Device and method for identifying and collecting traditional Chinese medicinal materials

Abstract

The invention discloses a traditional Chinese medicinal material identification and collection device and method, and belongs to the technical field of traditional Chinese medicinal material identification. The identifying and collecting device for the traditional Chinese medicinal materials comprises a chassis, and a walking mechanism and a collecting mechanism which are respectively connected to the bottom and the upper surface of the chassis, and further comprises a pesticide spraying mechanism and an identifying mechanism which are fixedly connected to the chassis, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covering the upper parts of the traditional Chinese medicinal materials; the spraying mechanism sprays medicine to the surfaces of the traditional Chinese medicinal materials; the collection mechanism collects the fluorescent dominant traditional Chinese medicinal materials identified by the identification mechanism, and based on the fluorescent dominant mechanism of the traditional Chinese medicinal materials, through the cooperation of the collection mechanism and the identification mechanism, the problems of high cost and low efficiency required by identification of the cortex fraxini traditional Chinese medicinal materials in the prior art are solved.

Description

Technical Field

[0001] The invention relates to the technical field of Chinese medicinal material identification, and more specifically to an identification and collection device and method for Chinese medicinal materials. Background Art

[0002] Fraxini Cortex, also known as ash bark or qinbai bark, is a commonly used Chinese medicine. It was first recorded in Shennong's Herbal Classic and listed as a medium-grade product. It has the effects of clearing away heat and dampness, astringing and stopping diarrhea, stopping leukorrhea and improving eyesight. It is often used for damp-heat diarrhea, leukorrhea and pannus. At present, the varieties of Fraxini Cortex in the Chinese herbal medicine market are chaotic and the quality varies.

[0003] The main identification methods of Qinpi include trait identification method and microscopic identification method:

[0004] In the identification method of the properties of Qinpi, the properties of the genuine Qinpi of different origins and its mixed and counterfeited products are mainly reflected in the surface color and texture of the pieces, the shape of the branch and leaf marks, the shape and color of the lenticels, the texture of the pieces, and the nature and taste of the pieces.

[0005] In the microscopic identification method, the microscopic differences between the genuine Qinpi of different origins and their counterfeits are mainly reflected in the cork layer, inner cork layer, pith sheath, phloem and calcium oxalate crystal types.

[0006] The above identification methods require the identification personnel to accumulate long-term experience, have a certain number of years of work experience and rich professional experience. Therefore, the time cost of training a qualified Chinese medicine identification personnel is relatively high. This also leads to the high cost, more time and low efficiency of Qinpi identification.

[0007] In response to the above problems, after searching, Chinese patent publication number CN114767737A, publication date 2022.07.22, discloses a Qinpi extract, its preparation method and application. The Qinpi extract is prepared by the following method: extracting the traditional Chinese medicine Qinpi decoction pieces or Qinpi medicinal materials with ethanol to obtain Qinpi alcohol extract, then using biological enzymes to hydrolyze the Qinpi alcohol extract, and then performing macroporous resin purification and drying. In this invention, Qinpi is treated by the above method, and the qinpi glycoside with a high content in the extract can be converted into qinpi ethyl and qinpi glycoside with stronger pharmacological effects, thereby significantly improving the drug activity of the Qinpi extract. Although this invention can extract the effective ingredients in Qinpi, if the Qinpi mixed with counterfeit products is not identified, the counterfeit products will cause great interference to the extraction of the effective ingredients of Qinpi. Summary of the invention

[0008] 1. Technical problems to be solved by the invention:

[0009] In view of the problems of high cost and low efficiency in the prior art for the identification of Chinese medicinal materials of Fraxinus fraxinus, the present invention provides an identification and collection device and method for Chinese medicinal materials. Based on the fluorescence dominance mechanism of Chinese medicinal materials, the purpose of centrally collecting the identified Chinese medicinal materials of Fraxinus fraxinus is achieved through the coordinated cooperation of a collection mechanism and an identification mechanism.

