Traditional Chinese medicinal material harvesting system based on combination of air injection and vibration

Abstract

The invention provides a traditional Chinese medicinal material harvesting system based on combination of air injection and vibration, and relates to the field of traditional Chinese medicinal material digging, the traditional Chinese medicinal material harvesting system comprises a chassis, walking mechanisms, a transportation mechanism, a vibration mechanism, an air injection mechanism and a control assembly, the longitudinal section of the chassis is of a U-shaped groove structure, and the walking mechanisms are arranged at the bottom ends of the outer walls of the two sides of the chassis respectively; the conveying mechanism is arranged between the U-shaped grooves of the chassis and comprises two transmission assemblies, driving wheels and a plurality of grid bars, and the two transmission assemblies are arranged corresponding to the inner walls of the U-shaped grooves of the chassis and comprise driving wheels, guiding wheels and transmission chains; the vibration mechanism is arranged in the middle of the conveying mechanism and located on the inner ring of the transmission chain, the air injection mechanism corresponding to the vibration mechanism is arranged above the chassis, and the control assembly is arranged at the rear end of the chassis. According to the system, vibration-air injection soil separation can be carried out while traditional Chinese medicinal materials are harvested, the soil separation efficiency is improved, and the root-soil separation effect is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of Chinese medicinal material excavation, and in particular to a Chinese medicinal material harvesting system based on the combination of jetting and vibration. Background Art

[0002] When digging Chinese medicinal materials, such as Panax notoginseng, it is necessary to first use digging tools such as hoes and shovels to start digging from the periphery of the medicinal plant and gradually dig deeper into the roots, so as to avoid damage to the rhizomes of Panax notoginseng by the digging tools during the digging process, which will affect the nutritional value and medicinal value of Panax notoginseng. This digging method will cause a large amount of soil to adhere to the surface of the roots of Panax notoginseng, forming a Panax notoginseng-soil complex; therefore, after digging Panax notoginseng, the roots and stems of Panax notoginseng need to be cleaned to separate the roots and soil. At present, the conventional cleaning method is mainly to use clean water to rinse the rhizome of Panax notoginseng. First, this method has poor cleaning effect and some soil will still remain on the rhizome of Panax notoginseng after cleaning (due to the different shapes of the rhizome of Panax notoginseng and the presence of many grooves or gaps, the soil adhered in the grooves or gaps forms a cleaning dead corner, which is not easy to be completely removed by a single flushing and will remain in it), resulting in the need for repeated and multiple cleanings, which not only wastes pure water resources but also reduces the cleaning efficiency of Panax notoginseng; second, during the flushing process, the water with impact force will repeatedly act on the surface of the rhizome of Panax notoginseng, forming continuous friction on the surface of the rhizome of Panax notoginseng, thereby causing damage to the epidermis of the rhizome of Panax notoginseng, affecting the quality and storage time of Panax notoginseng; third, water adheres to the surface of the rhizome of Panax notoginseng after flushing. Due to the "viscosity" of water, the fallen soil and particulate impurities scattered in the air during the cleaning process will be adhered again, resulting in the need for two or more cleanings, increasing the cleaning cost, prolonging the cleaning time, and seriously reducing the efficiency of the Panax notoginseng harvesting process. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a Chinese medicinal material harvesting system based on the combination of jet and vibration. While harvesting and transporting the Chinese medicinal materials (especially Panax notoginseng), the system is triggered by the object characteristics and motion trajectory of the Chinese medicinal material-soil complex, and the root and soil separation of the Chinese medicinal materials and the soil is achieved through a combined process of vibration and jet. No water resources are used in the cleaning process, thereby effectively saving water resources, saving cleaning costs, and effectively improving the cleaning effect and efficiency.

