An automatic feeding control method and system for traditional Chinese medicine raw materials based on an AGV robot

Abstract

The application discloses a traditional Chinese medicine raw material automatic feeding control method and system based on an AGV robot, and particularly relates to the field of automatic control technology; the method is characterized in that: by collecting the acceleration and deceleration signals, the docking signals, the feeding mechanism contact signals, the feeding door opening degree signals and the vehicle-mounted weighing sequence in the running process of the AGV robot, the weighing fragments in each stage are extracted, and a dynamic additional load template is established; after the feeding door is opened, the dynamic additional load is deducted and the material falling lag is corrected, and the real material falling quality sequence is obtained; the weighing pseudo-stable state is identified through the continuous window slope and the rebound residual error, and after the rebound residual error is attenuated, the remaining difference value is calculated; finally, according to the relationship between the remaining difference value and the end material supplement threshold value, the feeding termination or the end material supplement opportunity is determined, the control instruction is generated, and the high-precision and stable traditional Chinese medicine raw material automatic feeding control is realized.

Description

Technical Field

[0001] This invention relates to the field of automation control technology, and more specifically, to a method and system for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots. Background Technology

[0002] In existing AGV robots for automatically dispensing traditional Chinese medicine raw materials, on-board weighing devices are typically used to monitor the quality of material dispensing. However, in actual operation, on-board weighing is often subject to various dynamic additional loads. When these multi-source dynamic load factors are superimposed on the actual changes in the quality of the dispensing material, the quality monitoring signal of the on-board weighing system fluctuates drastically, making it difficult to distinguish between the actual changes in the dispensing quality and the aforementioned interfering loads. Consequently, it becomes difficult to accurately determine the timing of dispensing termination, affecting the quantitative dispensing accuracy and batch-to-batch stability of traditional Chinese medicine raw materials. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the embodiments of the present invention provide an automatic feeding control method and system for traditional Chinese medicine raw materials based on AGV robots to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: An automated feeding control method for traditional Chinese medicine raw materials based on AGV robots includes the following steps: S1. Collect AGV robot acceleration and deceleration signals, station docking signals, feeding mechanism contact signals, feeding gate opening signals and vehicle weighing sequences. Divide the vehicle weighing sequence according to the time of each signal jump to obtain stage weighing segments. S2. When the feeding gate is closed, extract the acceleration / deceleration waveform, docking waveform and contact waveform from the stage weighing segment, and synthesize the dynamic additional load template. S3. After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the falling lag is corrected according to the feeding gate opening signal to obtain the actual material falling mass sequence. S4. Calculate the continuous window slope and springback residual for the actual material feeding mass sequence. When the continuous window slope is stable and the springback residual has not decayed, identify the weighing pseudo-steady state. S5. Maintain the opening of the feeding gate and continue sampling under the pseudo-steady weighing state. After the rebound residual decays, calculate the remaining difference based on the actual material discharge mass sequence. S6. When the remaining difference is greater than the end-feeding threshold, determine the end-feeding timing; otherwise, determine the feeding termination timing and write the AGV robot feeding control instruction.

[0005] In a preferred embodiment, S1 specifically refers to: Collect AGV robot acceleration and deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and vehicle weighing sequences, and align them according to timestamps; Identify the state transition edges of the AGV robot's acceleration / deceleration signals, docking signals, feeding mechanism contact signals, and feeding gate opening signals after the timestamps are aligned; The vehicle weighing sequence is divided into segments based on the time of the state transition edge, resulting in stage weighing segments corresponding to the acceleration / deceleration phase, the docking phase, the material feeding mechanism contact phase, and the material feeding gate opening / closing phase, respectively.

[0006] In a preferred embodiment, S2 specifically refers to: Based on the opening signal of the feeding gate, it is determined that the feeding gate is in a closed state. The acceleration and deceleration section, the docking section and the contact section of the feeding mechanism corresponding to the closed state of the feeding gate are located from the stage weighing segment. Extract the acceleration / deceleration waveforms corresponding to the acceleration / deceleration phase, the docking waveforms corresponding to the arrival docking phase, and the contact waveforms corresponding to the contact phase of the feeding mechanism; The amplitude change sequence and time decay characteristics of the acceleration / deceleration waveform, docking waveform, and contact waveform are obtained respectively, and weighted synthesis is performed to generate a dynamic additional load template covering the acceleration / deceleration section, the docking section at the station, and the contact section of the feeding mechanism.

[0007] In a preferred embodiment, S3 specifically refers to: Based on the opening signal of the feeding gate, it is determined that the feeding gate is in the open state. The dynamic additional load template is subtracted from the vehicle-mounted weighing sequence to obtain the preliminary corrected weighing sequence. Extract the opening moment when the feeding gate switches from closed to open from the opening signal, analyze the curve shape of the preliminary corrected weighing sequence after the opening moment, and determine the lag time between the actual material feeding start moment and the opening moment. The preliminary corrected weighing sequence is time-axis shifted based on the lag time to align the material drop start point of the corrected preliminary corrected weighing sequence with the actual material drop start time, thus obtaining the actual material drop mass sequence.

[0008] In a preferred embodiment, S4 specifically refers to: A continuous sliding window is set for the actual material dropping mass sequence, and the linear fitting slope of the actual material dropping mass sequence within each continuous sliding window is calculated to obtain the continuous window slope sequence. The fluctuation amplitude of the weighing value deviating from the linear fit within each continuous sliding window is extracted from the actual material discharge mass sequence and used as the rebound residual. Determine whether the continuous window slope sequence has entered a stable range where the slope amplitude is continuously lower than the slope threshold, and at the same time determine whether the rebound residual maintains the decay trend at the beginning of the feeding gate opening. When the continuous window slope sequence enters the stable region and the rebound residual has not completed its decay, the current weighing interval is determined to be a pseudo-stable state.

[0009] In a preferred embodiment, S5 specifically refers to: Under the pseudo-steady weighing state, the opening of the feeding gate is kept constant and the actual material discharge mass sequence is continued to be collected. Continuously monitor the amplitude change of the rebound residual. When the amplitude of the rebound residual continuously decreases to below the attenuation completion threshold, it is determined that the rebound residual has completed attenuation. The moment when the rebound residual completes its decay is taken as the effective calculation starting point, and the cumulative material dropping mass value is extracted from the actual material dropping mass sequence corresponding to the effective calculation starting point. Subtract the cumulative material discharge mass from the preset target material discharge mass to obtain the remaining difference.

[0010] In a preferred embodiment, S6 specifically refers to: The remaining difference is compared with the preset end-of-life replenishment threshold; When the remaining difference is greater than the end-feeding threshold, the duration of the feeding gate opening time exceeding the time when the rebound residual completes its decay is determined as the end-feeding timing. The end-feeding opening is calculated based on the end-feeding timing and the remaining difference, and the end-feeding timing and the end-feeding opening are written into the AGV robot feeding control instruction; When the remaining difference is less than or equal to the end feeding threshold, the moment when the rebound residual completes its decay is determined as the feeding termination time, and the feeding termination time is written into the AGV robot feeding control instruction.

[0011] In a preferred embodiment, the end-feeding threshold is determined based on the allowable mass change corresponding to the feeding target accuracy and the minimum controllable feeding mass.

[0012] In a preferred embodiment, the end-feeding opening is calculated based on the end-feeding timing and the remaining difference, specifically as follows: Calculate the decrease in the actual material mass value at adjacent sampling times, and obtain the current opening material feeding rate based on the decrease and the sampling period; Establish the correspondence between the percentage of opening of the feeding gate and the material feeding rate based on the no-load opening and closing debugging data of the feeding gate and the trial feeding data of Chinese herbal raw materials; Based on the remaining difference, the current opening and feeding rate, and the correspondence between the feeding gate opening percentage and the feeding rate, the minimum feeding gate opening percentage that can complete the remaining difference within the maximum duration of the end-feeding is determined as the end-feeding opening.

[0013] On the other hand, the present invention provides an automatic feeding control system for traditional Chinese medicine raw materials based on AGV robots, comprising: Signal acquisition module: Acquires AGV robot acceleration and deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and vehicle weighing sequences. The vehicle weighing sequence is segmented according to the transition time of each signal to obtain stage weighing segments. Template synthesis module: When the feeding gate is closed, the acceleration / deceleration waveform, docking waveform and contact waveform are extracted from the stage weighing segment to synthesize a dynamic additional load template; Material drop correction module: After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the drop lag is corrected according to the feeding gate opening signal to obtain the real material drop mass sequence. The pseudo-steady state identification module calculates the continuous window slope and springback residual for the actual material feeding quality sequence. When the continuous window slope is stable and the springback residual has not decayed, the pseudo-steady state of weighing is identified. Residual monitoring module: Maintains the opening of the feeding gate and continues sampling under the pseudo-steady weighing state. After the rebound residual decays, it calculates the remaining difference based on the actual material discharge mass sequence. Feeding decision module: When the remaining difference is greater than the end feeding threshold, the timing of end feeding is determined; otherwise, the timing of feeding termination is determined and written into the AGV robot feeding control instruction.

