Rhizomatic traditional Chinese medicinal material harvesting system

Abstract

The invention discloses a rhizomatic traditional Chinese medicinal material harvesting system, and relates to the technical field of traditional Chinese medicinal material harvesting.The rhizomatic traditional Chinese medicinal material harvesting system comprises a multi-modal soil detection module which can obtain the dielectric constant, the porosity, the organic matter content, the hardness and the humidity of soil and conduct weighted summation according to a dynamic weight distribution strategy to obtain digging force; the traditional Chinese medicinal material rhizome identification module can identify rhizomes and excavated objects to obtain an optimal excavation path; the self-adaptive digging module can dig the rhizomes of the traditional Chinese medicinal materials according to the digging force and the optimal digging path; the soil removing module is used for removing soil from the rhizomes of the traditional Chinese medicinal materials; the storage module is used for storing Chinese herbal medicine rhizomes. The harvester can solve the problems of low digging efficiency and high damage rate of rhizome traditional Chinese medicinal materials caused by incapability of automatically adjusting digging force and digging depth and incapability of adapting to traditional Chinese medicinal materials of different soil types in an existing rhizome traditional Chinese medicinal material harvesting mode, and improves the harvesting efficiency of the rhizome traditional Chinese medicinal materials and the quality of the traditional Chinese medicinal materials.

Description

Technical Field

[0001] The present invention relates to the technical field of Chinese herbal medicine harvesting, and specifically, to a rhizome Chinese herbal medicine harvesting system. Background Art

[0002] Rhizome Chinese herbal medicines refer to Chinese herbal medicines whose main medicinal parts grow underground in the soil, including roots, rhizomes, bulbs and other medicinal parts. Due to factors such as the growth environment, different varieties vary in shape length and growth depth. Their growth depth is usually between 10 and 60 cm. When harvested, they have a high water content, are brittle and tender, and are easily damaged and broken during the excavation process, requiring high mechanical performance for harvesting.

[0003] The existing rhizome Chinese herbal medicine harvesting technologies mainly include manual harvesting, semi-mechanized harvesting and mechanized harvesting. Although manual harvesting can better protect the medicinal materials, it has low efficiency, high labor intensity, and is difficult to meet the needs of modern planting with the increase in labor costs and planting areas; semi-mechanized harvesting completes excavation and soil turning through modified plows and other equipment, but still requires manual root-soil separation and collection, with low technical level and operation efficiency; mechanized harvesting completes operations such as excavation, root-soil separation and collection through specially designed mechanical equipment, but the harvesting function is relatively single, and the body size is large, with poor adaptability to terrain and types of Chinese herbal medicines. For different types of Chinese herbal medicines, it is necessary to manually adjust the excavation depth according to experience. Continuously harvesting different types of Chinese herbal medicines has low efficiency and an increased excavation damage rate.

[0004] There are many problems with the existing rhizome Chinese herbal medicine harvesting technologies. The most important ones are that the excavation force and depth are not adjustable, resulting in a high damage rate of medicinal materials and serious energy waste. The fixed-force excavation method is likely to damage the roots of medicinal materials, and the fixed-depth excavation is difficult to adapt to the growth depths of different medicinal materials, causing the medicinal materials to be incompletely dug out or over-dug. The existing excavation methods often rely on manual experience for depth judgment, which is difficult to meet the needs of modern harvesting, and will reduce the quality and harvesting efficiency of Chinese herbal medicines, increase the production cost of Chinese herbal medicines, and restrict the modernization process of the Chinese herbal medicine industry. Summary of the Invention

[0005] The present invention provides a rhizome Chinese herbal medicine harvesting system to solve the problems that the existing rhizome Chinese herbal medicine harvesting methods cannot automatically adjust the excavation force and depth, cannot adapt to Chinese herbal medicines of different soil types, resulting in low excavation efficiency and high damage rate of rhizome Chinese herbal medicines, improve the harvesting efficiency and quality of rhizome Chinese herbal medicines, and meet the diverse Chinese herbal medicine planting environments.

[0006] The present invention provides a rhizome Chinese herbal medicine harvesting system, including:

[0007] The multimodal soil detection module is used to obtain the dielectric constant, porosity, organic matter content, hardness and humidity of the soil, and perform weighted summation on the porosity, organic matter content, hardness and humidity according to the dynamic weight allocation strategy to obtain the excavation force;

[0008] The traditional Chinese medicine rhizome recognition module is used to perform three-dimensional space recognition on the traditional Chinese medicine rhizome to obtain the three-dimensional rhizome structure and the rhizome spatial distribution, detect the excavated object to obtain soil discrimination information, and obtain the optimal excavation path based on the three-dimensional rhizome structure, the rhizome spatial distribution and the soil discrimination information;

[0009] The adaptive excavation module is used to excavate the traditional Chinese medicine rhizome according to the excavation force and the optimal excavation path;

[0010] The soil removal module is used to remove the soil from the excavated traditional Chinese medicine rhizome;

[0011] The storage module is used to store the traditional Chinese medicine rhizome after soil removal.

[0012] In this solution, through the multimodal soil detection module, the dielectric constant, porosity, organic matter content, hardness and humidity of the soil are obtained, and the excavation force is optimized according to the dynamic weight allocation strategy to ensure adaptation to the soil conditions of different types of rhizome traditional Chinese medicines, prevent damage to the traditional Chinese medicine rhizome and the soil planting environment due to excessive excavation force, and reduce the excavation efficiency due to too small excavation force, improving the harvesting quality of the traditional Chinese medicine rhizome; through the traditional Chinese medicine rhizome recognition module, the three-dimensional structure and spatial distribution of the traditional Chinese medicine rhizome can be obtained, accurately identify the rhizome position, reduce the incomplete harvesting and low quality of the traditional Chinese medicine rhizome caused by accidentally injuring the rhizome and missing the rhizome, and improve the harvesting integrity and harvesting quality of the rhizome traditional Chinese medicine; through the adaptive excavation module, the excavation force and excavation depth can be adjusted to ensure the accuracy and efficiency of the excavation process, and reduce the occurrence of over-excavation and under-excavation in the planting area of the rhizome traditional Chinese medicine; through the soil removal module and the storage module, the soil can be removed and stored from the excavated traditional Chinese medicine rhizome, improving the harvesting efficiency and the degree of automation of the harvesting operation of the rhizome traditional Chinese medicine.

[0013] Furthermore: The multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil humidity unit and an excavation force analysis unit;

[0014] The dual-band dielectric constant detection unit is used to detect the low-frequency dielectric constant and high-frequency dielectric constant of the soil through dual-band signals, and judge the soil type through the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant;

[0015] The soil porosity unit is used to detect the porosity of the soil to obtain the porosity detection value;

[0016] The soil organic matter content unit is used to detect the organic matter content of the soil and obtain the detected value of the organic matter content;

[0017] The soil hardness unit is used to detect the hardness of the soil and obtain the detected value of the hardness;

[0018] The soil humidity unit is used to detect the humidity of the soil and obtain the detected value of the humidity;

[0019] The excavation force analysis unit is used to perform weight analysis based on the soil type, porosity detected value, organic matter content detected value, hardness detected value and humidity detected value to obtain the excavation force.