[0004] The purpose of the present invention is achieved through the following technical solutions: A Chinese medicinal material harvesting system based on the combination of jet and vibration comprises a chassis, a walking mechanism, a transport mechanism, a vibration mechanism, an air jet mechanism and a control component. The longitudinal section of the chassis is a U-shaped groove structure and the walking mechanisms are respectively arranged at the bottom ends of the outer walls on both sides of the chassis. The walking mechanism comprises a plurality of walking brackets and walking wheels. The walking wheels are connected to the chassis through the walking brackets and the walking wheels are rotatably arranged at the bottom ends of the walking brackets. The transport mechanism is arranged between the U-shaped grooves of the chassis and comprises two sets of transmission components, a driving wheel and a plurality of bars. The two sets of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis, comprising The driving wheel, the guide wheel and the transmission chain are connected between the driving wheel and the corresponding guide wheel through the transmission chain, and the outer diameter of the driving wheel is larger than the outer diameter of the guide wheel (one side of the transmission chain that causes the driving wheel and the guide wheel to be connected is an inclined surface); the two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, and the two guide wheels are fixedly sleeved on the outer wall of the same rotating shaft. The outer wall of one end of the rotating rod is fixedly sleeved on the driving wheel, and multiple bars are evenly distributed between the two transmission chains; the vibration mechanism is arranged in the middle of the transportation mechanism and on the inner circle of the transmission chain, the jet mechanism is arranged above the chassis corresponding to the vibration mechanism, and the control component is arranged at the rear end of the chassis.

[0005] Based on further optimization of the above scheme, the vibration mechanism includes a vibration shaft, a vibration cam, a transmission gear and a photoelectric sensor. The two ends of the vibration shaft are respectively rotatably connected to the side walls of the chassis and one end of the vibration shaft passes through the corresponding side wall on one side and is fixedly sleeved on the transmission gear. The vibration shaft is located on the outer wall between the two transmission chains and is fixedly sleeved on the corresponding grid bar; the photoelectric sensor is arranged on the inner wall of one side of the chassis and is located on the upper side of the inclined grid bar.

[0006] In order to ensure the stability of the two vibration cams, based on further optimization of the above solution, the two vibration cams are connected by a connecting rod.

[0007] Based on further optimization of the above scheme, the jet mechanism includes a jet frame, a nozzle and an air pipe. The longitudinal cross-section of the jet frame is a gate-shaped structure and its bottom end is fixedly connected to the side walls of the U-shaped groove of the chassis, the jet frame is vertically arranged to the inclined surface of the transmission chain and a plurality of nozzles are evenly arranged on the crossbeam of the jet frame; an air pipe is arranged on one side of the jet frame and the air pipe is respectively connected to a plurality of nozzles, and a battery valve is arranged between the air pipe and the nozzle (the opening and closing of the nozzle is controlled by the battery valve).

[0008] Based on the further optimization of the above scheme, the control component is fixedly arranged on the end surface of the placement platform at the rear end of the chassis and the control component includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear and the driving wheel are connected by a driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear and the transmission gear are connected by a vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe away from the jet frame; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

[0009] Based on the further optimization of the above scheme, the specific steps of the harvesting system for harvesting Chinese medicinal materials are as follows: Step A, moving the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, starting the operation of the transport mechanism, and gradually placing the excavated Chinese medicinal material complex at the bottom of the slope of the transport mechanism, and the Chinese medicinal material complex is gradually moved upward through the transmission of the transport mechanism; Step B, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller, so that the Chinese medicinal material complex reaches an optimal motion posture; Step C: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism is started to separate the soil and the Chinese medicinal materials.

[0010] Based on the further optimization of the above scheme, the step A is specifically as follows: Step A1, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, and to ensure the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain:

[0011] Where: F It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step A2: During the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is (ignoring the influence of air resistance):

[0012] Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

[0013] Based on the further optimization of the above scheme, the step B is specifically as follows: Step B1: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are:

[0014] Step B2: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bars are acted upon by the vibration mechanism, and the cross-sectional shape thereof is approximately a broken line state, and the movement direction of the fence bars changes accordingly; as the vibration intensifies, the force of the fence bars on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are:

[0015] Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; FS2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step B3: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L for:

[0016] Right now L The setting range is:

[0017] Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h Indicates the maximum shaking height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is adjusted synchronously: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by adjusting the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; conversely, the frequency is reduced by adjusting the vibration mechanism, so that the throwing height of the Chinese medicinal material complex is reduced, completing the PID closed-loop control.