[0014] The technical effects and advantages of the automatic feeding control method and system for traditional Chinese medicine raw materials based on AGV robots of the present invention are as follows: By collecting AGV robot acceleration / deceleration signals, docking signals, feeding mechanism contact signals, feeding gate opening signals, and on-board weighing sequences, and forming stage weighing segments according to the timing of each signal transition, the changes in on-board weighing can correspond to different operational stages. When the feeding gate is closed, the acceleration / deceleration waveform, docking waveform, and contact waveform are extracted and synthesized into a dynamic additional load template, providing a basis for deducting non-falling factors during the feeding stage. After the feeding gate is opened, the dynamic additional load template is deducted and the falling lag is corrected to obtain a more realistic falling mass sequence that closely approximates the actual material feeding process. The weighing pseudo-steady state is identified by the continuous window slope and rebound residual, avoiding misjudging the temporary stability after dynamic impact as the completion of feeding. By maintaining the feeding gate opening and continuing sampling in the weighing pseudo-steady state, the remaining difference is calculated after the rebound residual decays. The timing of the final feeding or the feeding termination is determined by comparing the remaining difference with the end-feeding threshold, making the generation of AGV robot feeding control commands more consistent with the actual feeding state, thereby improving the quantitative feeding accuracy and batch stability of Chinese medicine raw materials. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of an automatic feeding control method for traditional Chinese medicine raw materials based on AGV robots according to the present invention; Figure 2 This is a schematic diagram of the structure of an automatic feeding control system for traditional Chinese medicine raw materials based on AGV robots according to the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0017] Example 1

[0018] Figure 1 This invention provides an automatic feeding control method for traditional Chinese medicine raw materials based on AGV robots, which includes the following steps: S1. Collect AGV robot acceleration and deceleration signals, station docking signals, feeding mechanism contact signals, feeding gate opening signals and vehicle weighing sequences. Divide the vehicle weighing sequence according to the time of each signal jump to obtain stage weighing segments. S2. When the feeding gate is closed, extract the acceleration / deceleration waveform, docking waveform and contact waveform from the stage weighing segment, and synthesize the dynamic additional load template. S3. After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the falling lag is corrected according to the feeding gate opening signal to obtain the actual material falling mass sequence. S4. Calculate the continuous window slope and springback residual for the actual material feeding mass sequence. When the continuous window slope is stable and the springback residual has not decayed, identify the weighing pseudo-steady state. S5. Maintain the opening of the feeding gate and continue sampling under the pseudo-steady weighing state. After the rebound residual decays, calculate the remaining difference based on the actual material discharge mass sequence. S6. When the remaining difference is greater than the end-feeding threshold, determine the end-feeding timing; otherwise, determine the feeding termination timing and write the AGV robot feeding control instruction.

[0019] S1. Collect AGV robot acceleration / deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and on-board weighing sequences. Divide the on-board weighing sequence according to the transition times of each signal to obtain stage weighing segments, including: In one implementation, the AGV robot acceleration / deceleration signals, docking arrival signals, feeding mechanism contact signals, feeding gate opening signals, and on-board weighing sequences are all recorded with timestamps according to the same time base. The AGV robot acceleration / deceleration signal data record includes sampling time, longitudinal acceleration, lateral acceleration, and AGV robot operating status markers. The docking arrival signal data record includes sampling time, docking permission marker, docking completion marker, and positioning deviation. The feeding mechanism contact signal data record includes sampling time, contact pressure, and contact switch status. The feeding gate opening signal data record includes sampling time, feeding gate opening percentage, and feeding gate movement direction. The on-board weighing sequence data record includes sampling time, on-board weighing, and weighing validity markers. The sampling period is based on the AGV robot acceleration / deceleration process, the docking arrival process, the feeding mechanism contact process, and the feeding gate... The shortest identifiable action duration during the opening and closing process is determined by recording the action durations of the AGV robot's acceleration / deceleration, docking, material feeding mechanism contact, and material feeding gate opening / closing processes during no-load debugging. The shortest action duration among these four durations is then selected as the shortest identifiable action duration. The sampling period is set to be no more than one-tenth of the shortest identifiable action duration. For example, if the shortest identifiable action duration is 200 milliseconds, the sampling period is set to 20 milliseconds or less. The allowable timestamp deviation is determined by combining data transmission jitter and the sampling period. The maximum fluctuation value of the interval between two adjacent data receptions during no-load debugging is added to one sampling period as the allowable timestamp deviation. For example, if the maximum fluctuation value of the interval between two adjacent data receptions is 6 milliseconds and the sampling period is 20 milliseconds, the allowable timestamp deviation is set to 26 milliseconds.

[0020] In one implementation, when aligning the AGV robot acceleration / deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and on-board weighing sequences according to timestamps, a unified time axis is established using the sampling time of the on-board weighing sequence. The interval between adjacent times on the unified time axis is equal to the sampling period of the on-board weighing sequence. The AGV robot acceleration / deceleration signals, arrival docking signals, feeding mechanism contact signals, and feeding gate opening signals are then mapped to the unified time axis. When the difference between the data recording timestamp of the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, or feeding gate opening signal and a certain sampling time on the unified time axis is less than or equal to the allowable timestamp deviation, the corresponding data record is written to the sampling time on the unified time axis. When the AGV robot accelerates / decelerates... When there is a numerical gap between two adjacent sampling times of the speed signal, feeding mechanism contact signal, or feeding gate opening signal on the same time axis, the numerical gap is filled by linear interpolation between two adjacent valid values. When there is a state gap between two adjacent sampling times of the arrival docking signal on the same time axis, the state gap is filled by maintaining the previous valid state. When there is a data record with an invalid weighing valid mark in the vehicle weighing sequence, the data record with the invalid weighing valid mark is deleted and linear interpolation is performed using the nearest valid vehicle weighing before and after deletion. This ensures that the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, feeding gate opening signal, and vehicle weighing sequence form a set of corresponding data at each sampling time on the same time axis after the timestamp is aligned.

[0021] In one implementation, when identifying the state transition edges of the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, and feeding gate opening signal after timestamp alignment, a static reference range for the AGV robot acceleration / deceleration signal, a state reference range for the arrival docking signal, a non-contact reference range for the feeding mechanism contact signal, and a closed reference range for the feeding gate opening signal are established respectively. The static reference range of the AGV robot acceleration / deceleration signal is determined by the fluctuation range of longitudinal and lateral acceleration during the time period when the AGV robot is stopped and the feeding gate is closed before the feeding task begins. The longitudinal and lateral accelerations are taken for at least 2 consecutive seconds before the feeding task begins, and the average fluctuation amplitude of the longitudinal and lateral accelerations is calculated. Three times the average fluctuation amplitude is taken as the static reference range of the AGV robot acceleration / deceleration signal. The boundary is defined as follows: The non-contact reference range of the feeding mechanism contact signal is determined by the contact pressure fluctuation range when the feeding mechanism does not contact the AGV robot's load-bearing part. The contact pressure is taken continuously for no less than 1 second before the feeding mechanism starts contacting, and the average fluctuation amplitude of the contact pressure is calculated. Three times the average fluctuation amplitude is taken as the boundary of the non-contact reference range of the feeding mechanism contact signal. The closing reference range of the feeding door opening signal is determined by the fluctuation range of the feeding door opening percentage after the feeding door is mechanically closed. The feeding door opening percentage is taken continuously for no less than 1 second after the feeding door is closed, and the maximum and minimum values ​​of the feeding door opening percentage are calculated. The range between the maximum and minimum values ​​is taken as the closing reference range of the feeding door opening signal. The arrival docking signal status reference is determined according to the binary status of the docking allow mark and the docking completion mark.

[0022] In one implementation, after determining the stationary reference range of the AGV robot acceleration / deceleration signal, the status reference range of the docking signal, the non-contact reference range of the feeding mechanism contact signal, and the closing reference range of the feeding gate opening signal, a state transition edge is identified according to a continuous holding determination method. The state transition edge of the AGV robot acceleration / deceleration signal is the sampling moment when the longitudinal acceleration or lateral acceleration first leaves the stationary reference range of the AGV robot acceleration / deceleration signal and remains continuously for no less than a preset holding time. The state transition edge of the docking signal is the sampling moment when the docking permission mark or docking completion mark undergoes a binary state change and the binary state change remains continuously for no less than a preset holding time. The state transition edge of the feeding mechanism contact signal is the sampling moment when the contact pressure first leaves the non-contact reference range of the feeding mechanism contact signal. Alternatively, the contact switch state changes and remains continuously for a sampling time not less than the preset holding time. The state transition edge of the feeding gate opening signal is the first time the feeding gate opening percentage leaves the feeding gate opening signal closing reference range, or the feeding gate movement direction changes and remains continuously for a sampling time not less than the preset holding time. The preset holding time is determined by the sampling period and the duration of mechanical jitter. During no-load debugging, the maximum continuous jitter duration when mechanical jitter occurs in the arrival docking signal, feeding mechanism contact signal, and feeding gate opening signal is recorded. The maximum continuous jitter duration is then summed with two sampling periods as the preset holding time. For example, if the maximum continuous jitter duration is 40 milliseconds and the sampling period is 20 milliseconds, the preset holding time is set to 80 milliseconds.

[0023] In one implementation, when segmenting the vehicle-mounted weighing sequence using the time of the state transition edge as the boundary, all state transition edges identified by the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, and feeding gate opening signal are arranged in chronological order to form a state transition edge time sequence. Then, the state transition edge time sequences are merged into segments to avoid multiple near-time boundaries for the same physical action. Adjacent state transition edges with a time interval less than or equal to the merged segment width are merged into a state transition edge group, and the earliest state transition edge time in the state transition edge group is used as the boundary of the state transition edge group. At any given time, the merging time width of the same segment is determined by the sampling period and the allowable deviation of the timestamp. The two sampling periods are added together with the allowable deviation of the timestamp to obtain the merging time width of the same segment. For example, when the sampling period is 20 milliseconds and the allowable deviation of the timestamp is 26 milliseconds, the merging time width of the same segment is set to 66 milliseconds. The vehicle weighing sequence between two adjacent state transitions along the group boundary time is extracted as a candidate weighing segment. The start time, end time, vehicle weighing sequence, signal type of the trigger boundary, and state change direction of the trigger boundary of each candidate weighing segment are bound to obtain a candidate weighing segment with boundary information.