[0020] In this solution, when the multi-modal soil detection module is working, through the dual-frequency dielectric constant detection unit, soil porosity unit, soil organic matter content unit, soil hardness unit and soil humidity unit, it can obtain the multi-modal data of the soil in real time and accurately, which specifically includes soil type, porosity, organic matter content, hardness and humidity. The excavation force analysis unit, based on the obtained multi-modal data, through weight analysis, obtains the influence degree of the soil on the excavation force, and then adjusts the excavation force, realizing the adaptive optimization of the excavation force for rhizome Chinese medicinal materials, improving the harvesting efficiency and medicinal material quality of rhizome Chinese medicinal materials, reducing the damage to the rhizomes of Chinese medicinal materials, and solving the problem that the traditional harvesting method of rhizome Chinese medicinal materials is fixed and cannot adapt to different soil conditions, resulting in low harvesting efficiency and high damage rate of Chinese medicinal materials.

[0021] Further: The dual-frequency dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source and a data processing module;

[0022] The soil detection probe is used to detect the dielectric constant of the soil;

[0023] The low-frequency signal source is used to generate a low-frequency signal and transmit it to the soil inspection probe to obtain the low-frequency dielectric constant;

[0024] The high-frequency signal source is used to generate a high-frequency signal and transmit it to the soil inspection probe to obtain the high-frequency dielectric constant;

[0025] The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, take the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio, and judge the soil type through the dielectric constant ratio. The soil types include sandy soil, loam and clay.

[0026] In this solution, the dual - band dielectric constant detection unit, through a soil detection probe, a low - frequency signal source, a high - frequency signal source, and a data - processing module, detects the low - frequency dielectric constant and high - frequency dielectric constant of the soil in real time. The low - frequency dielectric constant can reflect the moisture content in the soil, and the high - frequency dielectric constant can reflect the content of polar substances in the soil. Moreover, the more the content of polar substances, the greater the difference between the high - frequency dielectric constant and the low - frequency dielectric constant. Among sandy soil, loam, and clay, the sandy soil has the least moisture content and the least content of polar substances, so the difference between the low - frequency dielectric constant and the high - frequency dielectric constant of sandy soil is the smallest. While the clay has the most moisture content and the most content of polar substances, so the difference between the low - frequency dielectric constant and the high - frequency dielectric constant of clay is the largest. The difference between the low - frequency dielectric constant and the high - frequency dielectric constant of loam is between that of sandy soil and clay. By the ratio of the low - frequency dielectric constant to the high - frequency dielectric constant, the soil type can be quickly and accurately judged, solving the problems of low efficiency and low accuracy in traditional soil - type detection methods, improving the accuracy and efficiency of soil - type discrimination, providing an allocation basis for optimizing the excavation force during the Chinese - medicinal - herb harvesting process, ensuring that the excavation process adapts to different soil conditions, reducing damage to the roots and rhizomes of the herbs, and improving the quality of the herbs.

[0027] Furthermore: The excavation - force analysis unit conducts a weight analysis based on the soil type, porosity detection value, organic - matter content detection value, hardness detection value, and humidity detection value to obtain the excavation force, specifically as follows:

[0028] According to the soil type, determine the normal ranges of porosity, organic - matter content, hardness, and humidity to obtain the normal values of porosity, organic - matter content, hardness, and humidity, and obtain the preliminary weight distribution of porosity, organic - matter content, hardness, and humidity;

[0029] Perform difference calculations on the porosity detection value, organic - matter content detection value, hardness detection value, and humidity detection value respectively corresponding to the normal values of porosity, organic - matter content, hardness, and humidity to obtain the porosity difference, organic - matter content difference, hardness difference, and humidity difference;

[0030] Adjust the preliminary weight distribution of porosity, organic - matter content, hardness, and humidity according to the porosity difference, organic - matter content difference, hardness difference, and humidity difference to obtain the actual weight distribution of porosity, organic - matter content, hardness, and humidity;

[0031] Normalize the data of the porosity detection value, organic - matter content detection value, hardness detection value, and humidity detection value respectively to obtain the standard values of porosity, organic - matter content, hardness, and humidity;

[0032] According to the actual weight distribution of porosity, organic matter content, hardness, and humidity, the standard values of porosity, organic matter content, hardness, and humidity are weighted and summed to obtain the excavation weight value of the soil;

[0033] According to the excavation weight value of the soil, the excavation force is obtained according to the pre-set mapping relationship between the excavation weight and the excavation force.

[0034] In this solution, the excavation force analysis unit combines multi-modal data of soil type, porosity, organic matter content, hardness, and humidity through a dynamic weight distribution strategy to obtain the excavation weight value of the soil, and adjusts the excavation force in real time to improve the excavation efficiency and quality of Chinese medicinal materials, solving the problem that traditional excavation equipment cannot dynamically adjust the force according to soil conditions, resulting in damage to the roots and rhizomes of Chinese medicinal materials due to excessive excavation force, and the inability to normally excavate the roots and rhizomes of Chinese medicinal materials due to too small excavation force.

[0035] Furthermore: The Chinese medicinal material root and rhizome recognition module includes a ground penetrating radar positioning unit, a pressure sensing unit, and a root and rhizome recognition processing unit;

[0036] The ground penetrating radar positioning unit is used to detect the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials;

[0037] The pressure sensing unit is used to judge whether the object being excavated is soil by detecting the change in soil pressure during the excavation process, obtain soil discrimination information, and transmit the soil discrimination information to the adaptive excavation module;

[0038] The root and rhizome recognition processing unit is used to obtain the excavation path according to the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials, and dynamically adjust the excavation path according to the soil discrimination information to obtain the optimal excavation path.

[0039] In this solution, the Chinese medicinal material root and rhizome recognition module emits high-frequency electromagnetic waves and receives reflected waves through the ground penetrating radar positioning unit to obtain the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials; based on the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials, the root and rhizome recognition processing unit is used for analysis and processing to excavate the non-root and rhizome areas near the root and rhizome area, avoid the roots and rhizomes of Chinese medicinal materials during excavation, obtain the excavation path, ensure the integrity of the roots and rhizomes of Chinese medicinal materials after excavation, and then judge whether non-soil is excavated according to the change rate of soil pressure detected by the pressure sensing unit during the excavation process, and adjust the excavation path to avoid non-soil, solving the problem of inaccurate root and rhizome recognition and lack of real-time feedback during the excavation process in the traditional Chinese medicinal material harvesting process, resulting in too high damage rate of Chinese medicinal materials, and improving the harvesting quality of the roots and rhizomes of Chinese medicinal materials.

[0040] Furthermore: The pressure sensing unit includes a piezoresistive array sub-unit, a pressure gradient analysis sub-unit, and a feedback control sub-unit;

[0041] The piezoresistive array subunit includes a plurality of piezoresistive sensors, and the plurality of piezoresistive sensors are deployed in the adaptive excavation module and are used to collect soil pressure distribution data during the excavation process in real time;

[0042] The pressure gradient analysis subunit is used to calculate and process the soil pressure distribution data to obtain soil discrimination information;

[0043] The feedback control subunit is used to feedback and control the adaptive excavation module according to the soil discrimination information.