[0018] Based on the further optimization of the above scheme, the PID closed-loop control method is specifically as follows: First, define the proportional coefficients of the PID controller separately K p , integral coefficient K i and the differential coefficient K d , and preset a target distance value Setpoint (The target distance value can be set to the distance within the measurement range of the photoelectric sensor); then, the PID controller continuously monitors and controls the motor speed. In each iteration of the main loop, the PID controller is called read_sensor() The function reads the distance data of the photoelectric sensor and assigns it to measured_value ,in, read_sensor() The function simulates obtaining distance data from a photoelectric sensor (in actual applications, this function will read a physical signal, such as an analog voltage, and convert it into a percentage or other distance-related unit; here, it is assumed that a value between the closest distance 0 and the farthest distance 100 is returned); the PID controller calculates the error of each cycle erorr :

[0019] And get the output value output through the error value:

[0020] Where: previous_error Indicates the last error value; Subsequently, the set_motor_speed Convert the output value of the PID controller into a control signal for the motor speed, where output=0 means the motor stops running, and output=100 means the motor runs at maximum speed (i.e. the size of the output determines the percentage of the motor speed); Finally, update previous_error , assign the current error to previous_error, Provide a reference for the next loop; during the loop iteration, control the execution frequency of the loop by setting a delay program; The main loop repeats the above process continuously, monitoring the sensor data once a second, calculating the PID control output, and adjusting the motor speed to keep the system at the target distance.

[0021] Based on the further optimization of the above scheme, in step C, the nozzle of the jet mechanism needs to be at a certain angle and peeling force to peel the soil from the Chinese medicinal materials to achieve the best separation effect; wherein the nozzle angle includes the horizontal angle (i.e. the angle between the nozzle and the horizontal plane) and the vertical angle (i.e. the angle between the nozzle and the jet frame plane):

[0022] Where: H represents the distance between the nozzle end and the transmission chain; S represents the distance between the Chinese medicinal material complex and the nozzle end; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p for:

[0023]

[0024] Where: F0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials; The gas ejected from the nozzle is F Soil separation is performed with an initial pressure of 0.

[0025] Based on the further optimization of the above scheme, the adhesion between the soil and the Chinese medicinal materials F f Obtained through pre-calibration experiments, specifically: Plant Chinese medicinal materials of different shapes in a soil-filled container, and use the clamping device of the universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed to the soil. Apply vertical pulling force to pull the Chinese medicinal materials until the Chinese medicinal materials are completely separated from the soil, and record the maximum pulling force during the pulling process. F lmax-I ; I=1,2,…,N , which means that there are N groups of Chinese medicinal materials with different shapes for testing, then:

[0026] Where: Indicates the standard deviation of the maximum tensile force of Chinese medicinal materials of different shapes; preset standard deviation threshold ,like , then the maximum pulling force mean is eliminated The two farthest values ​​are calculated again, and the iteration is repeated until , the maximum tensile force mean at this time The adhesion between soil and Chinese medicinal materials F f .

[0027] The following are the technical effects of the solution of the present invention: The present application uses a transport mechanism to harvest and transport Chinese medicinal materials. Based on the characteristics of the complex composed of Chinese medicinal materials and soil and the motion trajectory of the complex composed of a transmission chain and bars, the transported Chinese medicinal materials complex is thrown up by a vibration mechanism, and a jet mechanism is used to spray high-pressure gas while the Chinese medicinal materials complex is thrown up, so as to blow away the soil adhering to the rhizomes of the Chinese medicinal materials. The Chinese medicinal materials and soil are separated by using a transport mechanism, a vibration mechanism, and a jet mechanism. First, there is no need to use water resources to wash and separate the Chinese medicinal materials, which effectively saves water resources and separation costs; second, the combination of vibration and jet can effectively shake off and separate the soil attached to the surface of the Chinese medicinal materials (especially in gullies and gaps), with good separation effect and high efficiency, without the need for repeated washing and separation, and effectively avoiding damage to the epidermis of the Chinese medicinal materials caused by multiple separations; third, the blown soil falls through the gaps between the bars, thereby effectively avoiding secondary adhesion of the soil to the surface of the Chinese medicinal materials, improving the effectiveness of separation, and further improving the separation efficiency and effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the overall structure of the harvesting system in an embodiment of the present invention.