[0010] 2. Technical solution:

[0011] In order to achieve the above object, the technical solution provided by the present invention is:

[0012] A device and method for identifying and collecting Chinese medicinal materials, comprising a chassis, and a walking mechanism and a collecting mechanism respectively connected to the bottom and upper surface of the chassis, and also comprising a spraying mechanism, an identification mechanism, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covered above the Chinese medicinal materials, which are fixedly connected to the chassis; the spraying mechanism sprays medicine onto the surface of the Chinese medicinal materials; and the collecting mechanism collects the fluorescent Chinese medicinal materials identified by the identification mechanism.

[0013] A further technical solution also includes a single-chip microcomputer control board fixed to the chassis; the identification mechanism includes a camera and a silicon diode; the camera identifies the Chinese medicinal materials; the silicon diode collects the fluorescent signal generated after the Chinese medicinal materials are sprayed with medicine, converts the fluorescent signal into an electrical signal and transmits it to the single-chip microcomputer control board, and the single-chip microcomputer control board controls the collection mechanism to collect the fluorescent Chinese medicinal materials.

[0014] A further technical solution is that the chassis includes an aluminum square tube, a shock-absorbing plate, a shock-absorbing upper bracket, a shock-absorbing lower bracket, a shock absorber and a motor support; the shock-absorbing plate and the hinge are both connected to the aluminum square tube, the shock-absorbing upper bracket and the motor support are both connected to the chassis shock-absorbing plate, and the shock absorber is connected between the shock-absorbing upper bracket and the shock-absorbing lower bracket; the rear end of the shock-absorbing lower bracket is hinged to the bottom of the aluminum square tube by a hinge.

[0015] A further technical solution is that the walking mechanism includes a reduction motor, a coupling, a conversion support, a conversion support, a mobile servo, a servo support frame and a foot support; the reduction motor is installed on the motor support, the coupling is connected to the output shaft of the reduction motor, the conversion support is installed on the coupling, the conversion support is installed on the conversion support, the conversion support is connected to the mobile servo, the mobile servo and the foot support are both installed on the servo support frame, and the mobile servo is connected to the signal of the single-chip control board.

[0016] A further technical solution is that there are multiple movable steering gears and steering gear support frames in one-to-one correspondence, the first movable steering gear at the upper part is connected to the conversion support; the last movable steering gear at the lower part is connected to the foot support.

[0017] A further technical solution is that the collection mechanism includes a fixture, a collection steering gear, a mechanical arm base, a mechanical arm support, a mechanical arm connection, a connecting flange, a connecting plate and a cylinder; there are multiple collection steering gears. The camera, the silicon diode and the mechanical arm base are all installed on the chassis shock-absorbing plate; one collection steering gear is installed at the opening below the mechanical arm base, one collection steering gear is installed on the mechanical arm support, one collection steering gear is installed on the mechanical arm connection, one collection steering gear is installed on the connecting flange, the connecting plate is connected to the connecting flange by screws, the cylinder is connected to the connecting plate by screws, and the fixture is installed on the outside of the cylinder.

[0018] A further technical solution is that the spraying mechanism includes a mounting seat, a nozzle, a solenoid valve, a connecting pipe, a syringe and a supporting plate; the mounting seat and the supporting plate are connected to the bottom of the shock-absorbing plate, the nozzle is connected to one end of the connecting pipe through the solenoid valve, and the other end of the connecting pipe is connected to the syringe, and the solenoid valve and the syringe are respectively installed on the mounting seat and the supporting plate.

[0019] A method for identifying and collecting Chinese medicinal materials, comprising the following steps:

[0020] After the camera collects the target information of Chinese medicinal materials, it transmits the information to the single-chip control board, and then the single-chip control board controls the entire walking mechanism;

[0021] After the walking mechanism drives the entire device to move to the target location, the spraying mechanism sprays the medicine onto the target surface of the Chinese medicinal material;

[0022] If the fluorescence test result shows dominant fluorescence, the target type of Chinese herbal medicine is confirmed, and the rest are mixed and counterfeit Chinese herbal medicines;

[0023] The identification mechanism receives the fluorescent signal and converts it into an electrical signal and transmits it to the single-chip control board;

[0024] The single chip control board controls the collecting mechanism to collect the fluorescent Chinese medicinal materials identified by the identifying mechanism.