[0044] Among them, when the pressure sensing unit is working, during the excavation process through the piezoresistive array subunit, it collects soil pressure distribution data in real time, and calculates the soil pressure change rate with the change of excavation depth through the pressure gradient analysis subunit, can judge whether the object to be excavated is soil, and is recorded as soil discrimination information, and directly feedback-controls the adaptive excavation module according to the soil discrimination information, can quickly control the work of the adaptive excavation module, when the object to be excavated is non-soil, can timely control the adaptive excavation module to stop excavation, reduce the damage to traditional Chinese medicine, improve the accuracy of traditional Chinese medicine excavation and the quality of traditional Chinese medicine, and solve the problem that traditional excavation equipment cannot monitor the change of soil pressure in real time and lacks the ability of dynamic adjustment.

[0045] Further: The pressure gradient analysis subunit is specifically used for:

[0046] Establish a mapping relationship according to the soil pressure distribution data and the excavation time to obtain the mapping relationship between soil pressure and time;

[0047] Calculate the soil pressure change rate with time according to the mapping relationship between soil pressure and time;

[0048] Judge whether the soil pressure change rate is less than a preset soil pressure change rate threshold. If so, judge that the object to be excavated is soil, otherwise, judge that the object to be excavated is non-soil to obtain soil discrimination information;

[0049] The feedback control subunit is specifically used for:

[0050] When the soil discrimination information is non-soil, it is feedback to the adaptive excavation module through the feedback control subunit to control the adaptive excavation module to stop excavation. When the soil discrimination information is soil, it is feedback to the adaptive excavation module through the feedback control subunit.

[0051] Among them, the pressure gradient analysis subunit establishes a mapping relationship between the excavation depth and the soil pressure based on the pressure distribution data, and through mathematical calculations, obtains the soil pressure change rate that changes with the excavation depth. When encountering non-soil, such as Chinese herbal medicine rhizomes and hard obstacles, the pressure distribution data will increase instantaneously, and the soil pressure change rate will increase, exceeding the preset soil pressure change rate. By this change, it is judged that the excavated object is non-soil. At this time, it is fed back to the adaptive excavation module through the feedback control subunit, which can skip the operation of the rhizome recognition unit, reduce the data processing time, and directly control the adaptive excavation module to stop excavation in a timely manner, preventing further damage to the Chinese herbal medicine rhizomes. Moreover, when encountering hard obstacles, it can stop excavation in a timely manner, protect the excavation shovel blade, and prevent it from being damaged; the pressure gradient analysis subunit and the feedback control subunit of this solution solve the problem of being unable to obtain the soil pressure change in real time during the excavation process of traditional rhizome Chinese herbal medicines, resulting in rhizome damage and damage to the excavation shovel blade.

[0052] Furthermore: The rhizome recognition unit is specifically used for:

[0053] Obtain the excavation path according to the three-dimensional structure and spatial distribution of the Chinese herbal medicine rhizomes;

[0054] Dynamically adjust the excavation path during excavation according to the soil discrimination information detected by the pressure sensing unit. When the soil discrimination information is non-soil, adjust the excavation path to avoid non-soil. When the soil discrimination information is soil, do not adjust the initial excavation path to obtain the optimal excavation path.

[0055] In this solution, the rhizome recognition unit can analyze the three-dimensional structure and spatial distribution of the Chinese herbal medicine rhizomes, avoid the Chinese herbal medicine rhizomes during excavation, determine the excavation path, prevent damage to the Chinese herbal medicine rhizomes during excavation, and at the same time, during the excavation process, judge the excavated object through the soil discrimination information obtained by the pressure sensing unit to determine whether it is soil. If it is judged as non-soil, it means that the excavated object is a Chinese herbal medicine rhizome and a non-soil object, and the excavation path needs to be adjusted to reduce damage to the Chinese herbal medicine rhizomes and ensure the integrity and high quality of the Chinese herbal medicine rhizomes.

[0056] Furthermore: The adaptive excavation module includes an excavation shovel unit, an angle adjustment unit, a force adjustment unit, and an excavation depth limit unit;

[0057] The excavation shovel unit is used to excavate the soil;

[0058] The angle adjustment unit is used to adjust the excavation angle of the excavation shovel unit;

[0059] The force adjustment unit is used to adjust the excavation force of the excavation shovel unit;

[0060] The excavation depth limit unit is used to limit the maximum excavation depth of the excavation shovel.

[0061] Among them, the adaptive excavation module adjusts the excavation angle through the angle adjustment unit to ensure that the rhizomes of traditional Chinese medicinal materials are not damaged during the excavation process. The excavation force is adjusted through the force adjustment unit to ensure that the rhizomes of traditional Chinese medicinal materials are smoothly dug out while not damaging the soil environment and rhizomes. The excavation depth limiting unit can limit the maximum excavation depth to prevent the soil structure from being damaged due to excessive excavation depth when excavating rhizome traditional Chinese medicinal materials with shallow planting depths. This solves the problems of low excavation efficiency, high medicinal material damage rate, and uncontrollable excavation depth of traditional excavation equipment under complex soil conditions, improves the accuracy and efficiency of excavation, reduces the damage to the rhizomes of traditional Chinese medicinal materials, and improves the quality of traditional Chinese medicinal materials.

[0062] Furthermore: The soil removal module includes a double conveyor belt unit, a vibration screening unit, and a flexible brush roller unit.

[0063] The double conveyor belt unit includes two parallel conveyor belts arranged vertically. The excavated traditional Chinese medicinal materials pass between the two conveyor belts, which is used to separate large soil clods from the rhizomes of traditional Chinese medicinal materials.

[0064] The vibration screening unit is used to separate the rhizomes and the broken soil clods on the surface of the rhizomes.

[0065] The flexible brush roller unit is used to rotate and clean the remaining soil clods in the rhizomes.

[0066] In this solution, the double conveyor belt unit of the soil removal module has two parallel conveyor belts arranged vertically. The excavated traditional Chinese medicinal materials pass between the two conveyor belts, effectively separating large soil clods from the rhizomes of traditional Chinese medicinal materials. The vibration screening unit uses the principle of vibration screening to separate the rhizomes and the broken soil clods on the surface of the rhizomes to ensure that the surface of the medicinal materials is clean. The flexible brush roller unit rotates to clean the remaining soil clods in the rhizomes, further improving the cleanliness of the medicinal materials. The soil removal process is all flexible processing, which can avoid damaging the rhizomes of traditional Chinese medicinal materials and at the same time meet the soil removal requirements of various rhizome traditional Chinese medicinal materials, improving the soil removal efficiency and quality of the operation.