[0029] Figure 2 It is a schematic diagram of the structure of the transport mechanism and the vibration mechanism of the harvesting system in an embodiment of the present invention.

[0030] Figure 3 Schematic diagram of the structure of the jet mechanism of the harvesting system in an embodiment of the present invention.

[0031] Figure 4 Flow chart of PID control in an embodiment of the present invention.

[0032] Figure 5 It is a flow chart of the vibration-jet combined soil removal of the harvesting system in an embodiment of the present invention.

[0033] Among them, 10, chassis; 20, walking mechanism; 30, transportation mechanism; 311, driving wheel; 312, guide wheel; 313, transmission chain; 32, driving wheel; 33, grid bar; 40, vibration mechanism; 41, vibration shaft; 42, vibration cam; 43, transmission gear; 44, photoelectric sensor; 50, jet mechanism; 51, jet frame; 52, nozzle; 53, air pipe; 60, control component. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0035] Embodiment 1: A Chinese medicinal material harvesting system based on the combination of jet and vibration comprises a chassis 10, a walking mechanism 20, a transport mechanism 30, a vibration mechanism 40, a jet mechanism 50 and a control component 60 (such as Figure 1 As shown in FIG. 1 , the longitudinal section of the chassis 10 is a U-shaped groove structure and the bottom ends of the outer walls on both sides of the chassis 10 are respectively provided with a walking mechanism 20, and the walking mechanism 20 includes a plurality of walking brackets and walking wheels (such as Figure 1 As shown, in this embodiment, three running wheels are arranged on one side of the chassis 10, and a total of six running wheels are arranged). The running wheels are connected to the chassis 10 through a running bracket, and the running wheels are rotatably arranged at the bottom of the running bracket; the transport mechanism 30 is arranged between the U-shaped grooves of the chassis 10, including two sets of transmission components, a driving wheel 32 and a plurality of bars 33, and the two sets of transmission components are arranged corresponding to the inner wall of the U-shaped groove of the chassis 10, including a driving wheel 311, a guide wheel 312 and a transmission chain 313 (such as Figure 2 As shown in FIG. 1 ), the driving wheel 311 is connected to the corresponding guide wheel 312 through a transmission chain 313, and the outer diameter of the driving wheel 311 is larger than the outer diameter of the guide wheel 312 (one side of the transmission chain 313 that causes the driving wheel 311 to be connected to the guide wheel 3130 is an inclined surface, as shown in FIG. Figure 2 Two driving wheels 311 are fixedly sleeved on the outer wall of the same rotating rod, and two guide wheels 312 are fixedly sleeved on the outer wall of the same rotating shaft (as shown); Figure 2 As shown, the rotating shaft and the rotating rod are parallel to each other), the outer wall of one end of the rotating rod is fixedly sleeved with the driving wheel 32, and a plurality of grid bars 33 are evenly distributed between the two transmission chains 313 (such as Figure 2 As shown, the plurality of bars 33 are parallel to the rotating rod. The vibration mechanism 40 is arranged in the middle of the transport mechanism 30 and is located in the inner circle of the transmission chain 313 (as shown in FIG. Figure 2 As shown, that is, the vibration mechanism 40 is located in the inner circle formed by the fence bars 33), the vibration mechanism 40 includes a vibration shaft 41, a vibration cam 42, a transmission gear 43 and a photoelectric sensor 44, the two ends of the vibration shaft 41 are respectively rotatably connected to the side walls of the chassis 10, and one end of the vibration shaft 41 passes through the corresponding side wall on one side and is fixedly sleeved with the transmission gear 43 (the vibration shaft 41 and the rotating rod are parallel to each other), the vibration shaft 41 is located on the outer wall between the two transmission chains 313 and is fixedly sleeved with the vibration cam 42 corresponding to the fence bars 33, and the two vibration cams 42 are connected by a connecting rod (as shown in FIG. Figure 2 The photoelectric sensor 44 is arranged on the inner wall of one side of the chassis 10 and is located on the upper side of the inclined grid bar 33. The jet mechanism 50 is arranged above the chassis 10 corresponding to the vibration mechanism 40. The jet mechanism 50 includes a jet frame 51, a nozzle 52 and an air pipe 53 (as shown in FIG. Figure 3 As shown in FIG. 1 ), the longitudinal cross-section of the jet frame 51 is a gate-shaped structure and its bottom end is fixedly connected to the side walls of the U-shaped groove of the chassis 10 (as shown in FIG. Figure 1As shown, the jet frame 51 is vertically arranged with the inclined surface of the transmission chain 313 and a plurality of nozzles 52 are evenly arranged on the crossbeam of the jet frame 51 (the number of nozzles 52 is set according to the actual situation, see Figure 3 As shown, in this embodiment, two rows are arranged, each row contains 7 nozzles 52); an air pipe 53 is arranged on one side of the jet frame 51 and the air pipe 53 is respectively connected to multiple nozzles 52, and a battery valve is arranged between the air pipe 53 and the nozzle 52 (the opening and closing of the nozzle 52 is controlled by the battery valve). The control component 60 is arranged at the rear end of the chassis 10, and the control component 60 is fixedly arranged on the end surface of the placement platform at the rear end of the chassis 10 and the control component 60 includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel 32 through the driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear 43 through the vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe 53 away from the jet frame 51; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor 44, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