[0025] 3. Beneficial effects

[0026] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0027] (1) The identification and collection device and method of Chinese medicinal materials of the present invention, when the front of the device is irradiated with ultraviolet light or sunlight, an ethanol solution is sprayed below the device to conduct a fluorescence experiment on the cortex fraxini and its mixed and counterfeited products, and then the fluorescence phenomenon generated by the ultraviolet light irradiating the cortex fraxini is collected through the silicon diode in the front to ensure the correctness of the identification result. The identification result is converted into an electrical signal and transmitted to the rear single-chip control board, and then the single-chip control board controls the mechanical arm to achieve the effect of identifying and collecting the Chinese medicinal materials of cortex fraxini, thereby reducing the error caused by manual identification;

[0028] (2) The identification and collection device and method of Chinese medicinal materials of the present invention controls the rotation of the steering gear, and absorbs vibration through the spring under the threaded connection relationship between the chassis shock absorber plate and the shock absorber, so that the movement process is relatively smooth, and the device driving leg structure is designed with multiple steering gears, with a large degree of freedom of movement, and can realize rotation in the three directions of X, Y, and Z. It is also designed with two driving modes, which can be flexibly switched to cope with complex and changeable working environments;

[0029] (3) The identification and collection device and method of the Chinese medicinal materials of the present invention preliminarily detects the target through a camera, then moves to the location through a walking mechanism, picks up through a mechanical arm, and is controlled by a single-chip control board. The overall structure is compact and the method of use is simple, which reduces the time required for the identification and collection of Qinpi.

[0030] (4) The identification and collection device and method of Chinese medicinal materials of the present invention, combined with intelligent mechanical design, promotes the mechanization of the entire process of Fraxinus fraxinus identification production, which can not only improve the identification efficiency and reduce labor intensity, but also reduce the cost of Fraxinus fraxinus identification, and quickly meet the needs of the corresponding Chinese medicinal materials market, which is of great significance to helping the Chinese medicinal materials industry expand its revenue and develop the intelligence of the Chinese medicine identification-related industry;

[0031] (5) The identification and collection device and method of Chinese medicinal materials of the present invention combine the identification technology of Qinpi and even a large number of Chinese medicinal materials with information technologies such as artificial intelligence to meet the needs of intelligent, non-destructive, and single-grain detection, laying a foundation for the high-quality development of the Chinese medicine industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the structure of a Chinese medicinal material identification and collection device in a specific embodiment;

[0033] Figure 2 It is a schematic diagram of the structure of a Chinese medicinal material identification and collection device in a specific embodiment;

[0034] Figure 3 for Figure 2 Structural diagram of the walking mechanism;

[0035] Figure 4 for Figure 2 Schematic diagram of the structure of the collection mechanism;

[0036] Figure 5 for Figure 2 A schematic diagram of the structure from another angle;

[0037] Figure 6 for Figure 2 Schematic diagram of the structure of the Chinese medicine spraying mechanism;

[0038] Figure 7 for Figure 2 A schematic diagram of a top view structure;

[0039] Figure 8 It is a control route map of the single-chip microcomputer control board in the Chinese medicinal material identification and collection device of a specific embodiment.

[0040] In the figure: 1. chassis; 2. walking mechanism; 3. collecting mechanism; 4. spraying mechanism; 5. identification mechanism; 6. single chip control board;

[0041] 11. Aluminum square tube; 12. Shock-absorbing plate; 13. Shock-absorbing upper bracket; 14. Shock-absorbing lower bracket; 15. Shock absorber; 16. Hinge; 17. Motor support; 151. Shock-absorbing support; 152. Spring; 153. End piece;

[0042] 21. Speed ​​reduction motor; 22. Coupling; 23. Conversion support; 24. Conversion support; 25. Mobile steering gear; 26. Support frame I; 27. Support frame II; 28. Support frame III; 29. ​​Foot support; 291. Driving wheel; 292. Speed ​​reduction motor;

[0043] 31. Clamp; 33. Collecting servo; 34. Robotic arm base; 35. Robotic arm support; 36. Robotic arm connection; 37. Connection flange; 38. Connection plate; 39. Cylinder;

[0044] 41. Mounting seat; 42. Nozzle; 43. Solenoid valve; 44. Connecting pipe; 45. Injector; 46. Support plate;

[0045] 51. Camera; 52. Silicon diode. DETAILED DESCRIPTION

[0046] In order to further understand the content of the present invention, the invention is described in detail with reference to the accompanying drawings.