[0067] A rhizome traditional Chinese medicinal material harvesting system provided by the present invention has at least the following technical effects:

[0068] Through the collaborative work of the multi-modal soil detection module, the traditional Chinese medicinal material rhizome recognition module, the adaptive excavation module, the soil removal module, and the storage module, the present invention solves the technical problems of poor soil adaptability, inaccurate rhizome recognition, low excavation efficiency, high medicinal material damage rate, and incomplete soil removal in the traditional harvesting process of rhizome traditional Chinese medicinal materials. It can dynamically adjust the excavation force and excavation path according to soil conditions, accurately identify the distribution of traditional Chinese medicinal material rhizomes, avoid accidentally injuring the medicinal materials, and at the same time improve the cleanliness of the medicinal materials through multi-stage soil removal treatment, realizing the high-efficiency, accuracy, and intelligence of the harvesting of traditional Chinese medicinal materials, significantly improving the quality and harvesting efficiency of the medicinal materials, and reducing the labor cost. Brief Description of the Drawings

[0069] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not limit the embodiments of the present invention;

[0070] Figure 1 It is a schematic structural diagram of a rhizome Chinese medicinal material harvesting system in the present invention. Detailed Embodiments

[0071] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0072] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention may be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0073] Embodiment 1

[0074] The present invention provides a rhizome Chinese medicinal material harvesting system, including:

[0075] A multi-modal soil detection module, which is used to obtain the dielectric constant, porosity, organic matter content, hardness and humidity of the soil, and perform weighted summation on the porosity, organic matter content, hardness and humidity according to the dynamic weight allocation strategy to obtain the excavation force;

[0076] A Chinese medicinal material rhizome recognition module, which is used to perform three-dimensional space recognition on the Chinese medicinal material rhizome to obtain the rhizome three-dimensional structure and rhizome spatial distribution, detect the excavated object to obtain soil discrimination information, and obtain the optimal excavation path based on the rhizome three-dimensional structure, rhizome spatial distribution and soil discrimination information;

[0077] An adaptive excavation module, which is used to excavate the Chinese medicinal material rhizome according to the excavation force and the optimal excavation path;

[0078] A soil removal module, which is used to remove soil from the excavated Chinese medicinal material rhizome;

[0079] A storage module, which is used to store the Chinese medicinal material rhizome after soil removal.

[0080] When the multi-modal soil detection module of this technical solution is working, it obtains the information data of the soil through a variety of sensors, including dielectric constant, porosity, organic matter content, hardness and humidity, and performs weighted summation calculation through a dynamic weight allocation strategy. The final weight calculation value is used as a reference for the excavation force to obtain the excavation force of the Chinese herbal medicine rhizome; when the Chinese herbal medicine rhizome recognition module is working, it can obtain the three-dimensional structure and spatial distribution of the rhizomes of rhizome Chinese herbal medicines, and adjust the excavation angle according to the three-dimensional structure and spatial distribution of the rhizomes. It preferentially selects the non-rhizome area for excavation in the excavation direction to avoid the rhizome area, and correspondingly adjusts the excavation depth according to the depth of the rhizome spatial distribution to ensure that the rhizome can be completely dug out, obtaining the excavation path, and judging whether the object being excavated is soil during excavation to avoid non-soil rhizomes, obtaining the optimal excavation path; through the multi-modal soil detection module and the Chinese herbal medicine rhizome recognition module, it can specifically distinguish the soil type and the Chinese herbal medicine rhizome, and adaptively adjust the excavation strategy according to the soil characteristics and rhizome distribution, improve the harvesting efficiency, reduce the damage of the medicinal materials, ensure the quality of the medicinal materials, and solve the adaptability problem of the existing harvesting methods of rhizome Chinese herbal medicines under different soil types, as well as the problem of being unable to accurately identify the specific spatial distribution of Chinese herbal medicine rhizomes.

[0081] In this solution, through the multi-modal soil detection module, the dielectric constant, porosity, organic matter content, hardness and humidity of the soil are obtained, and the excavation force is optimized according to the dynamic weight allocation strategy to ensure adaptation to the soil conditions of different types of rhizome Chinese herbal medicines, prevent damage to the Chinese herbal medicine rhizomes and the soil planting environment due to excessive excavation force, and avoid reduced excavation efficiency due to too small excavation force, improving the harvesting quality of the Chinese herbal medicine rhizomes; through the Chinese herbal medicine rhizome recognition module, the distribution of the Chinese herbal medicine rhizomes can be obtained, the rhizome position can be accurately identified, the damage to the Chinese herbal medicine rhizomes can be reduced, and the situations of incomplete harvesting and low harvesting quality of the Chinese herbal medicine rhizomes can be reduced, improving the harvesting integrity and harvesting quality of the rhizome Chinese herbal medicines; through the adaptive excavation module, the excavation force and excavation depth can be adjusted to ensure the accuracy and efficiency of the excavation process, and avoid over-excavation and under-excavation of the planting area of the rhizome Chinese herbal medicines; through the soil removal module and the storage module, the soil can be removed and stored for the Chinese herbal medicine rhizomes after excavation, improving the harvesting efficiency and the degree of automation of the harvesting operation of the rhizome Chinese herbal medicines.

[0082] In a specific embodiment of the present invention, a rhizome Chinese herbal medicine harvesting system further includes a Chinese herbal medicine efficacy detection module for detecting the efficacy components of the Chinese herbal medicine rhizomes after soil removal. The Chinese herbal medicine efficacy detection module includes a near-infrared spectroscopy unit and an efficacy component recognition unit.

[0083] The rhizomes of traditional Chinese medicinal materials after removing soil are irradiated with a near-infrared spectroscopy unit to obtain near-infrared reflection spectra. Since different substances have different absorption and reflection characteristics of near-infrared light, when near-infrared light irradiates the rhizomes of traditional Chinese medicinal materials, different pharmacodynamic components, such as molecules of saponins, flavonoids, polysaccharides, etc., will absorb near-infrared light of specific wavelengths, resulting in characteristic absorption peaks in the reflected near-infrared light in the reflection spectrum, and thus being reflected in the near-infrared reflection spectrum. In a specific embodiment, when the rhizome of traditional Chinese medicinal materials with volatile oil as the pharmacodynamic component is damaged during excavation, its cell structure will be destroyed, and the internal volatile oil will be exposed to the air. For example, in the case of ginger, its internal volatile oil will gradually be lost as the cells rupture, resulting in a decrease in the pharmacodynamic component. The phenolic hydroxyl groups of flavonoid components are active, and the collisions and frictions generated during excavation will provide reaction conditions for them to react with oxygen in the air, causing a reduction in the pharmacodynamic component, such as puerarin and daidzin. At the same time, microorganisms and water in the soil can enter the rhizomes of traditional Chinese medicinal materials from the excavation wound, react chemically with the pharmacodynamic components therein, reduce the content of the pharmacodynamic components, and contaminate the medicinal materials, increasing the difficulty of subsequent purification treatment.