[0036] The specific steps of harvesting Chinese medicinal materials by the harvesting system are as follows: Step A: Move the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, start the operation of the transport mechanism, and gradually place the excavated Chinese medicinal material complex at the bottom of the slope of the transport mechanism, and the Chinese medicinal material complex is gradually moved upward through the transmission of the transport mechanism; specifically: Step A1, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, and to ensure the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain:

[0037] Where: F It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step A2: During the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is (ignoring the influence of air resistance):

[0038] Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

[0039] Step B, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller so that the Chinese medicinal material complex reaches the optimal motion posture; specifically: Step B1: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are:

[0040] Step B2: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bars are acted upon by the vibration mechanism, and the cross-sectional shape thereof is approximately a broken line state, and the movement direction of the fence bars changes accordingly; as the vibration intensifies, the force of the fence bars on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are:

[0041] Where: m2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; F S2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step B3: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L for:

[0042] Right now L The setting range is:

[0043] Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h Indicates the maximum shaking height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is synchronously regulated: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by regulating the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; conversely, the frequency is reduced by regulating the vibration mechanism, so that the height of the Chinese medicinal material complex is reduced, completing the PID closed-loop control: First, define the proportional coefficients of the PID controller separately K p , integral coefficient K i and the differential coefficient K d , and preset a target distance value Setpoint (The target distance value can be set to the distance within the measurement range of the photoelectric sensor); then, the PID controller continuously monitors and controls the motor speed. In each iteration of the main loop, the PID controller is called read_sensor() The function reads the distance data of the photoelectric sensor and assigns it to measured_value ,in, read_sensor() The function simulates obtaining distance data from a photoelectric sensor (in a real application, this function will read a physical signal, such as an analog voltage, and convert it into a percentage or other distance-related unit; here, it is assumed that a value between 0 for the closest distance and 100 for the farthest distance is returned; for real hardware, sensor data acquisition may require an ADC to interpret the signal in a usable form); the PID controller calculates the error for each cycle erorr :

[0044] And get the output value output through the error value:

[0045] Where: previous_error Indicates the last error value; Subsequently, the set_motor_speed (In actual applications, this function can control the motor speed through PWM signals or digital control interfaces) Convert the output value of the PID controller into a control signal for the motor speed, where output=0 means the motor stops running, and output=100 means the motor runs at maximum speed (that is, the size of the output determines the percentage of the motor speed); Finally, update previous_error , assign the current error to previous_error, Provide a reference for the next loop; during the loop iteration, control the execution frequency of the loop by setting a delay program; The main loop repeats the above process continuously, monitoring the sensor data once a second, calculating the PID control output, and adjusting the motor speed to keep the system at the target distance.

