CN113798058A - Automatic equipment and method for picking impurities in traditional Chinese medicinal materials - Google Patents

Abstract

The invention discloses automatic equipment and a method for picking impurities in traditional Chinese medicinal materials, wherein the automatic equipment comprises a vibration screening device, an electromagnetic roller device, an image recognition picking device and a conveying device; the vibrating screening device comprises a screening box body, and the upper end and the lower end of the screening box body are respectively provided with a feeding hole and a discharging hole; an upper screen and a lower screen are movably arranged in the screening box body; the lower end of the lower screen is provided with a collecting box; the side end of the screening box body is connected with the motor through a crank connecting rod mechanism to realize the reciprocating vibration of the screening device; the lower end of the discharge port is provided with a conveying device, the conveying device comprises a conveying belt and a driving device, and an electromagnetic roller device and an image recognition and picking device are arranged on the conveying belt. The invention relates to a sorting device capable of comprehensively removing impurities in medicinal materials. Possess and pick and get rid of the function of multiple different impurity, can once only pick and sort out multiple impurity, solve the chinese-medicinal material and pick the shortcoming that mainly relies on the manpower, improve production efficiency.

Description

Automatic equipment and method for picking impurities in traditional Chinese medicinal materials

Technical Field

The invention relates to the technical field of traditional Chinese medicine preparation, in particular to automatic equipment and a method for picking impurities in traditional Chinese medicine.

Background

The traditional Chinese medicine is a traditional Chinese medicine and is an important component of the traditional Chinese culture. The common Chinese medicinal materials are explained into genuine medicinal materials, the origin and the natural growth conditions are explained, and certain requirements are met on cultivation, picking and processing technologies. The Chinese medicinal materials come from nature, so that the unprocessed Chinese medicinal materials contain more impurities. May contain particles such as silt and dust, some weeds, branches or scraps of other medicinal materials, and some medicinal materials may mildew due to improper storage. The impurities contained in the traditional Chinese medicinal materials need to be picked out, otherwise, the quality of the finished medicine is affected.

The Chinese medicinal material picking is a pretreatment process before processing, and aims to pick and separate impurities contained in the Chinese medicinal materials. Some patents have used horizontal vibrating screens to screen out sand and debris contained in the medicinal materials, some patents pick out impurities by a manipulator, and some patents blow away impurities by generating high-speed airflow during screening. These patents are limited to the sorting and screening of certain types of impurities and the devices are inefficient.

The following patents are found through search: the Chinese medicinal material sorting device comprises CN201822208670.9 high-efficiency sorting equipment for processing Chinese medicinal materials, CN201821490963.4 automatic Chinese medicinal material sorting and conveying platform, CN201520785911.X manual Chinese medicinal material sorting table, CN201520215073.2 Chinese medicinal material impurity removing device, CN201721144852.3 multistage continuous type manual Chinese medicinal material sorting table, CN202010284646.2 Chinese medicinal material sorting device and sorting method. The patents are not related to the technical scheme of the present application in nature, and do not constitute a technical hint for the creativity of the present application, although some patents exist for mechanical picking of medicinal materials, some enterprises still mainly pick the medicinal materials manually, and mechanical and automatic picking devices are not popularized yet. The main reasons are that the prior art is backward and expensive, the cost performance is not high, and manual picking is difficult to replace to the maximum extent.

Most of the existing patents screen and remove single impurities, and in fact, the impurities contained in the traditional Chinese medicinal materials are various, such as sand, weeds and the like, and also worm eggs, metal debris, rotten leaves, branches, animal hairs and the like. The removal of impurity in the traditional patent to the chinese medicinal material is not comprehensive, consequently also leads to needing to carry out a lot of screening and picks, has reduced production efficiency. The main reasons are the low integration level of the device, the single function and the low picking efficiency, so that the device needs to be reworked for many times. Therefore, it is necessary to develop an automatic device and method for picking impurities in Chinese herbal medicines to solve the above problems.