[0084] When the traditional Chinese medicine efficacy detection module is working, it uses the near-infrared spectroscopy unit to irradiate the rhizomes of traditional Chinese medicine after removing the soil, and obtains the near-infrared reflection spectrum. Based on the different absorption and reflection characteristics of different medicinal components for near-infrared light, the efficacy component recognition unit analyzes the obtained near-infrared reflection spectrum to determine the content of the main efficacy components in the rhizomes of traditional Chinese medicine. Specifically, a near-infrared spectroscopy sensor is arranged at a set fixed distance interval between the soil removal module and the storage module to perform multi-point detection on the rhizomes of traditional Chinese medicine after removing the soil. Through data fusion algorithms for integration, the accidental errors and local differences in the detection results are reduced, ensuring that the rhizomes of traditional Chinese medicine after removing the soil are detected and improving the accuracy of the near-infrared spectroscopy detection results. The efficacy component recognition unit can first analyze the near-infrared spectrum using a trained neural network model, such as a BP neural network, and combine it with a genetic algorithm to accurately identify the efficacy components. At the same time, an efficacy component database is established in advance to adapt to several types of rhizome traditional Chinese medicines. Through the efficacy component database and the trained neural network model, the content of the main efficacy components in the rhizomes of traditional Chinese medicine can be quickly obtained. Damage to the rhizomes of traditional Chinese medicine during the excavation process will reduce the detected content of the efficacy components, and the poor growth environment of rhizome traditional Chinese medicines will also reduce the detected content of the efficacy components. When the detected content of the efficacy components is lower than the preset efficacy component content threshold, the traditional Chinese medicine efficacy detection module immediately feeds back to the adaptive excavation module, stops the current excavation work, adjusts the excavation force and excavation path, reduces the damage to the rhizomes of traditional Chinese medicine, and ensures the maximum retention of the efficacy components. At the same time, the efficacy component detection results of the efficacy component recognition unit are compared and analyzed with the pre-established efficacy component database. If the content of the efficacy components continues to be lower than the preset efficacy component content threshold, combined with the soil data of the multi-modal soil detection module, the three-dimensional structure of the rhizome, and the spatial distribution of the rhizome, the excavation angle is adjusted to make the excavation direction away from the three-dimensional structure of the rhizome and the spatial distribution position of the rhizome, reduce the excavation force, lower the excavation speed, reduce the damage to the rhizome during excavation, increase the excavation depth, ensure that the rhizome can be completely dug out, sacrificing the excavation efficiency of the rhizome traditional Chinese medicine but improving the quality of the traditional Chinese medicine. Through the adjustment of the excavation angle and excavation depth, the excavation path is optimized to adapt to different growth environments and medicinal characteristics, and the detection results of the efficacy component content this time can be saved and sent to the terminal. The terminal further analyzes the growth environment of the rhizome traditional Chinese medicine based on the detection results of the efficacy component content to determine the reason for the decrease in the efficacy component content, realizing the high-efficiency, precision, and intelligence of the traditional Chinese medicine harvesting process, and improving the quality and harvesting efficiency of the rhizomes of traditional Chinese medicine.

[0085] Example Two

[0086] A rhizome Chinese herbal medicine harvesting system of the present invention, on the basis of Embodiment 1, the multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil humidity unit, and a digging force analysis unit;

[0087] The dual-band dielectric constant detection unit is used to detect the low-frequency dielectric constant and high-frequency dielectric constant of the soil through dual-band signals, and judge the soil type by the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant;

[0088] The soil porosity unit is used to detect the porosity of the soil and obtain a porosity detection value;

[0089] The soil organic matter content unit is used to detect the organic matter content of the soil and obtain an organic matter content detection value;

[0090] The soil hardness unit is used to detect the hardness of the soil and obtain a hardness detection value;

[0091] The soil humidity unit is used to detect the humidity of the soil and obtain a humidity detection value;

[0092] The digging force analysis unit is used to perform weight analysis based on the soil type, porosity detection value, organic matter content detection value, hardness detection value, and humidity detection value to obtain the digging force.

[0093] In a specific embodiment of the present invention, before harvesting and digging rhizome Chinese herbal medicines, a porosity measuring instrument is used to complete the detection of soil porosity, a soil organic matter measuring instrument is used to complete the detection of soil organic matter content, a soil hardness meter is used to complete the detection of soil hardness, and a soil humidity measuring instrument is used to complete the detection of soil humidity.

[0094] Among them, the dual-band dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module;

[0095] The soil detection probe is used to detect the dielectric constant of the soil;

[0096] The low-frequency signal source is used to generate a low-frequency signal and transmit it to the soil inspection probe to obtain the low-frequency dielectric constant;

[0097] The high-frequency signal source is used to generate a high-frequency signal and transmit it to the soil inspection probe to obtain the high-frequency dielectric constant;

[0098] The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, take the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio, and judge the soil type through the dielectric constant ratio. The soil types include sandy soil, loam, and clay.

[0099] In this technical solution, the dual-band dielectric constant detection unit detects the low-frequency dielectric constant and high-frequency dielectric constant of the soil in real time through a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module. Among them, the low-frequency dielectric constant can reflect the moisture content in the soil. The higher the soil moisture content, the larger the low-frequency dielectric constant. The high-frequency dielectric constant can reflect the content of polar substances in the soil. The higher the content of polar substances, the smaller the high-frequency dielectric constant. When measuring the dielectric constant of the soil, as the signal frequency increases, the soil dielectric constant gradually decreases, and the more the content of polar substances, the greater the decreasing amplitude. Among sandy soil, loam, and clay, sandy soil has larger particles, more pores, is not easy to retain moisture, and has weak adsorption ability. Therefore, the moisture content of sandy soil is the lowest, and the content of polar substances is also the lowest. Clay particles are fine, the pores are small, it can retain more moisture, and has strong adsorption ability. Therefore, the moisture content of clay is the highest, and the content of polar substances is also the highest. The soil characteristics of loam are between those of sandy soil and clay. At low frequencies, polar substances and moisture in the soil can be fully polarized, resulting in a larger low-frequency dielectric constant, and the dielectric constant mainly reflects the moisture content. At high frequencies, the polarization process is restricted, and polar substances cannot be fully polarized, resulting in the high-frequency dielectric constant being smaller than the low-frequency dielectric constant, and the higher the content of polar substances, the greater the difference. Therefore, the difference in dielectric constants of different soil types at low and high frequencies is different. Sandy soil has the smallest difference between the low-frequency dielectric constant and the high-frequency dielectric constant due to its low moisture content and low content of polar substances. Clay has the largest difference between the low-frequency dielectric constant and the high-frequency dielectric constant due to its high moisture content and high content of polar substances. Loam is between sandy soil and clay, and the difference between the low-frequency dielectric constant and the high-frequency dielectric constant is also between that of sandy soil and clay. By measuring the low-frequency dielectric constant and high-frequency dielectric constant of the soil and calculating the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, the soil type can be quickly and accurately judged, improving the detection efficiency and detection accuracy of the soil type. It can be carried out without damaging the soil structure, protecting the soil growth environment of rhizome Chinese medicinal materials, and solving the problems that traditional rhizome Chinese medicinal materials harvesting cannot identify different soil growth environments and it is difficult to adjust the excavation force for different rhizome Chinese medicinal materials.

[0100] In a specific embodiment of the present invention, soil A, soil B, and soil C are obtained, and the low-frequency dielectric constant and high-frequency dielectric constant of the soil are obtained at a low frequency of 1 MHz and a high frequency of 1 GHz, and the results shown in Table 1 are obtained:

[0101] Table 1

[0102] Soil Low-frequency dielectric constant (1 MHz) High-frequency dielectric constant (1 GHz) Ratio (low-frequency / high-frequency) A 10 8 1.25 B 28 15 1.87 C 40 15 2.67

[0103] Among them, the data in Table 1 are only for illustrative purposes of the embodiments. By the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, it is possible to determine the amplitude of the decrease in the dielectric constant of the soil as the frequency increases. According to a preset threshold, for example, when the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant is between 1 and 1.7, it is judged as sandy soil; when it is between 1.7 and 2.3, it is judged as loam soil; when it is greater than 2.3, it is judged as clay soil. The specific threshold value can be precisely adjusted through experimental determination, or it can be adjusted to the ratio of the high-frequency dielectric constant to the low-frequency dielectric constant, or directly compare the difference values, and thresholds can be set to judge the soil type through the thresholds. Therefore, as can be seen from Table 1, Soil A is sandy soil and is used to plant rhizome Chinese medicinal materials such as Platycodon grandiflorum, Saposhnikovia divaricata, Belamcanda chinensis, Anemarrhena asphodeloides, Scutellaria baicalensis, Astragalus membranaceus, Isatis indigotica, etc.; Soil B is loam soil and is used to plant rhizome Chinese medicinal materials such as Codonopsis pilosula, Atractylodes macrocephala, Ligusticum chuanxiong, Paeonia lactiflora, Rehmannia glutinosa, Polygonatum sibiricum, Polygonatum odoratum, Salvia miltiorrhiza, Achyranthes bidentata, Astragalus membranaceus, etc.; Soil C is clay soil and is used to plant rhizome Chinese medicinal materials such as Schizonepeta tenuifolia, Trichosanthes kirilowii, Mentha haplocalyx, Pogostemon cablin, Perilla frutescens, Cassia obtusifolia, etc. By the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, the basic type of the soil can be quickly judged, providing a distribution basis for optimizing the digging force during the harvesting process of Chinese medicinal materials, ensuring that the digging process adapts to different soil conditions, reducing damage to the rhizomes of the medicinal materials, and improving the quality of the medicinal materials.