[0047] Example 1

[0048] The identification and collection device of the Chinese medicinal materials of this embodiment is as follows: Figure 1 As shown, it includes a chassis 1 and a walking mechanism 2 and a collecting mechanism 3 respectively connected to the bottom and upper surface of the chassis 1. The walking mechanism 2 can adopt an existing step-by-step, wheeled or crawler type, and the collecting mechanism 3 can adopt an existing manipulator;

[0049] like Figure 1 , 2As shown in , 7, it also includes a spraying mechanism 4 fixedly connected to the chassis 1, an identification mechanism 5, a single-chip control board 6, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covered above the Chinese medicinal materials; the spraying mechanism 4 can use an existing sprayer to spray medicine to the surface of the Chinese medicinal materials; the identification mechanism 5 includes a camera 51 and a silicon diode 52; the camera 51 identifies the Chinese medicinal materials; the silicon diode 52 collects the fluorescent signal generated by the Chinese medicinal materials after spraying, converts the fluorescent signal into an electrical signal and transmits it to the single-chip control board 6, and the single-chip control board 6 controls the collection mechanism 3 to collect the fluorescent Chinese medicinal materials.

[0050] Identification mechanism 5 is based on the fluorescence mechanism of Chinese medicinal materials:

[0051] Table 1: Fluorescence display mechanism of Chinese herbal medicines

[0052]

[0053] Because various Chinese medicinal materials will produce different fluorescence after being sprayed with special liquid medicine on the surface, for example, Fraxinus chinensis and its mixed products, such as elm and Juglans regia, will have quite different fluorescence phenomena under daylight and ultraviolet light after being sprayed with 95% ethanol solution on the surface. Fraxinus chinensis will have azure blue and bright blue-purple fluorescence respectively. Under the irradiation of ultraviolet light or sunlight in front, the ethanol solution is sprayed through the sprayer below the device to conduct fluorescence experiments on Fraxinus chinensis and its mixed products, and then the fluorescence phenomenon produced by the ultraviolet light irradiating Fraxinus chinensis is identified through the front silicon diode 52; the collection mechanism 3 collects the fluorescent-dominant Chinese medicinal materials identified by the identification mechanism 5.

[0054] The Chinese medicinal material identification and collection method of this embodiment comprises the following steps:

[0055] Step 1: After the camera 51 collects the target information of the Chinese medicinal materials, it transmits the information to the single-chip control board 6, and then the single-chip control board 6 controls the entire walking mechanism 2;

[0056] Step 2: After the walking mechanism 2 drives the entire device to move to the target location, the spraying mechanism 4 sprays the medicine onto the target surface of the Chinese medicinal material;

[0057] Step 3: If the fluorescence test result shows dominant fluorescence, the target type of Chinese herbal medicine is confirmed, and the rest are mixed and counterfeit Chinese herbal medicines;

[0058] Step 4: The silicon diode 52 receives the fluorescent signal and converts it into an electrical signal and transmits it to the single chip control board 6;

[0059] Step 5: The single chip control board 6 controls the collecting mechanism 3 to collect the fluorescent Chinese medicinal materials identified by the identifying mechanism 5 .

[0060] Example 2

[0061] The identification and collection device of Chinese medicinal materials in this embodiment has the same basic structure as that of Embodiment 1, except that: Figure 2 As shown, the chassis 1 includes an aluminum square tube 11, a shock absorbing plate 12, a shock absorbing upper bracket 13, a shock absorbing lower bracket 14, a shock absorber 15 and a motor support 17; the shock absorbing plate 12 and the hinge 16 are both connected to the aluminum square tube 11, the shock absorbing upper bracket 13 and the motor support 17 are both threadedly connected to the chassis shock absorbing plate 12, the shock absorber 15 is connected between the shock absorbing upper bracket 13 and the shock absorbing lower bracket 14, the shock absorber 15 includes a shock absorbing support 151, a spring 152, a connecting rod and an end piece 153, the shock absorbing support 151 and the end piece 153 are respectively connected to the shock absorbing lower bracket 14 and the shock absorbing upper bracket 13, after the spring 152 surrounds the connecting rod, its two ends are respectively connected to the shock absorbing support 151 and the end piece 153; the rear end of the shock absorbing lower bracket 14 is hinged to the bottom of the aluminum square tube 11 through the hinge 16, and the hinge 16 is connected to the aluminum square tube 101 through screws.