[0024] In one implementation, a stage assignment determination is performed on candidate weighing segments with boundary information. The stage assignment determination is completed according to the signal type of the trigger boundary and the state maintenance interval after the trigger boundary. When the trigger boundary of the candidate weighing segment comes from the AGV robot acceleration / deceleration signal and the longitudinal acceleration or lateral acceleration after the trigger boundary is continuously outside the static reference range of the AGV robot acceleration / deceleration signal, the candidate weighing segment is determined as the stage weighing segment corresponding to the acceleration / deceleration segment. When the trigger boundary of the candidate weighing segment comes from the arrival docking signal and the docking allow mark or docking completion mark after the trigger boundary is in the docking action state, the candidate weighing segment is determined as the stage weighing segment corresponding to the arrival docking segment. When the trigger boundary of the candidate weighing segment comes from the feeding mechanism contact signal and the contact pressure after the trigger boundary is outside the non-contact reference range of the feeding mechanism contact signal, the stage assignment determination is performed as follows: Alternatively, when the contact switch is in the contact state, the candidate weighing segment is determined as the stage weighing segment corresponding to the contact section of the feeding mechanism; when the trigger boundary of the candidate weighing segment comes from the feeding gate opening signal and the percentage of the feeding gate opening after the trigger boundary is outside the closing reference range of the feeding gate opening signal, or when the feeding gate action direction indicates the opening or closing direction, the candidate weighing segment is determined as the stage weighing segment corresponding to the feeding gate opening and closing section; when the same candidate weighing segment simultaneously meets multiple stage assignment conditions, the main stage type of the candidate weighing segment is determined according to the order of feeding gate opening and closing section, feeding mechanism contact section, arrival docking section, and acceleration and deceleration section, and all stage assignment conditions simultaneously met are retained as the composite stage mark of the candidate weighing segment, finally obtaining stage weighing segments corresponding to the acceleration and deceleration section, arrival docking section, feeding mechanism contact section, and feeding gate opening and closing section respectively.

[0025] S2. When the feeding gate is closed, the acceleration / deceleration waveform, docking waveform, and contact waveform are extracted from the stage weighing segment to synthesize a dynamic additional load template, including: In one implementation, when the feeding gate is determined to be in a closed state based on the feeding gate opening signal, the feeding gate opening signal after timestamp alignment and the stage weighing segment are used as input data. The feeding gate opening percentage and feeding gate movement direction corresponding to each unified time axis sampling moment are read. Then, the feeding gate opening percentage is compared with the feeding gate opening signal closing reference range. When the feeding gate opening percentage is continuously within the feeding gate opening signal closing reference range and the feeding gate movement direction does not indicate the opening direction or the closing direction, the corresponding continuous time interval is determined as the feeding gate closed state time interval. The duration of the continuous time interval is not less than the preset holding time. The start time of the feeding gate closed state time interval is the first sampling moment after the feeding gate opening percentage enters the feeding gate opening signal closing reference range and completes the preset holding time verification. The end time of the feeding gate closed state time interval is the last sampling moment before the feeding gate opening percentage leaves the feeding gate opening signal closing reference range.

[0026] In one implementation, when locating the acceleration / deceleration section, the docking section, and the feeding mechanism contact section corresponding to the closed state of the feeding gate from the stage weighing segments, the start and end times of each stage weighing segment are cross-compared with the time interval of the closed state of the feeding gate. When both the start and end times of the stage weighing segment fall within the time interval of the closed state of the feeding gate, or when the overlap time between the stage weighing segment and the time interval of the closed state of the feeding gate is greater than 80% of the stage weighing segment's time length, the stage weighing segment is taken as the stage corresponding to the closed state of the feeding gate. The candidate weighing segments are then selected based on their main stage type and composite stage marker. From the candidate weighing segments corresponding to the closed state of the feeding gate, the following are selected: stage weighing segments with the main stage type being acceleration / deceleration section, stage weighing segments with the main stage type being arrival docking section, and stage weighing segments with the main stage type being feeding mechanism contact section. When the candidate weighing segments corresponding to the same closed state of the feeding gate contain composite stage markers, the corresponding acceleration / deceleration section component, arrival docking section component, and feeding mechanism contact section component are retained according to the composite stage markers.

[0027] In one implementation, when extracting the acceleration / deceleration waveform corresponding to the acceleration / deceleration segment, the on-board weighing data for at least 0.5 seconds without a state transition edge is selected from the start time of the stage weighing segment of the acceleration / deceleration segment as the reference weighing data for the acceleration / deceleration segment. The average value of the reference weighing data for the acceleration / deceleration segment is calculated as the reference weighing value for the acceleration / deceleration segment. Then, the on-board weighing data for each sampling time in the stage weighing segment of the acceleration / deceleration segment is subtracted from the reference weighing value for the acceleration / deceleration segment to obtain the acceleration / deceleration waveform corresponding to the acceleration / deceleration segment. When there is no on-board weighing data for at least 0.5 seconds without a state transition edge before the start time of the stage weighing segment of the acceleration / deceleration segment, the median of the on-board weighing data in the first 3 sampling periods after the start of the stage weighing segment of the acceleration / deceleration segment is used as the reference weighing value for the acceleration / deceleration segment. The median is used to reduce the influence of single-point impact weighing on the reference weighing value for the acceleration / deceleration segment.

[0028] In one implementation, when extracting the docking waveform corresponding to the docking section at the station, the vehicle-mounted weighing sequence in the stage weighing segment of the docking section at the station corresponding to the closed state of the feeding gate is used as the processing object. Positioning deviation, docking allowance mark, and docking completion mark are read from the stage weighing segment of the docking section at the station. The sampling time when the docking allowance mark changes from an unallowed state to an allowed state is used as the front-end reference time of the docking section at the station. The sampling time when the docking completion mark changes from an incomplete state to a completed state at the station is used as the back-end reference time of the docking section at the station. A considerable number of consecutive moments before the front-end reference time are selected. The on-board weighing at 0.5 seconds with the feeding gate closed is used as the reference weighing data for the docking section at the destination. The average value of the reference weighing data for the docking section at the destination is calculated as the reference weighing value for the docking section at the destination. Then, the on-board weighing at each sampling moment in the stage weighing segment of the docking section at the destination is subtracted from the reference weighing value for the docking section at the destination to obtain the docking waveform corresponding to the docking section at the destination. The positioning deviation is used to mark the source intensity of the docking waveform. When the positioning deviation decreases rapidly before the docking completion mark changes, the corresponding weighing disturbance in the docking waveform is recorded as the dynamic additional load component caused by the docking process at the destination.

[0029] In one embodiment, when extracting the contact waveform corresponding to the contact section of the feeding mechanism, the contact pressure and contact switch state are read from the phase weighing segment of the contact section of the feeding mechanism. The sampling time when the contact pressure first leaves the non-contact reference range of the feeding mechanism contact signal or the contact switch state first enters the contact state is taken as the contact start time of the feeding mechanism contact section. The sampling time when the contact pressure enters the stable contact range and remains there for no less than a preset holding time is taken as the contact stabilization time of the feeding mechanism contact section. The on-board weighing data of the feeding mechanism contact section that is at least 0.5 seconds before the contact start time of the feeding mechanism contact section and has not experienced a state transition edge is selected as the reference weighing data of the feeding mechanism contact section. The average value of the reference weighing data of the feeding mechanism contact section is calculated as the reference weighing value of the feeding mechanism contact section. Then, the on-board weighing data of the feeding mechanism contact section at each sampling time in the phase weighing segment of the feeding mechanism contact section is subtracted from the reference weighing value of the feeding mechanism contact section to obtain the contact waveform corresponding to the feeding mechanism contact section. The stable contact range is determined by the time interval after the contact start time of the feeding mechanism contact section where the change amplitude of the contact pressure is continuously less than 3 times the average fluctuation amplitude of the contact pressure.

[0030] In one implementation, when calculating the amplitude change sequence of the acceleration / deceleration waveform, docking waveform, and contact waveform, the acceleration / deceleration waveform, docking waveform, and contact waveform are mapped to a unified time axis, so that the sampling period of the unified time axis is used as the interval between adjacent data points. Then, zero-point shifting is performed on the acceleration / deceleration waveform, docking waveform, and contact waveform. Zero-point shifting involves adjusting the value of the first sampling point of each waveform to 0, and simultaneously subtracting the value of the first sampling point of each waveform from the value of subsequent sampling points of each waveform, calculating the interval between adjacent data points. The weighing differences between sampling points are arranged in chronological order of sampling time for each waveform to obtain the amplitude change sequences corresponding to acceleration / deceleration waveforms, docking waveforms, and contact waveforms. Positive values ​​in the amplitude change sequences indicate that the on-board weighing of the corresponding stage weighing segment has increased compared to the previous sampling time, negative values ​​indicate that the on-board weighing of the corresponding stage weighing segment has decreased compared to the previous sampling time, and 0 values ​​in the amplitude change sequences indicate that the on-board weighing of the corresponding stage weighing segment has not undergone any identifiable change compared to the previous sampling time.

[0031] In one implementation, when calculating the time decay characteristics of the acceleration / deceleration waveform, docking waveform, and contact waveform, the absolute amplitude peak value, the peak time corresponding to the absolute amplitude peak value, the half-amplitude decay time required for the absolute amplitude peak value to drop to half of the peak value, and the residual decay time required for the absolute amplitude peak value to drop to three times the average fluctuation amplitude of the reference weighing data of the acceleration / deceleration section, three times the average fluctuation amplitude of the reference weighing data of the docking section at the station, or three times the average fluctuation amplitude of the reference weighing data of the feeding mechanism contact section are all read. The time decay characteristics include the absolute amplitude peak value, the peak time, the half-amplitude decay time, and the residual decay time. When a certain waveform does not drop to within three times the average fluctuation amplitude of the corresponding reference weighing data before the end of the stage weighing segment, the duration between the end time of the stage weighing segment and the peak time is taken as the residual decay time, and an incomplete decay mark is added to the corresponding time decay characteristic.

