Capsule automatic smoothness increasing and gas conveying system

Abstract

The invention relates to the field of medicinal capsule production, in particular to an automatic capsule smoothness increasing and gas conveying system based on intelligent control, and provides the automatic capsule smoothness increasing and gas conveying system through multi-sensor data acquisition, intelligent control algorithm and module cooperative linkage. The capsule surface smoothness treatment and conveying process is dynamically optimized, and the production efficiency and the product quality are improved.

Description

Technical Field

[0001] The invention relates to the field of medicinal capsule production, in particular to an automatic capsule lubrication and gas delivery system based on intelligent control, belonging to the technical field of industrial automation and pharmaceutical manufacturing. Background Art

[0002] In the production process of medicinal capsules, in order to ensure smooth operation of the capsules in subsequent processes, it is usually necessary to add a lubricant to the capsule surface to reduce the surface friction coefficient, and to efficiently transport the capsules to different processing links through a gas delivery system. However, the existing technology has the following problems: Uneven spraying of lubricant: Traditional lubricant spraying method usually adopts fixed amount spraying, which cannot be dynamically adjusted according to the surface state of capsules. It is easy to cause waste due to over-spraying, or insufficient spraying resulting in insufficient smoothness of capsule surface, which affects the conveying efficiency and capsule quality.

[0003] Limited performance of gas delivery system: Existing gas delivery systems are mostly designed with fixed parameters, which are difficult to adapt to the real-time changes in the number, arrangement and movement state of capsules during the delivery process, and can easily lead to blockage, capsule damage or reduced delivery efficiency during the delivery process.

[0004] Lack of coordinated control: In the existing technology, lubricant spraying and gas delivery are usually operated independently, and there is a lack of linkage control between the two. When the spraying is excessive, the delivery resistance may increase, and the change in delivery speed may affect the uniformity of the spraying. This mutual influence has not been effectively solved.

[0005] To solve the above problems, a system combining intelligent control technology is needed, which can dynamically optimize the lubricant spraying and gas delivery through multi-sensor data acquisition and real-time control algorithm, and realize the synergistic linkage between the two to improve production efficiency and the quality stability of capsule products. Summary of the invention

[0006] The present invention aims to solve the problems of uneven spraying of lubricant, low gas delivery efficiency and lack of linkage control between spraying and delivery in the prior art, and provides a capsule automatic lubricant and gas delivery system. The system dynamically optimizes the capsule surface lubricant processing and delivery process through multi-sensor data acquisition, intelligent control algorithm and module collaborative linkage, thereby improving production efficiency and product quality.

[0007] The technical solution of the present invention is as follows: a capsule automatic lubricity and gas delivery system, comprising a lubricity agent spraying module, a gas delivery module and a coordinated control module: A slip agent spraying module, comprising an edge detection unit and a PID control unit, wherein the edge detection unit is used to detect the smoothness state of the capsule surface in real time, and the PID control unit dynamically adjusts the spraying amount and spraying angle of the slip agent according to the detection result; A gas delivery module, comprising a pressure sensor, a gas pressure regulating device and a dynamic PID control unit, wherein the pressure sensor is used to monitor the gas flow pressure in real time, and the dynamic PID control unit dynamically adjusts the gas flow intensity and flow rate according to the pressure deviation to achieve stable delivery of the capsule; The collaborative control module includes a Kalman filter and an adaptive PID control unit. The Kalman filter is used to fuse the sensor data of the lubricant spraying module and the gas delivery module. The adaptive PID control unit is used to dynamically optimize the spraying amount and airflow parameters of the lubricant according to the fused data to achieve collaborative control of spraying and delivery.

[0008] Preferably, the edge detection unit uses a Canny edge detection algorithm to perform image processing on the capsule surface to identify the spray target area, and the calculation formula is: ; in and is the grayscale gradient value in the horizontal and vertical directions.

[0009] Preferably, the PID control unit in the slip agent spraying module dynamically adjusts the spraying amount Q through the PID control formula: ; in: is the spraying deviation, are the proportional, integral and differential coefficients respectively.

[0010] Preferably, the dynamic PID control unit of the gas delivery module is based on the pressure deviation Dynamic adjustment of air flow pressure P: ; is the deviation between the current airflow pressure and the target pressure.

[0011] Preferably, the adaptive PID control unit adjusts the PID parameters , dynamically update the control output according to the spraying amount deviation and the airflow parameter changes, and the adaptive PID control unit of the collaborative control module dynamically adjusts the PID parameters according to the following rules: When spraying deviation When the proportionality factor is increased ; When the deviation integral value When increasing the integral coefficient ; When the deviation change rate When increasing the differential coefficient ; The adjusted PID parameter formula is: , .