[0062] like Figure 3 As shown, the walking mechanism 2 includes a reduction motor 21, a coupling 22, a conversion support 23, a conversion support 24, a mobile steering gear 25, a steering gear support frame and a foot support 29; the reduction motor 21 is mounted on the motor support 17, the coupling 22 is connected to the output shaft of the reduction motor 21, the conversion support 23 is mounted on the coupling 22, the conversion support 24 is mounted on the conversion support 23, the conversion support 24 is connected to the mobile steering gear 25, the mobile steering gear 25 and the foot support 29 are both mounted on the steering gear support frame, and the mobile steering gear 25 is connected to the single-chip control board 4 by signal. There are multiple mobile steering gears 25 and steering gear support frames that correspond to each other one by one, and there are three in this embodiment, which are respectively mounted on support frame I 26, support frame II 27 and support frame III 28, the upper first mobile steering gear 25 is connected to the conversion support 24; the lower last mobile steering gear 25 is connected to the foot support 29.

[0063] like Figure 4 , 5 As shown, the collecting mechanism 3 is in the form of a mechanical arm, including a fixture 31, a collecting steering gear 33, a mechanical arm base 34, a mechanical arm support 35, a mechanical arm connection 36, a connecting flange 37, a connecting plate 38 and a cylinder 39; there are multiple collecting steering gears 33, and four in this embodiment. The camera 31, the silicon diode 52 and the mechanical arm base 34 are all installed on the chassis damping plate 12; one collecting steering gear 33 is installed at the opening below the mechanical arm base 34, one collecting steering gear 33 is installed on the mechanical arm support 35, one collecting steering gear 33 is installed on the mechanical arm connection 36, and one collecting steering gear 33 is installed on the connecting flange 37. The connecting plate 38 is connected to the connecting flange 37 by screws, and the cylinder 39 is connected to the connecting plate 38 by screws. The fixture 31 is installed on the outside of the cylinder 39.

[0064] like Figure 6As shown, the spray mechanism 4 includes a mounting seat 41, a spray head 42, a solenoid valve 43, a connecting pipe 44, a syringe 45 and a supporting plate 46; the mounting seat 41 and the supporting plate 46 are connected to the bottom of the shock absorbing plate 12, the spray head 42 is connected to one end of the connecting pipe 44 through the solenoid valve 43, and the other end of the connecting pipe 44 is connected to the syringe 45, and the solenoid valve 43 and the syringe 45 are respectively installed on the mounting seat 41 and the supporting plate 46.

[0065] In order to adapt to different ground environments, the walking mechanism 2 also includes a driving wheel 291 and a reduction motor 292; the reduction motor 292 is a DC reduction TT motor, which is installed at the opening in the middle side of the foot support 29, and the driving wheel 291 is installed on the output shaft of the DC reduction TT motor. All servos are connected to the single-chip control board 6.

[0066] like Figure 8 As shown, the identification and collection steps of the Chinese herbal medicine identification and collection device of this embodiment for the Chinese herbal medicine Cortex Fraxini are as follows:

[0067] Step 1: In the use environment where the Qinpi and its mixed and counterfeit products need to be identified and collected, turn on the power switch, the device starts to work, first collects target information through the camera 51, determines the location of the target, and roughly identifies the properties;

[0068] Step 2: After the camera 51 collects the target information, it transmits the information to the single-chip control board 6, and then the single-chip control board 6 controls the entire walking mechanism 2. The specific control method is as follows: by controlling the 6IR300RGU reduction motor 21 installed on the reduction motor support 17 to control the general direction of the device, the specific drive is controlled by three DS3115 mobile steering gears 25, and the three DS3115 mobile steering gears 25 respectively control the steering gear support frame I 26, support frame II 27 and support frame III 28 to achieve the rotational freedom in the three directions of X, Y and Z, and the design has two movement modes:

[0069] 1. Move by stepping between the foot support 29 and the ground, and use quadruped stepping drive to move to the target position more stably;

[0070] 2. The driving wheel 291 driven by the DC reduction TT motor 292 moves by rolling on the ground. Mode 1 is suitable for a complex working environment where the ground is uneven and there are obstacles, which is not conducive to the rolling of the driving wheel 291. Mode 2 is suitable for a relatively smooth working environment and can move to the target location faster.