[0032] In one implementation, before weighted synthesis of the acceleration / deceleration waveform, docking waveform, and contact waveform, the weights corresponding to each waveform are determined. These weights are determined by the contribution ratio of the on-board weighing when the feeding gate is closed. The cumulative absolute amplitude of each waveform is calculated separately, and then the sum of these cumulative absolute amplitudes is calculated. The proportion of the cumulative absolute amplitude of each waveform to the sum of the cumulative absolute amplitudes is used as the corresponding weight. When the sum of the cumulative absolute amplitudes is 0, the weights corresponding to the acceleration / deceleration waveform, docking waveform, and contact waveform are set to the same value. When a waveform has an incomplete attenuation marker, the incomplete attenuation marker is retained after the corresponding weight is determined, and the weight is not increased to replace the incomplete attenuation marker, thus avoiding the incorrect amplification of the tail effect corresponding to the incomplete attenuation marker. For example, when the cumulative absolute amplitude of the acceleration / deceleration waveform is 120 grams, the cumulative absolute amplitude of the docking waveform is 60 grams, and the cumulative absolute amplitude of the contact waveform is 20 grams, the weight corresponding to the acceleration / deceleration waveform is 0.6, the weight corresponding to the docking waveform is 0.3, and the weight corresponding to the contact waveform is 0.1.

[0033] In one implementation, when generating a dynamic additional load template covering the acceleration / deceleration section, the docking section, and the feeding mechanism contact section, a unified time axis is used as the time axis of the dynamic additional load template. The acceleration / deceleration waveform, docking waveform, and contact waveform are placed on the time axis of the dynamic additional load template according to their respective state transition times along the group boundary. At the same sampling time, the amplitude change sequences corresponding to the acceleration / deceleration waveform, the docking waveform, and the contact waveform are read respectively. Then, the amplitude change sequences corresponding to the acceleration / deceleration waveform are multiplied by the weights corresponding to the acceleration / deceleration waveform, the amplitude change sequences corresponding to the docking waveform are multiplied by the weights corresponding to the docking waveform, and the amplitude change sequences corresponding to the contact waveform are multiplied by the weights corresponding to the contact waveform. The three multiplication results at the same sampling time are summed to obtain the dynamic additional load change value at the same sampling time. All dynamic additional load change values ​​are arranged in chronological order of sampling time to form a dynamic additional load template. Each sampling point in the dynamic additional load template includes the sampling time and a marker indicating that the dynamic additional load change value has not yet attenuated.

[0034] S3. After the feeding gate opens, the dynamic additional load template is subtracted from the vehicle-mounted weighing sequence, and the falling lag is corrected according to the feeding gate opening signal to obtain the actual material falling mass sequence, including: In one implementation, when the feeding gate is determined to be open based on the feeding gate opening signal, the feeding gate opening percentage and feeding gate movement direction corresponding to each sampling moment in a unified time axis are read. The first sampling moment where the feeding gate opening percentage deviates from the feeding gate opening signal closing reference range and the feeding gate movement direction indicates the opening direction is recorded as the feeding gate opening candidate moment. Then, starting from the feeding gate opening candidate moment, the feeding gate opening percentage is continuously checked. When the feeding gate opening percentage is continuously greater than the effective opening threshold of the feeding gate and the duration is not less than a preset holding time, the feeding gate opening candidate moment is determined as the opening moment. The time interval during which the percentage of the feeding gate opening is continuously greater than the effective opening threshold after the opening moment is defined as the feeding gate opening state time interval. The effective opening threshold of the feeding gate is determined by the no-load opening and closing debugging data of the feeding gate. The upper limit of the shaking of the feeding gate opening percentage when the feeding gate starts to move from the mechanical closed position and the minimum opening percentage when the feeding gate can form a stable opening are recorded. The midpoint between the upper limit of the shaking and the minimum opening percentage is then used as the effective opening threshold of the feeding gate. For example, when the upper limit of the shaking of the feeding gate opening percentage is 2% and the minimum opening percentage is 8%, the effective opening threshold of the feeding gate is set to 5%.

[0035] In one implementation, when subtracting the dynamic additional load template from the vehicle weighing sequence, the dynamic additional load template is mapped to a unified time axis according to the sampling time in the dynamic additional load template. If there is a time difference between the sampling time in the dynamic additional load template and the sampling time in the unified time axis, and this time difference is less than or equal to the allowable timestamp deviation, the dynamic additional load change value in the dynamic additional load template is written into the corresponding sampling time in the unified time axis. If there is no correspondence between the sampling time in the dynamic additional load template and the sampling time in the unified time axis that satisfies the allowable timestamp deviation, the value is determined based on the adjacent two values ​​in the dynamic additional load template. Linear interpolation is performed on the dynamic additional load change values ​​at each sampling time to obtain the dynamic additional load change values ​​at the corresponding sampling time in a unified time axis. When there are incomplete attenuation marks in the dynamic additional load template, the dynamic additional load change values ​​corresponding to the incomplete attenuation marks are retained until the sampling time when the dynamic additional load change values ​​are continuously lower than the template residual threshold. The template residual threshold is determined based on the average fluctuation amplitude of the reference weighing data of the acceleration and deceleration section, the average fluctuation amplitude of the reference weighing data of the docking section, and the average fluctuation amplitude of the reference weighing data of the feeding mechanism contact section. The determination process is to take three times the maximum value of the three average fluctuation amplitudes as the template residual threshold.

[0036] In one implementation, after obtaining the dynamic additional load change value at each sampling moment in a unified time axis, starting from the initial sampling moment of the feeding gate opening state time interval, the dynamic additional load change value is accumulated according to the sampling moment sequence to obtain the dynamic additional load cumulative value. The dynamic additional load cumulative value is used to represent the weighing offset formed by the combined effects of AGV robot acceleration and deceleration, docking at the station, and residual contact of the feeding mechanism from the initial sampling moment of the feeding gate opening state time interval to the corresponding sampling moment. Then, the vehicle weighing at the corresponding sampling moment in the vehicle weighing sequence is subtracted from the dynamic additional load cumulative value to obtain the preliminary corrected weighing at the corresponding sampling moment. All preliminary corrected weighings are arranged according to the sampling moment sequence to obtain the preliminary corrected weighing sequence. When the dynamic additional load template has no dynamic additional load change value and no incomplete attenuation mark at a certain sampling moment, the dynamic additional load change value at the corresponding sampling moment is set to 0, and then participates in the calculation of the dynamic additional load cumulative value, so that the preliminary corrected weighing sequence has continuous data at all sampling moments.

[0037] In one implementation, after extracting the opening moment when the feeding gate switches from closed to open from the feeding gate opening signal, the curve shape of the preliminary corrected weighing sequence after the opening moment is analyzed. The curve shape includes the direction of the difference between adjacent sampling moments of the preliminary corrected weighing sequence, the number of consecutively decreasing sampling points, the cumulative decrease amplitude, and whether a reverse rebound occurs after the decrease. Non-dropping fluctuation data of the preliminary corrected weighing sequence is extracted from the time interval before the opening moment when the feeding gate is in the closed state and no state transition edge occurs. Then, the average value of the absolute value of the difference between adjacent sampling moments in the non-dropping fluctuation data is calculated. Three times the average value of the absolute value of the difference is used as the dropping judgment amplitude threshold. The larger value among the preset holding time and three sampling periods is used as the dropping judgment duration. The dropping judgment amplitude threshold is used to exclude the small weighing fluctuations caused by the feeding gate opening action, and the dropping judgment duration is used to exclude the instantaneous impact of a single sampling point.

[0038] In one implementation, when determining the true material discharge start time, the preliminary corrected weighing sequence is checked point by point from the opening time. When the preliminary corrected weighing sequence after a certain sampling time continuously decreases during the material discharge judgment duration, and the cumulative decrease during the material discharge judgment duration is greater than the material discharge judgment amplitude threshold, and there is no reverse rebound exceeding half of the material discharge judgment amplitude threshold during the material discharge judgment duration, the corresponding sampling time is taken as the true material discharge start time candidate. Then, it is checked whether the percentage of the feeding gate opening corresponding to the true material discharge start time candidate is greater than the effective opening threshold of the feeding gate, and whether the dynamic additional load template corresponding to the true material discharge start time candidate is lower than the template residual threshold or only has the tail effect of the incomplete attenuation mark. When all the above checks are satisfied, the true material discharge start time candidate is determined as the true material discharge start time. When there are multiple true material discharge start times candidate after the opening time, the earliest true material discharge start time candidate that simultaneously satisfies both checks is selected as the true material discharge start time, so as to avoid the descent inflection point caused by subsequent material agglomeration impact being misjudged as the true material discharge start time.

[0039] In one implementation, when determining the lag time between the actual material feeding start time and the opening time, the time difference between the actual material feeding start time and the opening time is directly calculated, and the time difference is recorded as the lag time. The unit of the lag time is consistent with the time unit of the unified time axis. When the lag time is less than 1 sampling period, the lag time is recorded as 0. When the lag time is greater than the length of the feeding gate opening state time interval, the determination process of the actual material feeding start time is re-executed and the material feeding determination duration is expanded. The expansion method is to increase by 1 sampling period each time, and the increased material feeding determination duration does not exceed 3 times the preset holding time. When the expanded material feeding determination duration still cannot obtain the actual material feeding start time, the sampling time when the first cumulative decrease of the preliminary corrected weighing sequence within the feeding gate opening state time interval is greater than the material feeding determination amplitude threshold is determined as the actual material feeding start time, and the corresponding time difference is recorded as the lag time.