Disclosure of Invention

The invention aims to solve the problems, and provides automatic equipment and a method for picking impurities in traditional Chinese medicinal materials, which can comprehensively remove the impurities in the traditional Chinese medicinal materials. Possess and pick and get rid of the function of multiple different impurity, can once only pick and sort out multiple impurity, solve the chinese-medicinal material and pick the shortcoming that mainly relies on the manpower, improve production efficiency.

In order to realize the purpose, the invention adopts the technical scheme that: the device comprises a vibration screening device, an electromagnetic roller device, an image recognition and picking device and a conveying device; the vibrating screening device comprises a screening box body, and the upper end and the lower end of the screening box body are respectively provided with a feeding hole and a discharging hole; an upper screen and a lower screen are movably arranged in the screening box body; the lower end of the lower screen is provided with a collecting box; the side end of the screening box body is connected with a motor through a crank connecting rod mechanism to realize the reciprocating vibration of the screening device; the lower end of the discharge port is provided with a conveying device, the conveying device comprises a conveying belt and a driving device, and the conveying belt is provided with an electromagnetic roller device; the conveying belt is provided with an image recognition and picking device, and the image recognition and picking device comprises a camera, a manipulator and a computer for image recognition.

Furthermore, the upper screen and the lower screen are movably connected with the screening box body through clamping blocks respectively, and the upper screen and the lower screen are obliquely arranged (and are opposite in oblique direction) and form an angle of 20 degrees with the horizontal plane.

Further, the vibrating screen device is arranged on the first support, and the conveying device is arranged on the second support.

Furthermore, the crank-link mechanism is composed of a connecting rod and two cranks, one crank is connected to the motor to do circular motion, and the other crank is fixedly connected to the box body. The crank and the connecting rod are connected by a bearing.

Furthermore, four wheels are arranged at the bottom of the screening box body and used for reciprocating on the sliding rail on the first support.

Furthermore, the number of the mechanical arms is two, the mechanical arms are respectively positioned on the left side and the right side of the advancing direction of the conveying belt, and the mechanical arms receive computer signals to capture impurities.

Further, the conveyor belt is driven by a worm gear device.

A use method of automatic equipment for picking impurities in traditional Chinese medicinal materials comprises the following steps:

s1, Chinese medicinal materials to be picked enter a screening box body from a feed inlet, the screening box body is connected with a motor to realize the reciprocating vibration of the screening device, an upper screen and a lower screen are arranged in the screening box body, the screen at the bottom can carry out secondary screening on the Chinese medicinal materials, and the impurities of the contained particles, such as sand grains, fragments and the like, can be fully screened out, and can directly fall into a collecting box on the ground from screen holes at the bottom. The medicinal materials on the upper screen and the lower screen slide down and are discharged onto a conveyor belt from a discharge port;

s2, an electromagnetic roller device above the conveyor belt is used for adsorbing metal scraps and the like possibly contained in the traditional Chinese medicinal materials, and the electromagnetic roller device is used for facilitating subsequent cleaning work;

s3, an image recognition and sorting device is arranged above the conveyor belt and used for sorting impurities which cannot be processed in the first two stages, such as moldy and deteriorated medicinal materials, weeds, branches and stalks and other mixed medicinal materials. The partial device firstly shoots images through a camera, uploads the images to a computer connected with the partial device to be identified through a corresponding convolutional neural network system, and if non-traditional Chinese medicinal materials are identified, the computer feeds back signals to a manipulator to capture the non-traditional Chinese medicinal materials;

s4, the convolutional neural network comprises an input layer, a hidden layer and an output layer. Wherein the hidden layer comprises a convolution layer, a pooling layer and a full connection layer; wherein the hidden layer comprises a convolution layer, a pooling layer and a full connection layer;

b. the function of the layer is to perform feature extraction on input data, and the layer internally includes a plurality of convolution kernels. When the convolution kernel works, the convolution kernel regularly sweeps the input characteristics, matrix element multiplication summation is carried out on the input characteristics, and deviation amount is superposed:

in the formula: z (i, j) corresponds to the pixel of the feature map, K is the channel number of the feature map, f, S₀P corresponds to the size of a convolution kernel, the convolution step length and the number of filling layers, and b is a deviation value;

b. after the convolutional layer performs feature extraction, the output feature map is transmitted to the pooling layer for feature selection and information filtering. The pooling layer comprises a preset pooling function, and the function of the pooling layer is to replace the result of a single point in the feature map with the feature map statistic of an adjacent area;

and (3) Lp pooling:

c. the role of the fully connected layer is to combine the extracted features non-linearly to obtain an output.

The invention has the beneficial effects that:

1. the invention provides automatic equipment and a method for picking impurities in traditional Chinese medicinal materials, and the equipment can comprehensively remove the impurities in the traditional Chinese medicinal materials. Possess and pick and get rid of the function of multiple different impurity, can once only pick and sort out multiple impurity, solve the chinese-medicinal material and pick the shortcoming that mainly relies on the manpower, improve production efficiency.

2. The invention improves a vibration screening device for separating fine particle impurities, and two inclined screens are arranged in the screening device and respectively form twenty degrees with a horizontal plane. The screen cloth that sets up these two slopes can effectively prevent the jam of medicinal material, slows down the speed of medicinal material whereabouts moreover, makes the screening more abundant. And the screen with the inclined bottom is favorable for the medicinal materials to leave the discharge outlet.

3. The electromagnetic roller device is arranged, so that metal scraps and the like possibly contained in medicinal materials can be effectively removed, and the safety of subsequent work is improved. The image recognition and sorting device captures images of medicinal materials through the camera, uploads the images to the computer to recognize possibly contained moldy medicinal materials, weeds, branches and stalks, other mixed medicinal materials and the like, and then controls the manipulator to grab. The recognition accuracy is improved by training through a deep learning algorithm, and the related research results show that the recognition accuracy can reach more than 97% after training to a certain degree. Compared with manual selection, the automatic picking machine has the advantages of being high in working efficiency and labor-saving. And the phenomena of misjudgment and missed judgment caused by the manual energy problem can be avoided.

Drawings

FIG. 1 is a three-dimensional schematic of the structure of the present invention.

Fig. 2 is a front view of the structure of the present invention.

Fig. 3 is a top view of the structure of the present invention.

The text labels in the figures are represented as: 1. a feed inlet; 2. screening the box body; 3. feeding a screen mesh; 4. a motor; 5. a lower screen mesh; 6. a first bracket; 7. a crank link mechanism; 8. a discharge port; 9. an electromagnetic roller device; 10. a drive device; 11. a conveyor belt; 12. a second bracket; 13. a camera; 14. a manipulator; 15. and a collection box.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

As shown in fig. 1 to 3, the specific structure of the present invention is: the device comprises a vibration screening device, an electromagnetic roller device 9, an image recognition and picking device and a conveying device; the vibrating screening device comprises a screening box body 2, and the upper end and the lower end of the screening box body 2 are respectively provided with a feeding hole 1 and a discharging hole 8; an upper screen 3 and a lower screen 5 are movably arranged in the screening box body 2; the lower end of the lower screen 5 is provided with a collecting box 15; the side end of the screening box body 2 is connected with the motor 4 through a crank connecting rod mechanism 7 to realize the reciprocating vibration of the screening device; the lower end of the discharge port 8 is provided with a conveying device, the conveying device comprises a conveying belt 11 and a driving device 10, and the conveying belt 11 is provided with an electromagnetic roller device 9; the conveyor belt 11 is provided with an image recognition and picking device, which includes a camera 13, a manipulator 14 and a computer for image recognition. The electromagnetic roller means 9 is a rotatable cylindrical electromagnet, which is disposed adjacent to the conveyor belt 11 for attracting metallic impurities.