[0046] Step C: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism is started to peel off the soil and the Chinese medicinal material; The nozzle of the jet mechanism needs to be at a certain angle and peeling force to peel the soil off the Chinese medicinal materials to achieve the best separation effect; the nozzle angle includes the horizontal angle (i.e. the angle between the nozzle and the horizontal plane) and the vertical angle (i.e. the angle between the nozzle and the jet frame plane):

[0047] Where: H represents the distance between the nozzle end and the transmission chain; S represents the distance between the Chinese medicinal material complex and the nozzle end; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F pfor:

[0048]

[0049] Where: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials, which is obtained through pre-calibration experiments, specifically: Plant Chinese medicinal materials of different shapes in a soil-filled container, and use the clamping device of the universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed to the soil. Apply vertical pulling force to pull the Chinese medicinal materials until the Chinese medicinal materials are completely separated from the soil, and record the maximum pulling force during the pulling process. F lmax-I ; I=1,2,…,N , which means that there are N groups of Chinese medicinal materials with different shapes for testing, then:

[0050] Where: Indicates the standard deviation of the maximum tensile force of Chinese medicinal materials of different shapes; preset standard deviation threshold ,like , then the maximum pulling force mean is eliminated The two farthest values ​​are calculated again, and the iteration is repeated until (The above method eliminates the large pulling force generated by the Chinese medicinal materials with very irregular shapes, so as to avoid the large pulling force generated by the very irregular shapes affecting the accuracy of soil adhesion), the average maximum pulling force at this time The adhesion between soil and Chinese medicinal materials F f ; The gas ejected from the nozzle is F Soil separation is performed with an initial pressure of 0.

[0051] Embodiment 2: As another preferred embodiment of the present invention, after the separation of the Chinese medicinal materials and the soil is completed, in order to ensure the cleanliness of the entire equipment, on the basis of the scheme in Example 1, the harvesting system can also perform self-cleaning, specifically: After the root-soil separation operation is completed, a certain amount of soil will adhere to the bars. First, the physical properties of the soil and the bars are studied to obtain the adhesion between the soil and the bars. F t ,F t The value is obtained through a pre-calibration experiment, specifically: the bars are placed horizontally in the soil, and a vertical tensile force is applied to the bars through the clamping device of the universal mechanical testing machine. The bars are pulled out of the soil until the bars are completely separated from the soil, and the maximum tensile force during the pulling process is recorded. F Lmax-I , I=1,2,…,N , indicating that N groups of bars are used for testing, then:

[0052] After the root-soil separation operation is completed, the jet mechanism and the vibration mechanism are controlled by an industrial computer to operate under predetermined conditions, specifically:

[0053] Where: P Indicates the self-cleaning power of the jet structure of the harvesting system; P H Indicates the maximum power of the high voltage jumper; F c Indicates the self-cleaning power of the harvesting system; f Indicates the frequency when the transmission chain vibrates normally and is not damaged; f t Indicates the frequency required for the soil to be stripped from the bars; f 0 indicates the vibration frequency of the vibration mechanism; Through the vibration of the grid bars and the jet of nozzles, when the force of the nozzles on the soil on the grid bars is greater than the soil adhesion force and the grid bar vibration frequency is greater than the frequency required for soil stripping the grid bars, self-cleaning of the soil stripping grid bars can be achieved without damaging the equipment.