[0040] In one implementation, when performing time-axis translation correction on the preliminary corrected weighing sequence based on the lag duration, the actual material dropping start time is used as the material dropping start point of the preliminary corrected weighing sequence. The preliminary corrected weighing between the start time and the actual material dropping start time is marked as on-but-not-dropped weighing. The preliminary corrected weighing after the actual material dropping start time is translated on the time axis according to the lag duration, so that the material dropping start point of the translated preliminary corrected weighing sequence in the correction time axis corresponds to the actual material dropping start time. During the time axis translation, each preliminary corrected weighing remains unchanged, and only the correction time position corresponding to each preliminary corrected weighing is changed. When two adjacent correction time positions after translation are not equal to the sampling period of the unified time axis, linear interpolation resampling is performed on the translated preliminary corrected weighing sequence so that the translated preliminary corrected weighing sequence has the same sampling period as the unified time axis again.

[0041] In one implementation, the preliminary corrected weighing sequence after time axis translation correction and linear interpolation resampling is used as the actual material discharge quality sequence. Each data record in the actual material discharge quality sequence includes the correction sampling time, the actual material discharge quality value, the actual material discharge start time, the lag time, and the start of the non-discharge weighing mark. The actual material discharge quality value is obtained from the preliminary corrected weighing at the corresponding correction sampling time. The start of the non-discharge weighing mark is used to distinguish the sampling time when the feeding gate has been opened but the Chinese medicine raw materials have not yet formed a stable material discharge.

[0042] S4. Calculate the continuous window slope and springback residual for the actual material feeding mass sequence. When the continuous window slope is stable and the springback residual has not decayed, identify the weighing pseudo-steady state, including: In one implementation, when setting a continuous sliding window for the actual material dropping quality sequence, the corrected sampling time, actual material dropping quality value, actual material dropping start time, lag duration, and enabled / unloaded weighing mark are read from each data record in the actual material dropping quality sequence. Data records with the enabled / unloaded weighing mark are deleted, and only data records after the actual material dropping start time that do not have the enabled / unloaded weighing mark are retained as valid actual material dropping quality sequences. The window length of the continuous sliding window is determined by the material dropping judgment duration, the preset holding time, and the sampling period. The material dropping judgment duration and the preset holding time are combined... The larger value in time is used as the initial window length. Then, it is checked whether the number of sampling points contained in the initial window length is not less than 5. If the number of sampling points contained in the initial window length is less than 5, the time length corresponding to 5 sampling periods is used as the window length of the continuous sliding window. If the number of sampling points contained in the initial window length is not less than 5, the initial window length is used as the window length of the continuous sliding window. The sliding step size of the continuous sliding window is set to 1 sampling period, so that overlapping data is retained between two adjacent continuous sliding windows, so as to continuously reflect the local changes of the real material feeding quality sequence during the feeding process.

[0043] In one implementation, the continuous sliding window moves in chronological order according to the effective true material dropping mass sequence. The starting position of the first window of the continuous sliding window is the actual material dropping start time, and the ending position of the last window of the continuous sliding window does not exceed the end time of the feeding gate opening state time interval. If the number of data records in the last continuous sliding window is less than 5, the slope calculation and springback residual calculation of the last continuous sliding window are abandoned. If there are missing sampling points in the effective true material dropping mass sequence, the missing sampling points are filled by linear interpolation according to the two adjacent effective true material dropping mass values, and then the continuous sliding window is set. The linear interpolation is only performed when the number of missing sampling points does not exceed 2 consecutive sampling periods. When the number of missing sampling points exceeds 2 consecutive sampling periods, the effective true material dropping mass sequence before and after the missing sampling point is divided into two independent time periods, and continuous sliding windows are set for each period to avoid distortion of the continuous window slope and springback residual caused by long-term data interruption.

[0044] In one implementation, when calculating the linear fitting slope of the actual material dropping quality sequence within each continuous sliding window, the corrected sampling time within each continuous sliding window is used as time data, and the actual material dropping quality value within each continuous sliding window is used as quality data. The corrected sampling time within each continuous sliding window is relativized by subtracting the initial corrected sampling time of the continuous sliding window from each corrected sampling time within each continuous sliding window to obtain the relative time data within each continuous sliding window. Then, a time-quality data pair is established with the relative time data as the horizontal data and the actual material dropping quality value as the vertical data. The fitted line is found by using the least squares linear fitting method to minimize the sum of squares of the differences between the actual material dropping quality value in each time-quality data pair and the fitted quality value of the fitted line under the same relative time data. The coefficient corresponding to the relative time data in the fitted line is used as the linear fitting slope of the corresponding continuous sliding window.

[0045] In one implementation, after obtaining the linear fitting slope of each continuous sliding window, all linear fitting slopes are arranged from early to late according to the start correction sampling time of the continuous sliding window to obtain a continuous window slope sequence. Each data record in the continuous window slope sequence includes the start correction sampling time of the continuous sliding window, the end correction sampling time of the continuous sliding window, the number of data records in the continuous sliding window, and the linear fitting slope. The unit of the linear fitting slope is the mass unit divided by the time unit. For example, when the actual material mass value is in grams and the correction sampling time is in seconds, the unit of the linear fitting slope is grams per second. A negative linear fitting slope indicates that the vehicle weighing decreases as the Chinese medicine raw materials fall out. The absolute value of the linear fitting slope is used to characterize the rate of change of the actual material mass sequence within the corresponding continuous sliding window.

[0046] In one implementation, when extracting the fluctuation amplitude of the weighing value deviating from the linear fit within each continuous sliding window from the actual material dropping mass sequence, the fitted straight line obtained when calculating the slope of the linear fit is used. Within each continuous sliding window, the fitted mass value corresponding to each relative time data is calculated. Then, the difference between the actual material dropping mass value at each sampling point and the fitted mass value under the same relative time data is calculated to obtain the fitted deviation value sequence within each continuous sliding window. The difference between the maximum and minimum values ​​in the fitted deviation value sequence is taken as the fluctuation amplitude of the weighing value deviating from the linear fit within each continuous sliding window, and the fluctuation amplitude is taken as the rebound residual of the corresponding continuous sliding window. The rebound residual is used to represent the weighing rebound amplitude that still exists after deducting the local linear material dropping trend. The data record of the rebound residual includes the start correction sampling time of the continuous sliding window, the end correction sampling time of the continuous sliding window, the rebound residual, and the fitted deviation value sequence.

[0047] In one implementation, when determining whether a continuous window slope sequence has entered a stable interval where the slope amplitude is consistently below a slope threshold, the slope threshold is jointly determined by the non-dropping stable data of the actual dropping mass sequence and the feeding target accuracy. The non-dropping stable data of the actual dropping mass sequence is extracted from the preliminary corrected weighing sequence before the actual dropping start time and when the feeding gate is closed. The average absolute value of the mass difference between adjacent sampling times of the non-dropping stable data is calculated, and the average absolute value of the mass difference is divided by the sampling period to obtain the non-dropping equivalent slope. The equivalent slope of the material is compared with the value obtained by dividing the allowable mass change corresponding to the material feeding target accuracy by the window length of the continuous sliding window. The larger value of the comparison result is used as the slope threshold. For example, if the equivalent slope of the non-feeding material is 0.8 grams per second and the value obtained by dividing the allowable mass change corresponding to the material feeding target accuracy by the window length of the continuous sliding window is 1.2 grams per second, the slope threshold is set to 1.2 grams per second. The stable interval is determined as the time interval in which the absolute value of the linear fitting slope of at least 3 consecutive continuous sliding windows in the continuous window slope sequence is lower than the slope threshold.

[0048] In one implementation, when determining whether the rebound residual maintains the attenuation trend of the initial opening of the feeding gate, a reference interval for the rebound residual at the initial opening of the feeding gate is determined. This reference interval starts from the actual material feeding start time and covers at least three consecutive sliding windows. If there are data records in the first three consecutive sliding windows after the actual material feeding start time where the feeding gate opening percentage is lower than the effective opening threshold of the feeding gate, the consecutive sliding windows are extended further until three consecutive sliding windows are obtained where the feeding gate opening percentage is greater than the effective opening threshold of the feeding gate. The reference interval for the rebound residual at the initial opening of the feeding gate is then calculated. The direction and magnitude of the decrease in the rebound residual within the interval are determined by whether the rebound residual of adjacent continuous sliding windows gradually decreases. The magnitude of the decrease is obtained by subtracting the last rebound residual from the first rebound residual in the initial rebound residual baseline interval of the feeding gate opening. When the magnitude of the decrease is greater than the allowable value of the rebound residual fluctuation, the initial rebound residual baseline interval of the feeding gate opening is recorded as having a decay trend. The allowable value of the rebound residual fluctuation is determined by the difference between the maximum and minimum values ​​of the fitted deviation value sequence in the feeding gate closed state time interval, and is set to 3 times the maximum difference of the fitted deviation value sequence in the feeding gate closed state time interval.

[0049] In one implementation, after the rebound residual benchmark interval at the initial stage of the feeding gate opening is recorded as having a decaying trend, the rebound residual is continuously compared starting from the first continuous sliding window after the end of the rebound residual benchmark interval at the initial stage of the feeding gate opening. If the rebound residual of the subsequent continuous sliding window remains less than or equal to the sum of the rebound residual of the previous continuous sliding window and the allowable value of rebound residual fluctuation, it is determined that the rebound residual still maintains the decaying trend at the initial stage of the feeding gate opening. If the rebound residual of the subsequent continuous sliding window is greater than the sum of the rebound residual of the previous continuous sliding window and the allowable value of rebound residual fluctuation for two consecutive continuous sliding windows, it is determined that the rebound residual does not maintain the decaying trend at the initial stage of the feeding gate opening, and the corresponding continuous sliding window is marked as an abnormal rebound window. The abnormal rebound window does not participate in the determination of the weighing pseudo-stable state until the rebound residual decreases again for no less than three consecutive sliding windows after the abnormal rebound window or remains within the allowable value of rebound residual fluctuation.