[0012] Preferably, the Kalman filter in the collaborative control module fuses the multi-sensor data, and the state update formula of the filter is: ; Update steps: , in, is the estimated value of the state after filtering, is the sensor measurement value, is the Kalman gain.

[0013] Preferably, the system includes an anomaly detection module, which detects insufficient spraying, excessive spraying or capsule delivery blockage based on sensor data and automatically triggers an alarm signal.

[0014] Preferably, the spraying angle θ is dynamically adjusted according to the distance between the capsule and the spraying device, and the calculation formula is: , in, and are the horizontal and vertical distances between the spraying device and the capsule, respectively.

[0015] Preferably, the gas delivery module optimizes the gas flow parameters by the gas flow sensitivity α, and the sensitivity calculation formula is: , Where P is the air flow pressure and V is the air flow velocity.

[0016] The present invention achieves the following significant technical effects through the collaborative work of the lubricity agent spraying module, the gas delivery module and the collaborative control module: 1. Accuracy and uniformity of lubricant spraying: The present invention uses an edge detection algorithm to detect the surface state of the capsule in real time, and dynamically adjusts the spraying amount and spraying angle in combination with a PID control unit. The lubricant spraying module can automatically optimize the spraying amount according to the surface smoothness deviation of the capsule, avoiding material waste caused by excessive spraying and lubricant defects caused by insufficient spraying. By dynamically controlling the spraying amount, the present invention significantly improves the consistency and quality of the capsule surface treatment.

[0017] 2. Efficiency and stability of the conveying process: The gas conveying module monitors and adjusts the airflow pressure and speed in real time through pressure sensors and dynamic PID control units. This module can effectively solve problems such as capsule accumulation and jamming during the conveying process, while protecting the capsule surface from damage. Through the sensitivity optimization algorithm, the gas conveying module can dynamically adjust the airflow intensity according to changes in the conveying environment, ensuring that the conveying process remains smooth at all times, thereby improving production efficiency.

[0018] 3. Coordinated optimization of lubricant spraying and gas delivery: The collaborative control module of the present invention fuses the sensor data of the lubricant spraying module and the gas delivery module through the Kalman filter, filters out noise, and provides accurate state estimation. The adaptive PID control unit in the collaborative control module dynamically adjusts the spraying and delivery parameters according to the fused data to achieve coordinated optimization of the two: When the amount of spraying is too much and the conveying resistance increases, the system automatically reduces the amount of spraying or increases the air flow pressure to ensure the conveying efficiency.

[0019] When conveyor speed changes affect spray uniformity, the system optimizes spray angle and time based on sensor data.

[0020] Linkage control not only improves the coordination of the entire production line, but also significantly reduces the probability of abnormal events.

[0021] 4. System intelligence and stability: The system realizes automation and intelligence of the whole process through multi-sensor data collection and fusion: The amount of lubricant sprayed and the air flow pressure can be automatically adjusted according to production needs without manual intervention.

[0022] The abnormality detection module can monitor abnormal events such as insufficient spraying, excessive spraying or conveying blockage in real time, trigger alarms and adjust system parameters, thereby enhancing operational reliability.

[0023] The intelligent control of the present invention effectively reduces the workload of manual adjustment, while improving the stability and safety of the production line.

[0024] 5. Economic and energy benefits: By dynamically adjusting the amount of lubricant sprayed, the present invention reduces material waste and production costs while ensuring the spraying effect. The gas delivery module significantly reduces gas energy consumption through sensitivity optimization and dynamic PID control, achieving efficient use of energy while maintaining delivery efficiency.

[0025] 6. Wide applicability: The present invention is applicable to the production process of medicinal capsules, especially in large-scale automated production lines, and can significantly improve production efficiency and product quality. The technical solution is universal and can be extended to other industrial scenarios that require surface treatment and transportation optimization, such as particle packaging, food processing and spraying industries.

[0026] The present invention realizes dynamic optimization of the spraying and conveying process through linkage control of lubricant spraying and gas delivery, combined with multi-sensor data fusion and adaptive PID algorithm, and solves the problems of uneven spraying and poor delivery in the prior art. The efficiency, stability and intelligence of the system significantly improve the overall performance of the production line, while having good economic benefits and wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural block diagram of the present invention. DETAILED DESCRIPTION