As a specific embodiment of the invention, the upper screen 3 and the lower screen 5 are respectively movably connected with the screening box body 2 through clamping blocks, and the upper screen 3 and the lower screen 5 are obliquely arranged and have opposite oblique directions and form an angle of 20 degrees with the horizontal plane. Like this when the box carries out reciprocating motion, the medicinal material on the screen cloth landing gradually, so both can fully sieve the impurity, also can prevent to block. Go up screen cloth 3 and lower screen cloth 5 and all be detachable, the screen cloth of removable different apertures to the adaptation sieves different kinds of medicinal material.

As a specific example of the present invention, the vibratory screening device is disposed on the first frame 6 and the conveyor device is disposed on the second frame 12.

As a specific embodiment of the invention, the crank-link mechanism 7 is composed of a connecting rod and two cranks, one crank is connected to the motor 4 for circular motion, and the other crank is fixedly connected to the box body. The crank and the connecting rod are connected by a bearing.

As a specific example of the present invention, the bottom of the screening box 2 has four wheels for reciprocating on the rails of the first frame 6.

As a specific embodiment of the present invention, there are two manipulators 14, which are respectively located at the left and right sides of the advancing direction of the conveyor belt, and receive computer signals to perform the work of picking up the foreign matter.

As a specific example of the present invention, the conveyor belt 11 is driven by a worm gear device, which is a direction-changing transmission mechanism, and the power transmission direction of the driving device 10 is rotated by 90 degrees, so that the motor can be arranged in the longitudinal direction, saving space.

A use method of automatic equipment for picking impurities in traditional Chinese medicinal materials comprises the following steps:

s1, Chinese medicinal materials to be picked enter a screening box body 2 from a feed inlet 1, the screening box body 2 is connected with a motor 4 to realize the reciprocating vibration of a screening device, an upper screen 3 and a lower screen 5 are arranged in the screening box body 2, the screen at the bottom can carry out secondary screening on the medicinal materials, the contained particulate impurities such as sand grains and fragments can be fully screened, and meanwhile, the impurities can directly fall into a ground collection box 15 from screen holes at the bottom. The medicinal materials on the upper screen 3 and the lower screen 5 slide down and are discharged onto a conveyor belt 11 from a discharge hole 8;

s2, an electromagnetic roller device 9 above the conveyor belt 11 is used for adsorbing metal scraps and the like possibly contained in the traditional Chinese medicinal materials, and the electromagnetic roller device 9 is also convenient for subsequent cleaning work;

s3, an image recognition and sorting device is arranged above the conveyor belt 11 and used for sorting impurities which cannot be processed in the first two stages, such as moldy and deteriorated medicinal materials, weeds, branches and stalks and other mixed medicinal materials. The partial device firstly shoots images through a camera 13, uploads the images to a computer connected with the partial device to be identified through a corresponding convolutional neural network system, and if non-traditional Chinese medicinal materials are identified, the computer feeds back signals to a manipulator 14 to capture the non-traditional Chinese medicinal materials;

s4, the convolutional neural network comprises an input layer, a hidden layer and an output layer. Wherein the hidden layer comprises a convolution layer, a pooling layer and a full connection layer; wherein the hidden layer comprises a convolution layer, a pooling layer and a full connection layer;

c. the function of the layer is to perform feature extraction on input data, and the layer internally includes a plurality of convolution kernels. When the convolution kernel works, the convolution kernel regularly sweeps the input characteristics, matrix element multiplication summation is carried out on the input characteristics, and deviation amount is superposed:

in the formula: z (i, j) corresponds to the pixel of the feature map, K is the channel number of the feature map, f, S₀P corresponds to the size of a convolution kernel, the convolution step length and the number of filling layers, and b is a deviation value;

b. after the convolutional layer performs feature extraction, the output feature map is transmitted to the pooling layer for feature selection and information filtering. The pooling layer comprises a preset pooling function, and the function of the pooling layer is to replace the result of a single point in the feature map with the feature map statistic of an adjacent area;

and (3) Lp pooling:

c. the role of the fully connected layer is to combine the extracted features non-linearly to obtain an output.