[0050] In one implementation, when determining whether the rebound residual has completed its decay, the decay completion threshold is determined based on the fitted deviation value sequence of the preliminarily corrected weighing sequence within the time interval of the feeding gate's closed state. Data of no less than 1 second within the time interval of the feeding gate's closed state is extracted, and the closed state residual sequence is obtained using the same calculation method as the rebound residual. The average and maximum values ​​of the closed state residual sequence are calculated, and the maximum value of the closed state residual sequence is compared with twice the average value of the closed state residual sequence. The larger value in the comparison results is taken as the decay completion threshold. For example, if the maximum value of the closed state residual sequence is 1.5 grams and twice the average value of the closed state residual sequence is 1.2 grams, the decay completion threshold is set to 1.5 grams. If the rebound residual of at least three consecutive sliding windows is less than or equal to the decay completion threshold, the rebound residual is determined to have completed its decay. If a stable interval has appeared but the rebound residual is still greater than the decay completion threshold, the rebound residual is determined to have not completed its decay.

[0051] In one implementation, when the continuous window slope sequence enters the stable interval and the rebound residual has not completed decay, the starting correction sampling time of the first continuous sliding window within the stable interval is taken as the starting time of the weighing pseudo-stable state. The time interval corresponding to the continuous sliding window where the absolute value of the linear fitting slope of the continuous window slope sequence within the stable interval is lower than the slope threshold and the rebound residual is still greater than the decay completion threshold is determined as the weighing pseudo-stable state. The data record of the weighing pseudo-stable state includes the starting correction sampling time of the weighing pseudo-stable state, the ending correction sampling time of the weighing pseudo-stable state, the corresponding continuous window slope sequence, the corresponding rebound residual, the slope threshold, and the decay completion threshold. The ending correction sampling time of the weighing pseudo-stable state is the ending correction sampling time of the last continuous sliding window before the rebound residual is first less than or equal to the decay completion threshold for the first three consecutive continuous sliding windows.

[0052] S5. Maintain the opening of the feeding gate and continue sampling under the pseudo-steady weighing state. After the rebound residual decays, calculate the remaining difference based on the actual material discharge mass sequence, including: In one implementation, when maintaining the feeding gate opening unchanged in the weighing pseudo-steady state, the data record of the weighing pseudo-steady state is used as input data. The starting correction sampling time, ending correction sampling time, corresponding continuous window slope sequence, corresponding rebound residual, slope threshold, and attenuation completion threshold of the weighing pseudo-steady state are read. Then, the percentage of the feeding gate opening corresponding to the starting correction sampling time of the weighing pseudo-steady state is read from the timestamp-aligned feeding gate opening signal. This percentage is determined as the starting opening of the weighing pseudo-steady state, and is used as the holding value of the feeding gate opening. The holding range of the feeding gate opening value is... The range is determined based on the acquisition resolution of the feeding gate opening percentage and the no-load opening and closing debugging data of the feeding gate. The maximum fluctuation range of the feeding gate opening percentage within 2 seconds when the feeding gate is kept at a fixed opening is recorded. The maximum fluctuation range is taken as the allowable range of the feeding gate opening. For example, when the maximum fluctuation range of the feeding gate opening percentage within 2 seconds when the feeding gate is kept at a fixed opening is 1%, the allowable range of the feeding gate opening is set to ±1%. When the feeding gate opening percentage at a subsequent sampling time deviates from the feeding gate opening holding value and the deviation is greater than the allowable range of the feeding gate opening, the corresponding sampling time is marked as the feeding gate opening deviation sampling time. The feeding gate opening deviation sampling time is not used as the sampling time for determining the completion of the rebound residual decay.

[0053] In one implementation, when continuing to collect the actual material discharge mass sequence under the pseudo-steady weighing state, the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, feeding gate opening signal, and vehicle weighing sequence are continuously collected starting from the initial correction sampling time of the pseudo-steady weighing state. The timestamps are aligned using a unified time axis, sampling period, allowable timestamp deviation, and preset holding time. Then, the dynamic additional load template, feeding gate opening state time interval, opening time, actual material discharge start time, and lag time are used to perform dynamic additional load deduction and time axis translation correction on the continuously collected vehicle weighing sequence to obtain the continuous actual material discharge mass sequence. The continuous actual material discharge mass sequence is appended to the end of the actual material discharge mass sequence according to the correction sampling time, so that the actual material discharge mass sequence covers the pseudo-steady weighing state and the continuous sampling time interval after the pseudo-steady weighing state.

[0054] In one implementation, when continuously monitoring the amplitude change of the rebound residual of the real material dropping quality sequence within a continuous sampling time interval, the window length, sliding step size, rebound residual fluctuation tolerance value, and attenuation completion threshold of the continuous sliding window are used. After each additional sampling period of real material dropping quality value, a new continuous sliding window is formed. The linear fitting slope and fitting deviation value sequence of the real material dropping quality sequence in the newest continuous sliding window are calculated. The difference between the maximum and minimum values ​​of the fitting deviation value sequence in the newest continuous sliding window is used as the rebound residual of the newest continuous sliding window. The rebound residuals of the newest continuous sliding window are arranged from early to late according to the end correction sampling time of the newest continuous sliding window to obtain the continuous rebound residual sequence. Each data record in the continuous rebound residual sequence includes the start correction sampling time of the newest continuous sliding window, the end correction sampling time of the newest continuous sliding window, the rebound residual, and the corresponding feeding gate opening percentage.

[0055] In one implementation, when determining whether the amplitude of the rebound residual has continuously decreased to below the decay completion threshold, the number of consecutive decreasing windows is determined. The number of consecutive decreasing windows is determined by a preset holding time, the sliding step size of the consecutive sliding window, and the window length of the consecutive sliding window. The preset holding time is divided by the sliding step size of the consecutive sliding window to obtain the number of holding windows, and the number of holding windows is compared with 3. The larger value in the comparison result is taken as the number of consecutive decreasing windows. When the number of holding windows is greater than the number of sampling points corresponding to the window length of the consecutive sliding window, the number of sampling points corresponding to the window length of the consecutive sliding window is taken as the upper limit of the number of consecutive decreasing windows. For example, when the preset holding time is 80 milliseconds and the sliding step size of the consecutive sliding window is 20 milliseconds, the number of holding windows is 4, and the number of consecutive decreasing windows is set to 4. In the continuous rebound residual sequence, if the consecutive multiple rebound residuals corresponding to the number of consecutive decreasing windows decrease one by one or the increase between two adjacent rebound residuals is not greater than the allowable value of rebound residual fluctuation, and the consecutive multiple rebound residuals corresponding to the number of consecutive decreasing windows are all less than or equal to the decay completion threshold, then it is determined that the amplitude of the rebound residual has continuously decreased to below the decay completion threshold.

[0056] In one implementation, when it is determined that the rebound residual has completed its attenuation, a series of consecutive rebound residuals whose amplitude continuously decreases to below the attenuation completion threshold are used as the attenuation completion judgment interval. The end correction sampling time of the last consecutive sliding window in the attenuation completion judgment interval is read, and the end correction sampling time of the last consecutive sliding window in the attenuation completion judgment interval is determined as the time when the rebound residual has completed its attenuation. When there is a deviation of the feeding gate opening from the sampling time in the attenuation completion judgment interval, or when there is a new state transition edge of the AGV robot acceleration / deceleration signal, arrival docking signal, feeding mechanism contact signal, or feeding gate opening signal in the attenuation completion judgment interval, the attenuation completion judgment interval is abandoned, and the judgment is re-performed according to the calculation method of the rebound residual and the number of consecutive decreasing windows after the new state transition edge, until an attenuation completion judgment interval that does not contain the deviation of the feeding gate opening from the sampling time and does not contain the new state transition edge is obtained.

[0057] In one implementation, when the moment when the springback residual completes its decay is taken as the effective calculation starting point, a data record whose corrected sampling moment is equal to the moment when the springback residual completes its decay is searched in the actual material dropping mass sequence. When a data record whose corrected sampling moment is equal to the moment when the springback residual completes its decay exists in the actual material dropping mass sequence, the moment when the springback residual completes its decay is determined as the effective calculation starting point. When no data record whose corrected sampling moment is equal to the moment when the springback residual completes its decay exists in the actual material dropping mass sequence, the corrected sampling moment that is closest to the moment when the springback residual completes its decay and whose time difference is not greater than the allowable timestamp deviation is selected as the effective calculation starting point. When the time difference between the corrected sampling moment that is closest to the moment when the springback residual completes its decay and the moment when the springback residual completes its decay is greater than the allowable timestamp deviation, linear interpolation is performed on the two adjacent actual material dropping mass values ​​before and after the moment when the springback residual completes its decay, and the corrected sampling moment obtained by linear interpolation is taken as the effective calculation starting point.

[0058] In one implementation, when extracting the cumulative material drop mass value from the actual material drop mass sequence corresponding to the effective calculation starting point, a cumulative material drop mass benchmark value is determined. The cumulative material drop mass benchmark value is determined by the actual material drop mass value corresponding to the actual material drop start time in the actual material drop mass sequence. When there is no data record in the actual material drop mass sequence whose correction sampling time is equal to the actual material drop start time, linear interpolation is performed on the two adjacent actual material drop mass values ​​before and after the actual material drop start time, and the actual material drop mass value obtained by linear interpolation is used as the cumulative material drop mass benchmark value. Then, the effective actual material drop mass value corresponding to the effective calculation starting point is determined. The effective actual material drop mass value is determined by the actual material drop mass value corresponding to the effective calculation starting point. Finally, the cumulative material drop mass benchmark value is subtracted from the effective actual material drop mass value to obtain the cumulative material drop mass value. When the cumulative material drop mass value is less than 0, the cumulative material drop mass value is recorded as 0, and the corresponding effective calculation starting point is marked as an abnormal cumulative starting point. The abnormal cumulative starting point triggers the re-execution of dynamic additional load deduction and rebound residual completion attenuation judgment to avoid the negative cumulative material drop mass value formed by the reverse fluctuation of the vehicle weighing.