[0104] In this solution, through the dual-band dielectric constant detection unit, the type of the soil can be identified, including sandy soil, loam soil, and clay soil. According to the soil type, the normal ranges of porosity, organic matter content, hardness, and humidity are determined, and the middle value of the normal range is taken as the normal value to obtain the normal value of porosity, the normal value of organic matter content, the normal value of hardness, and the normal value of humidity. Based on this, a preliminary weight distribution of porosity, organic matter content, hardness, and humidity is established. Then, through the soil porosity unit, the soil organic matter content unit, the soil hardness unit, and the soil humidity unit, the porosity detection value, the organic matter content detection value, the hardness detection value, and the humidity detection value are obtained, and the preliminary weight distribution is adjusted based on the difference between the detection value and the normal value to obtain the actual weight distribution. At the same time, the detection values are normalized to obtain standard values, making the values between 0 and 1. According to the actual weight distribution and the detection values, a weighted sum is performed to obtain the digging weight value of the soil, and according to the mapping relationship between the preset digging weight and the digging force, the digging force is obtained.

[0105] In a specific embodiment of the present invention, the smaller the porosity of the soil, the more difficult it is to dig; the greater the organic matter content, the more difficult it is to dig; the greater the hardness, the more difficult it is to dig; and the higher the water content, the more difficult it is to dig. When the detected soil type is sandy soil, the normal range of porosity is 30%-40%, the normal range of organic matter content is 1.5%-3.5%, and the normal range of the hardness of sandy soil is 1-1.5 g / cm 3, the humidity range of the sandy soil is 15%-25%. Therefore, based on the properties of the sandy soil, preliminary weight distribution is carried out: porosity: organic matter content: hardness: humidity = 0.25:0.2:0.3:0.25. The normal value of porosity is taken as 35%, the normal value of organic matter content is 2.5%, the normal value of hardness is 1.25 g / cm 3 , and the normal value of humidity is 20%; the porosity detection value is 35% obtained through the soil porosity unit, the soil organic matter content unit, the soil hardness unit and the soil humidity unit, the organic matter content detection value is 2.0%, the hardness detection value is 1.2 g / cm 3 , the humidity detection value is 18%, and the porosity difference is 0, the organic matter content difference is -0.5%, the hardness difference is -0.1 g / cm 3 , the humidity difference is -2%. Further calculation gives the porosity difference ratio as 0, and the organic matter content difference ratio as the hardness difference ratio as the humidity difference ratio as The expression for the actual weight distribution is obtained as follows:

[0106]

[0107] a1 = a×(1 + δ×A1) = 0.25×(1 + 0.2×0) = 0.25

[0108] b1 = b×(1 + δ×B1) = 0.2×(1 - 0.2×0.25) = 0.19

[0109] c1 = c×(1 + δ×C1) = 0.3×(1 - 0.2×0.2) = 0.288

[0110] d1 = d×(1 + δ×D1) = 0.25×(1 - 0.2×0.2) = 0.24

[0111] Among them, a2 is the actual weight of porosity, b2 is the actual weight of organic matter content, c2 is the actual weight of hardness, d2 is the actual weight of humidity, a1 is the adjusted weight of porosity, b1 is the adjusted weight of organic matter content, c1 is the adjusted weight of hardness, d1 is the adjusted weight of humidity, a is the preliminary weight of porosity, b is the preliminary weight of organic matter content, c is the preliminary weight of hardness, d is the preliminary weight of humidity, δ is the adjustment coefficient that can be adjusted in size. In this embodiment, the value is taken as 0.2, and a2, b2, c2 and d2 are all weight values after normalization. The actual weight distribution a2:b2:c2:d2 = 0.258:0.196:0.298:0.248 is obtained through the above expression; the detection values are standardized, and the standard value of porosity is the standard value of organic matter content is the standard value of hardness is The humidity standard value is According to the actual weight distribution and detection values, a weighted sum is performed to obtain a soil excavation weight value of 0.3716. Based on the pre-set mapping relationship between the excavation weight value and the excavation force, the excavation force is obtained. The data in this embodiment are for convenient calculation and demonstration and do not represent actual data. At the same time, a mathematical function model can be established in the laboratory according to the measured excavation weight value and excavation force to obtain the mapping relationship between the excavation weight value and the excavation force.

[0112] Embodiment III

[0113] A rhizome Chinese medicinal material harvesting system of the present invention, on the basis of Embodiment I, the Chinese medicinal material rhizome recognition module includes a ground penetrating radar positioning unit, a pressure sensing unit, and a rhizome recognition processing unit;

[0114] The ground penetrating radar positioning unit is used to detect the three-dimensional structure and spatial distribution of the Chinese medicinal material rhizome;

[0115] The pressure sensing unit is used to judge whether the object being excavated is soil by detecting the change in soil pressure during the excavation process, obtain soil discrimination information, and transmit the soil discrimination information to the adaptive excavation module;

[0116] The rhizome recognition processing unit is used to obtain an excavation path according to the three-dimensional structure and spatial distribution of the Chinese medicinal material rhizome, and dynamically adjust the excavation path according to the soil discrimination information to obtain an optimal excavation path.

[0117] In this technical solution, when the Chinese medicinal material rhizome recognition module is working, through the ground penetrating radar positioning unit, high-frequency electromagnetic waves are emitted and reflected waves are received, penetrating the soil to detect the three-dimensional structure and spatial distribution of the Chinese medicinal material rhizome. Based on the three-dimensional structure and spatial distribution of the Chinese medicinal material rhizome, data analysis is carried out using the rhizome recognition processing unit to obtain the excavation path of the Chinese medicinal material rhizome, avoiding the Chinese medicinal material rhizome to ensure the integrity of the Chinese medicinal material rhizome after excavation. It can also avoid detected hard obstacles such as gravel and tree roots. Then, through the soil discrimination information of the pressure sensing unit, it is judged whether non-soil is excavated, and the excavation path is adjusted to avoid non-soil, solving the problems of inaccurate rhizome recognition and lack of real-time feedback during the excavation process in the traditional Chinese medicinal material harvesting, resulting in too high damage rate of Chinese medicinal materials, and improving the harvesting quality of Chinese medicinal material rhizomes.