[0071] Step 3: When the device moves to the target location, the nozzle 42 is aimed at the target through the integrated control of the single-chip control board 6 and the camera 51, and then the single-chip control board 6 controls the electromagnetic valve 43 to spray the ethanol solution stored in the syringe 45 in advance. The fluorescence phenomenon will be more obvious under sunlight or ultraviolet light.

[0072] Step 4: After the solution is sprayed on the target, wait for a while. If the fluorescence test result shows bright blue-purple fluorescence, the target is confirmed to be Qinpi. The other results are Qinpi mixed with counterfeit products. After the target is confirmed to be Qinpi, the front silicon diode 52 will receive the light signal and convert it into an electrical signal to be transmitted to the single-chip control board 6.

[0073] Step 5: After receiving the signal transmitted by the silicon diode 52, the single-chip control board 6 then controls the mechanical arm, first controlling the MG995 collection servo 33 of the mechanical arm base 34 installed on the chassis damping plate 12 to realize rotation. Then the MG995 collection servo 33 at the mechanical arm support 35 and the mechanical arm connection 36 is controlled to control the direction. After moving to the target position, the HFZ20 cylinder 39 is controlled to open and close, and then the clamp 31 is controlled to clamp and collect the target, thus completing the identification and collection of the Chinese medicinal material Qinpi.

[0074] The identification and collection device and method of the Chinese medicinal materials of the present embodiment, under the condition of ultraviolet light irradiation or sunlight irradiation in front of the device, conduct fluorescence experiment on the cortex fraxini and its mixed and counterfeited products by spraying ethanol solution under the device, and then collect the fluorescence phenomenon produced by the ultraviolet light irradiating the cortex fraxini through the front silicon diode 53 to ensure the correctness of the identification result, and the identification result is converted into an electrical signal and transmitted to the rear single-chip control board 6, and then the single-chip control board 6 controls the mechanical arm to achieve the effect of identifying and collecting the Chinese medicinal materials of cortex fraxini, and reduce the error caused by manual identification; by controlling the rotation of the servo, under the threaded connection relationship between the chassis shock-absorbing plate and the shock absorber, through the elastic The spring absorbs vibration, making the movement process smoother, and the device driving leg structure is designed with multiple servos, with large freedom of movement, and can realize rotation in three directions of X, Y, and Z. It is also designed with two drive modes, which can be flexibly switched to cope with complex and changeable working environments. The Chinese medicinal materials identification and collection device of this embodiment can be combined with intelligent mechanical design to promote the full mechanization of Qinpi identification production, which can not only improve the identification efficiency and reduce labor intensity, but also reduce the cost of Qinpi identification, and quickly meet the needs of the corresponding Chinese medicinal materials market, which is of great significance to helping the Chinese medicinal materials industry expand its profits and develop the intelligence of related industries for Chinese medicine identification.

[0075] The above schematically describes the present invention and its implementation methods, which are not restrictive. The drawings show only one implementation method of the present invention, and the actual structure and manufacturing steps are not limited thereto. Therefore, if a person skilled in the art is inspired by it and, without departing from the purpose of the invention, designs a structure and an implementation method similar to the technical solution without creativity, they shall all fall within the protection scope of the present invention.

Claims

1. A Chinese medicinal material identification and collection device, comprising a chassis (1), a walking mechanism (2) and a collecting mechanism (3) respectively connected to the bottom and upper surface of the chassis (1), characterized in that: It also includes a medicine spraying mechanism (4) fixedly connected to the base plate (1), an identification mechanism (5), and an ultraviolet light irradiation or sunlight irradiation atmosphere covered above the Chinese medicinal materials; The medicine spraying mechanism (4) sprays medicine onto the surface of the Chinese medicinal material; The collecting mechanism (3) collects the fluorescent Chinese medicinal materials identified by the identifying mechanism (5).