The working principle is as follows: get into screening box 2 from feed inlet 1, feed inlet 1 is the infundibulate and can conveniently be fed then through last screen cloth 3, carries out screening for the first time. The motor 4 realizes the reciprocating vibration of the screening device through the crank link mechanism 7, and the Chinese medicinal materials fall onto the lower screen 5 and are then conveyed to the conveyor belt 11 from the discharge hole 8. Go up screen cloth 3 and play the cushioning effect, can delay the speed of medicinal material whereabouts and avoid appearing the obstructed condition. Lower screen cloth 5 can carry out secondary screening to the medicinal material, fully screens off the particulate matter impurity that contains, like sand grain, piece etc. and these impurities can directly fall in the collecting box 15 on ground in the sieve mesh of bottom simultaneously. The reason why the screen is inclined is that the medicinal materials on the inclined screen can slide down and be discharged from the discharge port 8 onto the conveyor belt 11 when the whole apparatus is vibrated reciprocally. The screen cloth sets up to be replaceable, can change the screen cloth of different apertures to different chinese-medicinal material. Then, at the next stage, the electromagnetic roller device 9 after being powered on can absorb metal scraps and the like possibly contained in the medicinal materials on the conveyor belt 11. The last stage is to sort out weeds, branches and stalks and mildewed individuals in the Chinese medicinal materials, firstly, the images of the Chinese medicinal materials are shot by a camera 13 and uploaded to a computer connected with the camera for recognition by a neural network algorithm, and if impurities are found, the computer feeds back signals to a manipulator 14 connected with the computer for grabbing. The above is the whole process of picking impurities, and after the picking is finished, the traditional Chinese medicinal materials can enter other processing stages from the tail end of the conveyor belt 11.

The roller can roll continuously along with the movement of the conveyor belt 11 during operation, thereby preventing the accumulation of impurities. Only the power supply of the electromagnet needs to be cut off during cleaning. A camera 13 for taking images is positioned on the truss above the conveyor belt 11, the relevant circuit components are also integrated into a square box, and the camera 13 is connected with a computer and transmits the images to the computer for identification in real time. The two manipulators 14 are respectively positioned at the left and right sides of the advancing direction of the conveyor belt 11 and receive computer signals to carry out the work of grabbing the impurities.

Device is picked in image recognition trains the convolutional neural network that it adopted before the input work, according to the actual conditions of enterprise, builds the image database of medicinal material commonly used or adopts the image database of general database and common impurity, uses the database to train the network, promotes the discernment rate of accuracy through training constantly, comes into operation again after reaching the production requirement.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present invention, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.

Claims (8)

1. An automatic device for picking impurities in traditional Chinese medicinal materials is characterized by comprising a vibration screening device, an electromagnetic roller device (9), an image recognition picking device and a conveying device; the vibrating screening device comprises a screening box body (2), wherein the upper end and the lower end of the screening box body (2) are respectively provided with a feeding hole (1) and a discharging hole (8); an upper screen (3) and a lower screen (5) are movably arranged in the screening box body (2); the lower end of the lower screen (5) is provided with a collecting box (15); the side end of the screening box body (2) is connected with the motor (4) through a crank connecting rod mechanism (7) to realize the reciprocating vibration of the screening device; the lower end of the discharge port (8) is provided with a conveying device, the conveying device comprises a conveying belt (11) and a driving device (10), and the conveying belt (11) is provided with an electromagnetic roller device (9); the conveying belt (11) is provided with an image recognition and picking device, and the image recognition and picking device comprises a camera (13), a manipulator (14) and a computer for performing image recognition.