[0118] Among them, the pressure sensing unit includes a piezoresistive array sub-unit, a pressure gradient analysis sub-unit, and a feedback control sub-unit;

[0119] The piezoresistive array subunit includes a number of piezoresistive sensors. The number of piezoresistive sensors can be deployed in a matrix form at the front end of the shovel blade of the adaptive excavation module. Each piezoresistive sensor has a pressure-sensing surface in the micrometer scale, which can capture the pressure distribution data of the soil in real time during the excavation process. At the same time, the array density of the piezoresistive sensors can be optimized according to the size of the shovel blade of the adaptive excavation module and the expected soil resolution to ensure that detailed soil pressure information can be obtained during the excavation process.

[0120] The pressure gradient analysis subunit is used to calculate and process the soil pressure distribution data. According to the soil pressure distribution data, a mapping relationship is established with the excavation time. Taking time as the abscissa and soil pressure as the ordinate, the mapping relationship between soil pressure and time can be obtained, and a curve graph of the change of soil pressure with time can be drawn. As the excavation time increases, the excavation depth gradually increases, and the required excavation force also increases. Therefore, the soil pressure increases steadily with time, and the calculated soil pressure change rate tends to a stable value. When a hard obstacle is encountered during the excavation process, the collision will cause the soil pressure to increase instantaneously, and at this time the soil pressure change rate will increase. In the curve graph of the change of soil pressure with time, the soil pressure shows a steep peak form, and it is judged by a preset soil pressure change rate threshold whether the soil pressure change rate is less than the preset soil pressure change rate threshold. If so, it is judged that the object being excavated is soil; otherwise, it is judged that the object being excavated is non-soil, and soil discrimination information is obtained. At the same time, in this embodiment, a curve graph of the change of soil pressure with the excavation depth can be obtained with the excavation depth as the abscissa. When the object being excavated is non-soil, the excavation depth can be obtained through the steep peak of the soil pressure, and the depth of the non-soil object can be indirectly judged. When a cavity is encountered during the excavation process, the soil pressure will decrease instantaneously. In the curve graph of the change of soil pressure with the excavation depth, the curve shows a steep slope, and the soil pressure change rate will also increase, indicating that there is a soil cavity at the rhizome of the Chinese herbal medicine, and it is necessary to optimize the soil structure to improve the quality of the rhizome Chinese herbal medicine.

[0121] A feedback control sub-unit for providing feedback and control to the adaptive excavation module based on soil discrimination information; the feedback control sub-unit receives soil discrimination information from the pressure gradient analysis sub-unit, and provides real-time feedback and control to the adaptive excavation module based on the soil discrimination information, skipping the intermediate data processing stage and communicating with the adaptive excavation module directly to ensure that the adaptive excavation module stops excavation in a timely manner, preventing damage to the shovel blade caused by hard obstacles; through the rhizome recognition and processing unit, the excavation force, excavation depth, and excavation speed of the adaptive excavation module are adjusted to achieve dynamic optimization of the excavation path, ensuring the efficiency and accuracy of the excavation process, reducing the damage rate of Chinese herbal medicine rhizomes, and ensuring the harvesting quality. This technical solution effectively solves the problems of inaccurate rhizome recognition and lack of real-time feedback during the excavation process in traditional Chinese herbal medicine harvesting through the piezoresistive array sub-unit, feedback control sub-unit, and rhizome recognition and processing unit.

[0122] Example Four

[0123] For a rhizome-type Chinese herbal medicine harvesting system of the present invention, based on Example One, the adaptive excavation module includes an excavation shovel unit, an angle adjustment unit, a force adjustment unit, and an excavation depth limit unit;

[0124] The excavation shovel unit is used for excavating the soil;

[0125] The angle adjustment unit is used to adjust the excavation angle of the excavation shovel unit to ensure that during the excavation process, the rhizomes of Chinese herbal medicines are not damaged and hard obstacles are avoided, and by adjusting the excavation angle, the excavation path of the rhizome-type Chinese herbal medicines is changed;

[0126] The force adjustment unit is used to adjust the excavation force of the excavation shovel unit to ensure that the rhizomes of Chinese herbal medicines are smoothly dug out without damaging the soil environment and rhizomes;

[0127] The excavation depth limit unit is used to limit the maximum excavation depth of the excavation shovel, which can limit the maximum excavation depth. For example, when excavating rhizome-type Chinese herbal medicines with a planting depth of 10 cm to 20 cm, the maximum excavation depth is limited to 25 cm. While ensuring that the rhizomes are completely dug out, it prevents the soil structure from being damaged due to excessive excavation depth, reducing the growth quality of the rhizome-type Chinese herbal medicines in the next round of planting. The optimal setting data for the maximum excavation depth can be obtained through experiments.

[0128] Through the dynamic adjustment function of the adaptive excavation module of the present invention, it can effectively solve the problems of low efficiency, high medicinal material damage rate, and uncontrollable excavation depth of traditional excavation equipment under complex soil conditions. Through the coordinated cooperation of the angle adjustment unit and the depth limit unit, the accuracy of the excavation path is ensured. Through the force adjustment unit, it adapts to different soil conditions, improves the excavation efficiency, and reduces the damage to the soil and medicinal material rhizomes, significantly improving the harvesting quality of Chinese herbal medicines and the ecological environment protection effect.

[0129] A rhizome Chinese herbal medicine harvesting system of the present invention, on the basis of Embodiment 1, the soil removal module includes a double conveyor belt unit, a vibration screening unit and a flexible brush roller unit;

[0130] The double conveyor belt unit includes two parallel conveyor belts arranged up and down. The Chinese herbal medicine after excavation passes between the two conveyor belts. By using the relative movement of the upper and lower conveyor belts, large soil clods on the rhizome of the Chinese herbal medicine can be effectively separated. At the same time, additional devices such as rubber strips and flexible brushes can be added to the surface of the conveyor belt to enhance the separation effect of large soil clods from the rhizome;

[0131] The vibration screening unit is used to separate the rhizome and the broken soil clods on the surface of the rhizome. A multi-layer vibration screening structure can be adopted. Through high-frequency vibration and screening by the screen, the surface of the rhizome of the Chinese herbal medicine can be made clean;

[0132] The flexible brush roller unit is used to rotate and clean the remaining soil clods in the rhizome, further improving the cleanliness of the medicinal materials.

[0133] In this solution, the rhizome of the Chinese herbal medicine after harvesting first enters the double conveyor belt unit, which can effectively separate the large soil clods on the rhizome of the Chinese herbal medicine, then enters the vibration screening unit, which can separate the broken soil clods remaining on the rhizome of the Chinese herbal medicine, and finally enters the flexible brush roller unit, which can separate the soil clods attached to the rhizome of the Chinese herbal medicine. Through the double conveyor belt unit, the vibration screening unit and the flexible brush roller unit, the present invention can perform soil removal operations on different rhizome Chinese herbal medicines, without damaging the rhizome of the Chinese herbal medicine, while meeting the soil removal requirements of various rhizome Chinese herbal medicines, improving the soil removal efficiency and quality of the operation, and ensuring the cleanliness and integrity of the rhizome Chinese herbal medicine.