[0059] In one implementation, the preset target feeding mass is determined by the batch feeding task data of the Chinese herbal medicine raw materials before the feeding task begins. The batch feeding task data includes the name of the Chinese herbal medicine raw material, the batch number of the Chinese herbal medicine raw material, the target tank position, the feeding batch number, and the target feeding mass. The target feeding mass is expressed in a mass unit, for example, the target feeding mass is 50,000 grams. The preset target feeding mass is written into the task data record before the AGV robot executes the feeding task. The preset target feeding mass remains unchanged during the execution of the feeding task. After obtaining the cumulative feeding mass value, the preset target feeding mass value is subtracted from the cumulative feeding mass value to obtain the remaining difference.

[0060] S6. When the remaining difference is greater than the end-feeding threshold, determine the end-feeding timing; otherwise, determine the feeding termination timing and write the AGV robot feeding control instruction, including: In one implementation, when comparing the remaining difference with a preset end-feeding threshold, the following data are read: effective calculation start point, preset target feeding mass, cumulative feeding mass value, remaining difference, feeding gate opening hold value, and the time when the rebound residual completes decay. Then, the allowable mass change corresponding to the feeding target accuracy and the feeding gate no-load opening and closing debugging data written before the feeding task begins are read. The end-feeding threshold is determined based on the allowable mass change corresponding to the feeding target accuracy and the minimum controllable feeding mass. The minimum controllable feeding mass is formed by maintaining the feeding gate at the minimum executable opening for one sampling period. To determine the final material feeding quality, during the trial feeding of Chinese herbal raw materials, the opening percentage of the feeding gate is adjusted to the minimum opening percentage that allows the feeding gate to open stably. The change in the actual material feeding quality value is recorded continuously for no less than 5 single sampling periods. The average of the 5 changes in the actual material feeding quality value is taken as the minimum controllable feeding quality. The end feeding threshold is taken as the larger value between the allowable mass change corresponding to the feeding target accuracy and the minimum controllable feeding quality. For example, when the allowable mass change corresponding to the feeding target accuracy is 20 grams and the minimum controllable feeding quality is 35 grams, the end feeding threshold is set to 35 grams.

[0061] In one implementation, when comparing the remaining difference with the end-feeding threshold, if the remaining difference is greater than the end-feeding threshold, it is determined that there is still a mass difference between the preset target feeding mass and the cumulative feeding mass value that needs to be eliminated by end-feeding. If the remaining difference is less than or equal to the end-feeding threshold, it is determined that the difference between the preset target feeding mass and the cumulative feeding mass value falls within the control range jointly formed by the controllable feeding capability of the feeding gate and the allowable mass change corresponding to the feeding target accuracy. The comparison process does not change the actual feeding mass sequence, the cumulative feeding mass value, and the time when the rebound residual completes decay. The comparison result is written into the data record of the remaining difference. The comparison result includes a feeding mark if the remaining difference is greater than the end-feeding threshold or a termination mark if the remaining difference is less than or equal to the end-feeding threshold.

[0062] In one implementation, when the remaining difference is greater than the end-feeding threshold, the moment when the rebound residual completes its decay is taken as the starting point for calculating the duration. The feeding gate opening value is maintained, and the feeding gate opening signal and the actual material dropping quality sequence are continuously collected. The duration calculation is performed when the feeding gate opening percentage is within the allowable range of the feeding gate opening, the rebound residual is less than or equal to the decay completion threshold, and the absolute value of the linear fitting slope of the continuous window slope sequence is less than or equal to the slope threshold. If any condition is not met, the accumulation of duration is paused, and the determination of the rebound residual completing its decay is re-executed. When the duration reaches the end-feeding preparation time, the duration is set to the end-feeding preparation time. The sampling time is determined as the timing of end-point material replenishment. The end-point material replenishment preparation time is determined by the combined action response time of the feeding gate and the sampling confirmation time of the actual material dropping quality sequence. The time from receiving the opening change instruction to the feeding gate opening percentage reaching the target opening is recorded as the feeding gate action response time. The window length of the continuous sliding window is used as the sampling confirmation time of the actual material dropping quality sequence. The feeding gate action response time and the sampling confirmation time of the actual material dropping quality sequence are then added together to obtain the end-point material replenishment preparation time. For example, if the feeding gate action response time is 120 milliseconds and the window length of the continuous sliding window is 100 milliseconds, the end-point material replenishment preparation time is set to 220 milliseconds.

[0063] In one implementation, when calculating the end-feeding opening based on the end-feeding timing and the residual difference, the actual material dropping mass sequence is extracted from a continuous sliding window before the end-feeding timing and where the rebound residual is less than or equal to the attenuation completion threshold. The decrease in the actual material dropping mass value at adjacent sampling times is calculated, and the average of all decreases within the continuous sliding window is divided by the sampling period to obtain the current opening dropping rate. The current opening dropping rate is used to represent the change in material dropping mass per unit time under the holding value of the feeding gate opening. Then, a correspondence between the feeding gate opening percentage and the dropping rate is established based on the feeding gate no-load opening and closing debugging data and the trial feeding data of traditional Chinese medicine raw materials. The correspondence between the feeding gate opening percentage and the dropping rate is obtained by recording the change in the actual material dropping mass value under multiple feeding gate opening percentages and calculating the average dropping rate. The multiple feeding gate opening percentages include the minimum opening percentage at which the feeding gate can be stably opened, the feeding gate opening holding value, and at least two intermediate opening percentages between the minimum opening percentage and the feeding gate opening holding value.

[0064] In one implementation, when determining the end-feeding opening, the estimated feeding duration required to complete the remaining difference under the current opening value is calculated based on the remaining difference and the current feeding rate. When the estimated feeding duration is less than one sampling period, the minimum opening percentage that the feeding gate can stably open is taken as the candidate end-feeding opening. When the estimated feeding duration is greater than or equal to one sampling period, the feeding gate opening percentage that can complete the remaining difference within at least one sampling period and not exceeding the maximum end-feeding duration is found from the correspondence between the feeding gate opening percentage and the feeding rate. The minimum feeding gate opening percentage that meets the conditions is taken as the candidate end-feeding opening. The maximum end-feeding duration is determined jointly by the allowable waiting time of the feeding task and the exposure time limit of the Chinese herbal raw materials. The smaller value between the allowable waiting time of the feeding task and the exposure time limit of the Chinese herbal raw materials is read as the maximum end-feeding duration. For example, when the allowable waiting time of the feeding task is 10 seconds and the exposure time limit of the Chinese herbal raw materials is 6 seconds, the maximum end-feeding duration is set to 6 seconds.

[0065] In one implementation, when validating the candidate end-feeding opening, the expected feeding mass corresponding to the candidate end-feeding opening is read. The expected feeding mass is obtained by multiplying the material drop rate corresponding to the candidate end-feeding opening by the expected feeding duration. When the expected feeding mass is greater than the sum of the remaining difference and the allowable mass change corresponding to the feeding target accuracy, the candidate end-feeding opening is reduced and the expected feeding mass is recalculated. When the candidate end-feeding opening is equal to the minimum opening percentage that the feeding gate can stably open and the expected feeding mass is still greater than the remaining difference and the allowable mass change corresponding to the feeding target accuracy, the process is repeated. When the sum of allowable mass changes corresponds to the target accuracy of material feeding, the end-feeding opening is determined as the minimum opening percentage that the feeding gate can stably open, and the expected feeding duration is limited to one sampling period. When the expected feeding mass is less than the remaining difference and the candidate end-feeding opening is still less than the feeding gate opening holding value, the candidate end-feeding opening is increased and the expected feeding mass is recalculated until the expected feeding mass is within the allowable range formed by the remaining difference and the allowable mass change corresponding to the target accuracy of material feeding. The corresponding candidate end-feeding opening is then determined as the end-feeding opening.

[0066] In one implementation, when the end-feeding timing and end-feeding opening are written into the AGV robot feeding control instruction, the AGV robot feeding control instruction includes a task identifier, the batch number of the Chinese herbal raw material, the target tank position, the end-feeding timing, the end-feeding opening, the expected feeding duration, the remaining difference, the time when the rebound residual completes its decay, and the feeding gate opening hold value. The task identifier is formed by the feeding batch number in the batch feeding task data. The Chinese herbal raw material batch number and the target tank position are both derived from the batch feeding task data. The end-feeding timing is represented by the sampling time in a unified time axis. The end-feeding opening is represented by the feeding gate opening percentage. The AGV robot feeding control instruction undergoes a consistency check before being written. The consistency check includes checking whether the end-feeding timing is later than the time when the rebound residual completes its decay, checking whether the end-feeding opening is between the minimum opening percentage that the feeding gate can stably open and the feeding gate opening hold value, and checking whether the remaining difference is greater than the end-feeding threshold. When all consistency checks are satisfied, the AGV robot feeding control instruction is written.

[0067] In one implementation, when the remaining difference is less than or equal to the end-feeding threshold, the moment when the rebound residual completes its decay is determined as the feeding termination time. Before determining the feeding termination time, a termination confirmation is performed. The termination confirmation includes confirming that the feeding gate opening percentage is still within the allowable range of the feeding gate opening, confirming that the rebound residual is less than or equal to the decay completion threshold in multiple consecutive rebound residuals corresponding to the number of consecutive falling windows, and confirming that the absolute value of the linear fitting slope of the continuous window slope sequence is less than or equal to the slope threshold in at least three consecutive sliding windows. When all termination confirmations are satisfied, the moment when the rebound residual completes its decay is taken as the feeding termination time. When not all termination confirmations are satisfied, the actual material dropping quality sequence is collected again and the determination of the rebound residual's decay completion and the calculation of the remaining difference are re-executed until all termination confirmations are satisfied or the remaining difference is greater than the end-feeding threshold.