2. The identification collection device according to claim 1, characterized in that: It also includes a single-chip microcomputer control board (6) fixed to the chassis (1); the identification mechanism (5) includes a camera (51) and a silicon diode (52); the camera (51) identifies the Chinese medicinal materials; the silicon diode (52) collects the fluorescent signals generated by the Chinese medicinal materials after spraying, converts the fluorescent signals into electrical signals and transmits them to the single-chip microcomputer control board (6); the single-chip microcomputer control board (6) controls the collection mechanism (3) to collect the fluorescent Chinese medicinal materials.

3. The identification collection device according to claim 2, characterized in that: The chassis (1) comprises an aluminum square tube (11), a shock absorbing plate (12), a shock absorbing upper bracket (13), a shock absorbing lower bracket (14), a shock absorber (15) and a motor support (17); the shock absorbing plate (12) is connected to the aluminum square tube (11), the shock absorbing upper bracket (13) and the motor support (17) are both connected to the chassis shock absorbing plate (12), and the shock absorber (15) is connected between the shock absorbing upper bracket (13) and the shock absorbing lower bracket (14); and the rear end of the shock absorbing lower bracket (14) is hinged to the bottom of the aluminum square tube (11).

4. The identification collection device according to claim 3, characterized in that: The walking mechanism (2) comprises a reduction motor (21), a coupling (22), a conversion support (23), a conversion support (24), a mobile steering gear (25), a steering gear support frame and a foot support (29); the reduction motor (21) is mounted on the motor support (17), the coupling (22) is connected to the output shaft of the reduction motor (21), the conversion support (23) is mounted on the coupling (22), the conversion support (24) is mounted on the conversion support (23), the conversion support (24) is connected to the mobile steering gear (25), the mobile steering gear (25) and the foot support (29) are both mounted on the steering gear support frame, and the mobile steering gear (25) is connected to the single-chip control board (4) for signal connection.

5. The identification collection device according to claim 4, characterized in that: The movable steering gear (25) and the steering gear support frame are both in a one-to-one correspondence. The first movable steering gear (25) at the upper part is connected to the conversion support (24); and the last movable steering gear (25) at the lower part is connected to the foot support (29).

6. The identification collection device according to claim 5, characterized in that: The collecting mechanism (3) comprises a clamp (31), a collecting steering gear (33), a mechanical arm base (34), a mechanical arm support (35), a mechanical arm connection (36), a connecting flange (37), a connecting plate (38) and a cylinder (39); The camera (31), silicon diode (52) and mechanical arm base (34) are all mounted on the chassis damping plate (12); there are multiple collection servos (33), one of which is mounted below the mechanical arm base (34), another is mounted on the mechanical arm support (35), another is mounted on the mechanical arm connection (36), and another is mounted on the connecting flange (37). The connecting plate (38) is connected to the connecting flange (37), the cylinder (39) is connected to the connecting plate (38), and the clamp (31) is mounted on the outside of the cylinder (39).

7. The identification collection device according to claim 5, characterized in that: The medicine spraying mechanism (4) comprises a mounting seat (41), a spray head (42), a solenoid valve (43), a connecting pipe (44), a syringe (45) and a supporting plate (46); the mounting seat (41) and the supporting plate (46) are connected to the bottom of the shock absorbing plate (12); the spray head (42) is connected to one end of the connecting pipe (44) through the solenoid valve (43); after the other end of the connecting pipe (44) is connected to the syringe (45), the solenoid valve (43) and the syringe (45) are respectively mounted on the mounting seat (41) and the supporting plate (46).

8. A method for identifying and collecting Chinese medicinal materials according to the identification and collection device of claim 7, characterized in that: After collecting the target information of the Chinese medicinal materials, the camera (51) transmits the information to the single-chip control board (6), and the single-chip control board (6) then controls the entire walking mechanism (2); After the walking mechanism (2) drives the entire device to move to the target location, the spraying mechanism (4) sprays the medicine onto the target surface of the Chinese medicinal material; If the fluorescence test result shows dominant fluorescence, the target type of Chinese herbal medicine is confirmed, and the rest are mixed and counterfeit Chinese herbal medicines; The identification mechanism (5) receives the fluorescent signal and converts it into an electrical signal and transmits it to the single chip control board (6); The single chip control board (6) controls the collection mechanism (3) to collect the fluorescent Chinese medicinal materials identified by the identification mechanism (5).

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