2. The automatic device for picking impurities in traditional Chinese medicinal materials according to claim 1, wherein the upper screen (3) and the lower screen (5) are movably connected with the screening box body (2) through clamping blocks respectively, the upper screen (3) and the lower screen (5) are obliquely arranged, the inclination directions of the upper screen and the lower screen are opposite, and the angle between the upper screen and the horizontal plane is 20 degrees.

3. An automatic apparatus for sorting impurities from traditional Chinese medicinal materials according to claim 1, characterized in that the vibrating screening device is arranged on the first support (6) and the conveying device is arranged on the second support (12).

4. The automatic device for picking impurities in traditional Chinese medicinal materials according to claim 1, wherein the crank-link mechanism (7) is composed of a connecting rod and two cranks, one crank is connected to the motor (4) for circular motion, and the other crank is fixedly connected to the box body. The crank and the connecting rod are connected by a bearing.

5. An automatic apparatus for sorting impurities in herbs according to claim 3, characterized in that the bottom of the screening box (2) has four wheels for reciprocating on a slide on the first support (6).

6. The automatic machine for sorting the impurities in the traditional Chinese medicinal materials according to claim 1, wherein there are two manipulators (14) respectively positioned at the left and right sides of the advancing direction of the conveyor belt (11) for receiving computer signals to implement the operation of picking the impurities.

7. An automatic apparatus for sorting impurities in traditional Chinese medicinal materials according to claim 1, characterized in that the conveyor belt (11) is driven by a worm gear.

8. The method for using an automatic device for picking impurities in traditional Chinese medicinal materials as claimed in claim 1, is characterized by comprising the following steps:

s1, Chinese medicinal materials to be picked enter a screening box body (2) from a feed inlet (1), the screening box body (2) is connected with a motor (4) to realize the reciprocating vibration of a screening device, an upper screen (3) and a lower screen (5) are arranged in the screening box body (2), the screen at the bottom can carry out secondary screening on the Chinese medicinal materials, and the impurities of the contained particles, such as sand grains, fragments and the like, can be screened out fully, and can directly fall into a ground collection box (15) from screen holes at the bottom. The medicinal materials on the upper screen (3) and the lower screen (5) slide down and are discharged onto a conveyor belt (11) from a discharge hole (8);

s2, an electromagnetic roller device (9) above the conveyor belt (11) is used for adsorbing metal scraps and the like possibly contained in the traditional Chinese medicinal materials, and the electromagnetic roller device (9) is also used for facilitating subsequent cleaning work;

s3, an image recognition and sorting device is arranged above the conveyor belt (11) and is used for sorting impurities which cannot be processed in the first two stages, such as moldy and deteriorated medicinal materials, weeds, branches and stalks and other mixed medicinal materials. The partial device firstly shoots an image through a camera (13), uploads the image to a computer connected with the device to be identified through a corresponding convolutional neural network system, and if non-traditional Chinese medicinal materials are identified, the computer feeds back signals to a manipulator (14) to capture;

s4, the convolutional neural network comprises an input layer, a hidden layer and an output layer. Wherein the hidden layer comprises a convolution layer, a pooling layer and a full connection layer; the hidden layer comprises a convolution layer, a pooling layer and a full-connection layer a, the function of the convolution layer is to extract the characteristics of input data, and the interior of the convolution layer comprises a plurality of convolution kernels. When the convolution kernel works, the convolution kernel regularly sweeps the input characteristics, matrix element multiplication summation is carried out on the input characteristics, and deviation amount is superposed:

in the formula: z (i, j) corresponds to the pixel of the feature map, K is the channel number of the feature map, f, S₀P corresponds to the size of a convolution kernel, the convolution step length and the number of filling layers, and b is a deviation value;

b. after the convolutional layer performs feature extraction, the output feature map is transmitted to the pooling layer for feature selection and information filtering. The pooling layer comprises a preset pooling function, and the function of the pooling layer is to replace the result of a single point in the feature map with the feature map statistic of an adjacent area;

and (3) Lp pooling:

c. the role of the fully connected layer is to combine the extracted features non-linearly to obtain an output.

Images