[0068] In one implementation, when the feeding termination time is written into the AGV robot feeding control instruction, the AGV robot feeding control instruction includes a task identifier, the batch number of the Chinese herbal medicine raw material, the target tank position, the feeding termination time, the remaining difference, the cumulative material dropping mass value, the time when the rebound residual completes its decay, and the feeding gate closing instruction time. The feeding gate closing instruction time is determined according to the feeding termination time and the feeding gate action response time. The feeding gate closing instruction time is obtained by subtracting the feeding gate action response time from the feeding termination time. When the feeding gate closing instruction time is earlier than the current sampling time, the current sampling time is used as the feeding gate closing instruction time. The AGV robot feeding control instruction undergoes a consistency check before being written. The consistency check includes checking whether the feeding termination time is equal to the time when the rebound residual completes its decay, checking whether the remaining difference is less than or equal to the end-feeding threshold, and checking whether the cumulative material dropping mass value is less than or equal to the sum of the preset target feeding mass and the allowable mass change corresponding to the feeding target accuracy. When all consistency checks are satisfied, the AGV robot feeding control instruction is written.

[0069] Example 2

[0070] The difference between Embodiment 2 and Embodiment 1 is that this embodiment introduces an automatic feeding control system for traditional Chinese medicine raw materials based on AGV robots.

[0071] Figure 2 A schematic diagram of an automatic feeding control system for traditional Chinese medicine raw materials based on an AGV robot is provided. The automatic feeding control system for traditional Chinese medicine raw materials based on an AGV robot includes: Signal acquisition module: Acquires AGV robot acceleration and deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and vehicle weighing sequences. The vehicle weighing sequence is segmented according to the transition time of each signal to obtain stage weighing segments. Template synthesis module: When the feeding gate is closed, the acceleration / deceleration waveform, docking waveform and contact waveform are extracted from the stage weighing segment to synthesize a dynamic additional load template; Material drop correction module: After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the drop lag is corrected according to the feeding gate opening signal to obtain the real material drop mass sequence. The pseudo-steady state identification module calculates the continuous window slope and springback residual for the actual material feeding quality sequence. When the continuous window slope is stable and the springback residual has not decayed, the pseudo-steady state of weighing is identified. Residual monitoring module: Maintains the opening of the feeding gate and continues sampling under the pseudo-steady weighing state. After the rebound residual decays, it calculates the remaining difference based on the actual material discharge mass sequence. Feeding decision module: When the remaining difference is greater than the end feeding threshold, the timing of end feeding is determined; otherwise, the timing of feeding termination is determined and written into the AGV robot feeding control instruction.

[0072] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more sets of available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0073] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0074] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0076] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0077] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0078] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0079] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0080] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots, characterized in that, Includes the following steps: S1. Collect AGV robot acceleration and deceleration signals, station docking signals, feeding mechanism contact signals, feeding gate opening signals and vehicle weighing sequences. Divide the vehicle weighing sequence according to the time of each signal jump to obtain stage weighing segments. S2. When the feeding gate is closed, extract the acceleration / deceleration waveform, docking waveform and contact waveform from the stage weighing segment, and synthesize the dynamic additional load template. S3. After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the falling lag is corrected according to the feeding gate opening signal to obtain the actual material falling mass sequence. S4. Calculate the continuous window slope and springback residual for the actual material feeding mass sequence. When the continuous window slope is stable and the springback residual has not decayed, identify the weighing pseudo-steady state. S5. Maintain the opening of the feeding gate and continue sampling under the pseudo-steady weighing state. After the rebound residual decays, calculate the remaining difference based on the actual material discharge mass sequence. S6. When the remaining difference is greater than the end-feeding threshold, determine the end-feeding timing; otherwise, determine the feeding termination timing and write the AGV robot feeding control instruction.

2. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 1, characterized in that, S1, specifically: Collect AGV robot acceleration and deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and vehicle weighing sequences, and align them according to timestamps; Identify the state transition edges of the AGV robot's acceleration / deceleration signals, docking signals, feeding mechanism contact signals, and feeding gate opening signals after the timestamps are aligned; The vehicle weighing sequence is divided into segments based on the time of the state transition edge, resulting in stage weighing segments corresponding to the acceleration / deceleration phase, the docking phase, the material feeding mechanism contact phase, and the material feeding gate opening / closing phase, respectively.

3. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 2, characterized in that, S2, specifically: Based on the opening signal of the feeding gate, it is determined that the feeding gate is in a closed state. The acceleration and deceleration section, the docking section and the contact section of the feeding mechanism corresponding to the closed state of the feeding gate are located from the stage weighing segment. Extract the acceleration / deceleration waveforms corresponding to the acceleration / deceleration phase, the docking waveforms corresponding to the arrival docking phase, and the contact waveforms corresponding to the contact phase of the feeding mechanism; The amplitude change sequence and time decay characteristics of the acceleration / deceleration waveform, docking waveform, and contact waveform are obtained respectively, and weighted synthesis is performed to generate a dynamic additional load template covering the acceleration / deceleration section, the docking section at the station, and the contact section of the feeding mechanism.

4. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 3, characterized in that, S3, specifically: Based on the opening signal of the feeding gate, it is determined that the feeding gate is in the open state. The dynamic additional load template is subtracted from the vehicle-mounted weighing sequence to obtain the preliminary corrected weighing sequence. Extract the opening moment when the feeding gate switches from closed to open from the opening signal, analyze the curve shape of the preliminary corrected weighing sequence after the opening moment, and determine the lag time between the actual material feeding start moment and the opening moment. The preliminary corrected weighing sequence is time-axis shifted based on the lag time to align the material drop start point of the corrected preliminary corrected weighing sequence with the actual material drop start time, thus obtaining the actual material drop mass sequence.

5. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 4, characterized in that, S4, specifically: A continuous sliding window is set for the actual material dropping mass sequence, and the linear fitting slope of the actual material dropping mass sequence within each continuous sliding window is calculated to obtain the continuous window slope sequence. The fluctuation amplitude of the weighing value deviating from the linear fit within each continuous sliding window is extracted from the actual material discharge mass sequence and used as the rebound residual. Determine whether the continuous window slope sequence has entered a stable range where the slope amplitude is continuously lower than the slope threshold, and at the same time determine whether the rebound residual maintains the decay trend at the beginning of the feeding gate opening. When the continuous window slope sequence enters the stable region and the rebound residual has not completed its decay, the current weighing interval is determined to be a pseudo-stable state.

6. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 5, characterized in that, S5, specifically: Under the pseudo-steady weighing state, the opening of the feeding gate is kept constant and the actual material discharge mass sequence is continued to be collected. Continuously monitor the amplitude change of the rebound residual. When the amplitude of the rebound residual continuously decreases to below the attenuation completion threshold, it is determined that the rebound residual has completed attenuation. The moment when the rebound residual completes its decay is taken as the effective calculation starting point, and the cumulative material dropping mass value is extracted from the actual material dropping mass sequence corresponding to the effective calculation starting point. Subtract the cumulative material discharge mass from the preset target material discharge mass to obtain the remaining difference.

7. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 6, characterized in that, S6, specifically: The remaining difference is compared with the preset end-of-life replenishment threshold; When the remaining difference is greater than the end-feeding threshold, the duration of the feeding gate opening time exceeding the time when the rebound residual completes its decay is determined as the end-feeding timing. The end-feeding opening is calculated based on the end-feeding timing and the remaining difference, and the end-feeding timing and the end-feeding opening are written into the AGV robot feeding control instruction; When the remaining difference is less than or equal to the end feeding threshold, the moment when the rebound residual completes its decay is determined as the feeding termination time, and the feeding termination time is written into the AGV robot feeding control instruction.

8. The method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 7, characterized in that, The end-feeding threshold is determined based on the allowable mass change corresponding to the feeding target accuracy and the minimum controllable feeding mass.

9. A method for automatic feeding control of traditional Chinese medicine raw materials based on AGV robots according to claim 8, characterized in that, The end-feeding opening is calculated based on the timing of end-feeding and the remaining difference, specifically as follows: Calculate the decrease in the actual material mass value at adjacent sampling times, and obtain the current opening material feeding rate based on the decrease and the sampling period; Establish the correspondence between the percentage of opening of the feeding gate and the material feeding rate based on the no-load opening and closing debugging data of the feeding gate and the trial feeding data of Chinese herbal raw materials; Based on the remaining difference, the current opening and feeding rate, and the correspondence between the feeding gate opening percentage and the feeding rate, the minimum feeding gate opening percentage that can complete the remaining difference within the maximum duration of the end-feeding is determined as the end-feeding opening.

10. An automatic feeding control system for traditional Chinese medicine raw materials based on AGV robots, used to implement the automatic feeding control method for traditional Chinese medicine raw materials based on AGV robots as described in any one of claims 1-9, characterized in that, include: Signal acquisition module: Acquires AGV robot acceleration and deceleration signals, arrival docking signals, feeding mechanism contact signals, feeding gate opening signals, and vehicle weighing sequences. The vehicle weighing sequence is segmented according to the transition time of each signal to obtain stage weighing segments. Template synthesis module: When the feeding gate is closed, the acceleration / deceleration waveform, docking waveform and contact waveform are extracted from the stage weighing segment to synthesize a dynamic additional load template; Material drop correction module: After the feeding gate is opened, the dynamic additional load template is deducted from the vehicle weighing sequence, and the drop lag is corrected according to the feeding gate opening signal to obtain the real material drop mass sequence. The pseudo-steady state identification module calculates the continuous window slope and springback residual for the actual material feeding quality sequence. When the continuous window slope is stable and the springback residual has not decayed, the pseudo-steady state of weighing is identified. Residual monitoring module: Maintains the opening of the feeding gate and continues sampling under the pseudo-steady weighing state. After the rebound residual decays, it calculates the remaining difference based on the actual material discharge mass sequence. Feeding decision module: When the remaining difference is greater than the end feeding threshold, the timing of end feeding is determined; otherwise, the timing of feeding termination is determined and written into the AGV robot feeding control instruction.

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