[0134] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0135] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A rhizome Chinese medicinal material harvesting system, characterized in that: include: The multimodal soil detection module is used to obtain the dielectric constant, porosity, organic matter content, hardness and moisture of the soil, and perform weighted summation of the porosity, organic matter content, hardness and moisture according to the dynamic weight allocation strategy to obtain the excavation intensity; The Chinese herbal medicine rhizome recognition module is used to perform three-dimensional spatial recognition of the rhizome of Chinese herbal medicine to obtain the three-dimensional structure and spatial distribution of the rhizome, detect the excavated objects to obtain soil discrimination information, and obtain the optimal excavation path based on the three-dimensional structure, spatial distribution and soil discrimination information of the rhizome; Adaptive mining module, used to mine the rhizomes of Chinese medicinal materials according to the mining intensity and optimal mining path; The soil removal module is used to remove the soil from the roots and rhizomes of Chinese medicinal materials after excavation; The storage module is used to store the rhizomes of Chinese medicinal materials after the soil is removed.

2. A rhizome Chinese medicinal material harvesting system according to claim 1, characterized in that: The multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil moisture unit and a digging force analysis unit; The dual-band dielectric constant detection unit is used to detect the low-frequency dielectric constant and high-frequency dielectric constant of the soil through the dual-band signal, and determine the soil type through the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant; The soil porosity unit is used to detect the porosity of the soil and obtain a porosity detection value; The soil organic matter content unit is used to detect the organic matter content of the soil and obtain the organic matter content detection value; The soil hardness unit is used to detect the hardness of the soil and obtain a hardness detection value; The soil humidity unit is used to detect the humidity of the soil and obtain a humidity detection value; The digging force analysis unit is used to perform weight analysis according to soil type, porosity detection value, organic matter content detection value, hardness detection value and humidity detection value to obtain the digging force.

3. A rhizome Chinese medicinal material harvesting system according to claim 2, characterized in that: The dual-band dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source and a data processing module; The soil detection probe is used to detect the dielectric constant of the soil; The low-frequency signal source is used to generate a low-frequency signal and transmit it to the soil inspection probe to obtain a low-frequency dielectric constant; The high-frequency signal source is used to generate a high-frequency signal and transmit it to the soil inspection probe to obtain a high-frequency dielectric constant; The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, take the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio, and judge the soil type through the dielectric constant ratio, and the soil types include sandy soil, loam and clay.

4. A rhizome Chinese medicinal material harvesting system according to claim 2, characterized in that: The digging force analysis unit performs weight analysis according to soil type, porosity detection value, organic matter content detection value, hardness detection value and humidity detection value to obtain the digging force, which is as follows: According to the soil type, determine the normal range of porosity, organic matter content, hardness and moisture, obtain the normal value of porosity, normal value of organic matter content, normal value of hardness and normal value of moisture, and complete the preliminary weight distribution of porosity, organic matter content, hardness and moisture; The porosity test value, organic matter content test value, hardness test value and humidity test value are calculated with the corresponding normal porosity value, normal organic matter content value, normal hardness value and normal humidity value to obtain the porosity difference value, organic matter content difference value, hardness difference value and humidity difference value respectively; According to the porosity difference, organic matter content difference, hardness difference and humidity difference, the preliminary weight distribution of porosity, organic matter content, hardness and humidity is adjusted to obtain the actual weight distribution of porosity, organic matter content, hardness and humidity; The porosity test value, organic matter content test value, hardness test value and humidity test value are respectively standardized to obtain the porosity standard value, organic matter content standard value, hardness standard value and humidity standard value; According to the actual weight distribution of porosity, organic matter content, hardness and humidity, the porosity standard value, organic matter content standard value, hardness standard value and humidity standard value are weighted and summed to obtain the soil excavation weight value; According to the excavation weight value of the soil and the mapping relationship between the excavation weight and the excavation force which is preset, the excavation force is obtained.

5. The root and tuber Chinese medicinal material harvesting system according to claim 1, characterized in that: The Chinese herbal medicine rhizome identification module includes a ground penetrating radar positioning unit, a pressure sensing unit and a rhizome identification processing unit; The ground penetrating radar positioning unit is used to detect and obtain the three-dimensional structure and spatial distribution of the rhizome of the Chinese medicinal material; The pressure sensing unit is used to determine whether the excavated object is soil by detecting the soil pressure change during the excavation process, obtain soil identification information, and transmit the soil identification information to the adaptive excavation module; The rhizome identification processing unit is used to obtain an excavation path according to the three-dimensional structure and spatial distribution of the rhizome of the Chinese medicinal material, and dynamically adjust the excavation path according to soil discrimination information to obtain an optimal excavation path.

6. A rhizome Chinese medicinal material harvesting system according to claim 5, characterized in that: The pressure sensing unit includes a piezoresistive array subunit, a pressure gradient analysis subunit and a feedback control subunit; The piezoresistive array subunit includes a plurality of piezoresistive sensors, which are deployed in the adaptive excavation module and used to collect soil pressure distribution data in real time during the excavation process; The pressure gradient analysis subunit is used to calculate and process soil pressure distribution data to obtain soil discrimination information; The feedback control subunit is used to provide feedback and control to the adaptive mining module according to the soil identification information.

7. A rhizome Chinese medicinal material harvesting system according to claim 6, characterized in that: The pressure gradient analysis subunit is specifically used for: A mapping relationship is established based on soil pressure distribution data and excavation time to obtain a mapping relationship between soil pressure and time; According to the mapping relationship between soil pressure and time, the soil pressure change rate over time is calculated; Determine whether the soil pressure change rate is less than a preset soil pressure change rate threshold value, if so, determine that the excavated object is soil, otherwise, determine that the excavated object is non-soil, and obtain soil discrimination information; The feedback control subunit is specifically used for: When the soil discrimination information is non-soil, it is fed back to the adaptive mining module through the feedback control subunit to control the adaptive mining module to stop mining. When the soil discrimination information is soil, it is fed back to the adaptive mining module through the feedback control subunit.

8. The root and tuber Chinese medicinal material harvesting system according to claim 7, characterized in that: The root and stem identification unit is specifically used for: According to the three-dimensional structure and spatial distribution of the rhizomes of Chinese medicinal materials, the excavation path is obtained; The excavation path is dynamically adjusted during the excavation process according to the soil discrimination information detected by the pressure sensing unit. When the soil discrimination information is non-soil, the excavation path is adjusted to avoid non-soil. When the soil discrimination information is soil, the initial excavation path is not adjusted to obtain the optimal excavation path.

9. The root and tuber Chinese medicinal material harvesting system according to claim 1, characterized in that: The adaptive excavation module includes an excavation shovel unit, an angle adjustment unit, a force adjustment unit and an excavation depth limiting unit; The digging shovel unit is used to dig soil; The angle adjustment unit is used to adjust the digging angle of the digging shovel unit; The force adjustment unit is used to adjust the digging force of the digging shovel unit; The digging depth limiting unit is used to limit the maximum digging depth of the digging shovel.

10. The root and tuber Chinese medicinal material harvesting system according to claim 1, characterized in that: The soil removal module includes a double conveyor belt unit, a vibrating screening unit and a flexible brush roller unit; The double conveyor belt unit includes two upper and lower parallel conveyor belts, and the excavated Chinese medicinal materials pass between the two conveyor belts to separate the large pieces of soil from the roots and rhizomes of the Chinese medicinal materials; The vibration screening unit is used to separate the rhizomes and the broken soil pieces on the surface of the rhizomes; The flexible brush roller unit is used for rotating and cleaning soil clods remaining in the rhizomes.

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