[0028] Embodiment 1: A capsule automatic lubrication and gas delivery system, comprising a lubrication agent spraying module, a gas delivery module and a coordinated control module, comprising: A slip agent spraying module, comprising an edge detection unit and a PID control unit, wherein the edge detection unit is used to detect the smoothness state of the capsule surface in real time, and the PID control unit dynamically adjusts the spraying amount and spraying angle of the slip agent according to the detection result; A gas delivery module, comprising a pressure sensor, a gas pressure regulating device and a dynamic PID control unit, wherein the pressure sensor is used to monitor the gas flow pressure in real time, and the dynamic PID control unit dynamically adjusts the gas flow intensity and flow rate according to the pressure deviation to achieve stable delivery of the capsule; The collaborative control module includes a Kalman filter and an adaptive PID control unit. The Kalman filter is used to fuse the sensor data of the lubricant spraying module and the gas delivery module. The adaptive PID control unit is used to dynamically optimize the spraying amount and airflow parameters of the lubricant according to the fused data to achieve collaborative control of spraying and delivery.

[0029] Embodiment 2: The difference between this embodiment and embodiment 1 is that this embodiment also includes the following features: The edge detection unit uses the Canny edge detection algorithm to process the capsule surface to identify the spray target area. The calculation formula is: ; in and is the grayscale gradient value in the horizontal and vertical directions.

[0030] Preferably, the PID control unit in the slip agent spraying module dynamically adjusts the spraying amount Q through the PID control formula: ; in: is the spraying deviation, are the proportional, integral and differential coefficients respectively.

[0031] Preferably, the dynamic PID control unit of the gas delivery module is based on the pressure deviation Dynamic adjustment of air flow pressure P: ; is the deviation between the current airflow pressure and the target pressure.

[0032] Preferably, the adaptive PID control unit adjusts the PID parameters , dynamically update the control output according to the spraying amount deviation and the airflow parameter changes, and the adaptive PID control unit of the collaborative control module dynamically adjusts the PID parameters according to the following rules: When spraying deviation When the proportionality factor is increased ; When the deviation integral value When increasing the integral coefficient ; When the deviation change rate When increasing the differential coefficient ; The adjusted PID parameter formula is: , .

[0033] Preferably, the Kalman filter in the collaborative control module fuses the multi-sensor data, and the state update formula of the filter is: ; Update steps: , in, is the estimated value of the state after filtering, is the sensor measurement value, is the Kalman gain, Preferably, the system includes an anomaly detection module, which detects insufficient spraying, excessive spraying or capsule delivery blockage based on sensor data and automatically triggers an alarm signal.

[0034] Preferably, the spraying angle θ is dynamically adjusted according to the distance between the capsule and the spraying device, and the calculation formula is: , in, and are the horizontal and vertical distances between the spraying device and the capsule, respectively.

[0035] Preferably, the gas delivery module optimizes the gas flow parameters by the gas flow sensitivity α, and the sensitivity calculation formula is: ; Where P is the air flow pressure and V is the air flow velocity.

[0036] Embodiment 3: The difference between this embodiment and the above-mentioned embodiment is that this embodiment is an application example: Application of automatic capsule lubrication and gas delivery system Problem Description On a certain pharmaceutical capsule production line, the initial state of the capsule surface smoothness has a certain deviation, and it is necessary to spray a slip agent to achieve surface treatment, and at the same time, the capsule is transported to the next process through airflow. The system requires: 1. Dynamically adjust the spraying amount Q and spraying angle θ; 2. Optimize air flow pressure P and speed V to ensure smooth delivery; 3. Linkage control of spraying and conveying to maximize overall efficiency.

[0037] 1. Calculation of the Slip Agent Spraying Module Input data: Target surface smoothness: =0.95 (normalized standard value).

[0038] Surface smoothness detected in real time: =0.82.

[0039] PID control parameters: =1.5, =0.8, =0.3.

[0040] Time interval: Δt=1 s.

[0041] Initial deviation: e(0)= − =0.13.

[0042] Calculation process: Real-time deviation calculation: e(t)= − =0.13

[0043] Control output calculation (spraying amount Q): PID formula: ; Proportional term: =1.5×0.13=0.195, Integral term (assuming e(t) is constant for 1 second): =0.8×0.13=0.104, Derivative term (assuming the current rate of change is zero): =0.

[0044] Spraying volume output: Q=u(t)=0.195+0.104+0=0.299ml.

[0045] Spraying angle θ adjustment: Horizontal distance between capsule and spraying device =10 cm, vertical distance =5 cm. According to the formula: .

[0046] 2. Calculation of the gas delivery module Input data: Target air flow pressure: =1.2 kPa.

[0047] Current air flow pressure: =1.0 kPa.

[0048] PID control parameters: =2.0, =1.2, =0.5.

[0049] Current air flow speed: =5 m / s.

[0050] Calculation process: Real-time pressure deviation: (t)= − =1.2−1.0=0.2 kPa.