Claims

1. A Chinese medicinal material harvesting system based on the combination of air jet and vibration, characterized in that: It includes a chassis, a walking mechanism, a transportation mechanism, a vibration mechanism, a jet mechanism and a control component. The longitudinal section of the chassis is a U-shaped groove structure and the walking mechanisms are respectively arranged at the bottom ends of the outer walls on both sides of the chassis. The walking mechanism includes multiple groups of walking brackets and walking wheels. The walking wheels are connected to the chassis through the walking brackets and the walking wheels are rotatably arranged at the bottom ends of the walking brackets; the transportation mechanism is arranged between the U-shaped grooves of the chassis, including two groups of transmission components, driving wheels and multiple bars. The two groups of transmission components are respectively arranged corresponding to the inner walls of the U-shaped grooves of the chassis, including driving wheels, guide wheels and transmission chains. The driving wheels are connected to the corresponding guide wheels through transmission chains and the outer diameter of the driving wheels is larger than the outer diameter of the guide wheels; the two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, the two guide wheels are fixedly sleeved on the outer wall of the same rotating shaft, the outer wall of one end of the rotating rod is fixedly sleeved on the driving wheel, and the multiple bars are evenly distributed between the two transmission chains; the vibration mechanism is arranged in the middle of the transportation mechanism and is located on the inner circle of the transmission chain, the jet mechanism is arranged above the chassis corresponding to the vibration mechanism, and the control component is arranged at the rear end of the chassis.

2. A Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 1, characterized in that: The vibration mechanism includes a vibration shaft, a vibration cam, a transmission gear and a photoelectric sensor. The two ends of the vibration shaft are respectively rotatably connected to the side walls of the chassis, and one end of the vibration shaft passes through the corresponding side wall on one side and is fixedly sleeved on the transmission gear. The vibration shaft is located on the outer wall between the two transmission chains and is fixedly sleeved on the corresponding grid bar; the photoelectric sensor is arranged on the inner wall of one side of the chassis and is located on the upper side of the inclined grid bar.

3. A Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 2, characterized in that: The jet mechanism includes a jet frame, a nozzle and an air pipe. The longitudinal section of the jet frame is a gate-shaped structure and its bottom end is fixedly connected to the side walls of the U-shaped groove of the chassis. The jet frame is vertically arranged with the inclined surface of the transmission chain and a plurality of nozzles are evenly arranged on the crossbeam of the jet frame. An air pipe is arranged on one side of the jet frame and the air pipe is connected with a plurality of nozzles respectively, and a battery valve is arranged between the air pipe and the nozzle.

4. A Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 3, characterized in that: The control component is fixedly arranged on the end surface of the placement platform at the rear end of the chassis and the control component includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel through the driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear through the vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe away from the jet frame; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

5. The Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 4, characterized in that: The specific steps of the harvesting system for harvesting Chinese medicinal materials are as follows: Step A, moving the entire harvesting system to the Chinese medicinal material harvesting position through the walking mechanism, starting the operation of the transport mechanism, and gradually placing the excavated Chinese medicinal material complex at the bottom of the slope of the transport mechanism, and the Chinese medicinal material complex is gradually moved upward through the transmission of the transport mechanism; Step B, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller, so that the Chinese medicinal material complex reaches an optimal motion posture; Step C: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism is started to separate the soil and the Chinese medicinal materials.

6. A Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 5, characterized in that: The step A is specifically as follows: Step A1, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, and to ensure the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain: Where: F It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step A2: During the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is: Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

7. The Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 6, characterized in that: The step B is specifically as follows: Step B1: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are: Step B2: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bars are acted upon by the vibration mechanism, and the cross-sectional shape thereof is approximately a broken line state, and the movement direction of the fence bars changes accordingly; as the vibration intensifies, the force of the fence bars on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are: Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; F S2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step B3: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L for: Right now L The setting range is: Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h Indicates the maximum shaking height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is synchronously regulated: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by regulating the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; On the contrary, the vibration mechanism is adjusted to reduce the frequency, thereby reducing the height of the Chinese medicinal material complex, thereby completing PID closed-loop control.

8. The Chinese medicinal material harvesting system based on the combination of air jet and vibration according to claim 7, characterized in that: In step C, the nozzle of the jet mechanism needs to be at a certain angle and peeling force to peel the soil from the Chinese medicinal materials to achieve the best separation effect; wherein the nozzle angle includes the horizontal angle and vertical angle : Where: H represents the distance between the nozzle end and the transmission chain; S represents the distance between the Chinese medicinal material complex and the nozzle end; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p for: Where: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials; The gas ejected from the nozzle is F 0 initial pressure for soil separation.

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