 | Technology letter sorting mechanism based on vision |
| CN114733788A (en) * | 2022-04-26 | 2022-07-12 | 西安理工大学 | Building scaffold steel pipe letter sorting equipment |
| CN114850042A (en) * | 2022-05-06 | 2022-08-05 | 无锡鲸云信息科技有限公司 | Goods sorting device and sorting system based on computer vision recognition technology |
| CN117179030A (en) * | 2023-09-22 | 2023-12-08 | 河北玖兴食品有限公司 | Chicken feet automated production system |
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| CN117179030B (en) * | 2023-09-22 | 2024-02-06 | 河北玖兴食品有限公司 | Chicken feet automated production system |
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