[0051] Control output calculation (pressure adjustment PP): PID formula: ; Proportional term: =2.0×0.2=0.4; Integral term (assuming Constant 1 second): =1.2×0.2=0.24; Derivative term (assuming the rate of change is 0.05 kPa / s): =0.5×0.05=0.025.

[0052] Pressure output: P=0.4+0.24+0.025=0.665 kPa.

[0053] Adjusted air flow pressure: =1.0+0.665=1.665.

[0054] 3. Calculation of collaborative control module Input data: Spraying volume: Q = 0.299 ml; Adjusted pressure: =1.665 kPa; Sensor noise mean: R=0.02 (assumed).

[0055] Kalman filter parameters: Predicted value: =0.28 ml (spraying amount).

[0056] Measured value: =0.299 ml.

[0057] Fusion technology process: Kalman filter performs fusion processing on input data, and the calculation formula is as follows: ; Kalman Gain : ; Status Update: =0.28+0.714(0.299−0.28)=0.296ml.

[0058] Fusion output: spraying amount after optimization is =0.296 ml.

[0059] 4. Comprehensive results Slip agent spray optimization: The spraying volume Q = 0.299 ml (0.296 ml after Kalman fusion adjustment).

[0060] The spraying angle θ=63.43°.

[0061] Gas delivery optimization: After air flow pressure adjustment =1.665 kPa.

[0062] Collaborative Optimization: The smoothness agent spraying and gas delivery parameters are adjusted in conjunction to ensure uniform capsule surface treatment and smooth delivery.

[0063] Example significance Through real-time adjustment of the algorithm, the system can dynamically optimize the spraying and conveying parameters, solve the problems of uneven spraying and conveying blockage during production, and significantly improve production efficiency and product quality.

Claims

1. A capsule automatic lubrication and gas delivery system, comprising a lubrication agent spraying module, a gas delivery module and a coordinated control module, characterized in that: A slip agent spraying module, comprising an edge detection unit and a PID control unit, wherein the edge detection unit is used to detect the smoothness state of the capsule surface in real time, and the PID control unit dynamically adjusts the spraying amount and spraying angle of the slip agent according to the detection result; A gas delivery module, comprising a pressure sensor, a gas pressure regulating device and a dynamic PID control unit, wherein the pressure sensor is used to monitor the gas flow pressure in real time, and the dynamic PID control unit dynamically adjusts the gas flow intensity and flow rate according to the pressure deviation to achieve stable delivery of the capsule; The collaborative control module includes a Kalman filter and an adaptive PID control unit. The Kalman filter is used to fuse the sensor data of the lubricant spraying module and the gas delivery module. The adaptive PID control unit is used to dynamically optimize the spraying amount and airflow parameters of the lubricant according to the fused data to achieve collaborative control of spraying and delivery.

2. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The edge detection unit uses the Canny edge detection algorithm to process the capsule surface to identify the spray target area. The calculation formula is: ； in and is the grayscale gradient value in the horizontal and vertical directions.

3. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The PID control unit in the slip agent spraying module dynamically adjusts the spraying amount Q through the PID control formula: ； in: is the spraying deviation, are the proportional, integral and differential coefficients respectively.

4. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The dynamic PID control unit of the gas delivery module is controlled according to the pressure deviation Dynamic adjustment of air flow pressure P: ； is the deviation between the current airflow pressure and the target pressure.

5. The automatic capsule lubrication and gas delivery system according to claim 3 or 4, characterized in that: The adaptive PID control unit adjusts the PID parameters , dynamically update the control output according to the spraying amount deviation and the airflow parameter changes, and the adaptive PID control unit of the collaborative control module dynamically adjusts the PID parameters according to the following rules: When spraying deviation When the proportionality factor is increased ; When the deviation integral value When increasing the integral coefficient ; When the deviation change rate When increasing the differential coefficient ; The adjusted PID parameter formula is: ， 。 6. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The Kalman filter in the collaborative control module fuses the multi-sensor data, and the filter state update formula is: ； Update steps: , in, is the estimated value of the state after filtering, is the sensor measurement value, is the Kalman gain.

7. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The system includes an anomaly detection module that detects insufficient spraying, excessive spraying, or capsule delivery blockage based on sensor data and automatically triggers an alarm signal.

8. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The spraying angle θ is dynamically adjusted according to the distance between the capsule and the spraying device, and the calculation formula is: ， in, and are the horizontal and vertical distances between the spraying device and the capsule, respectively.

9. The automatic capsule lubrication and gas delivery system according to claim 1, characterized in that: The gas delivery module optimizes the gas flow parameters through the gas flow sensitivity α, and the sensitivity calculation formula is: , where P is the air flow pressure and V is the air flow velocity.

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