A traditional Chinese medicine material identification collecting device and method

Abstract

The application 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 traditional Chinese medicinal material identification and collection device comprises a base plate, a walking mechanism and a collection mechanism connected to the bottom and the upper surface of the base plate respectively, a pesticide spraying mechanism fixedly connected to the base plate, an identification mechanism, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covering above the traditional Chinese medicinal materials; the pesticide spraying mechanism sprays pesticides to the surface of the traditional Chinese medicinal materials; the collection mechanism collects the fluorescent dominant traditional Chinese medicinal materials identified by the identification mechanism; based on the fluorescent dominant mechanism of the traditional Chinese medicinal materials, the cooperative matching of the collection mechanism and the identification mechanism solves the problems of high cost and low efficiency in the identification of traditional Chinese medicinal materials such as cortex fraxini.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traditional Chinese medicine identification, more specifically to a traditional Chinese medicine identification collection device and method. BACKGROUND

[0002] Fraxini Cortex, also known as Qinbaipi, is a commonly used traditional Chinese medicine first recorded in Shennong Bencao Jing and listed as medium grade. It has the effects of clearing heat and drying dampness, astringing and stopping diarrhea, stopping leucorrhea, and improving eyesight. It is commonly used for treating damp-heat diarrhea, leukorrhea, and eye nebula. Currently, the Qinpi variety on the traditional Chinese medicine market is chaotic, and the quality is uneven.

[0003] The main methods for identifying Qinpi include character identification and microscopic identification:

[0004] In the character identification method of Qinpi, the character differences between different original Qinpi and its adulterants mainly lie in the surface color and texture of the decoction pieces, the shape of branch and leaf scars, the shape and color of lenticels, the texture of decoction pieces, and the nature and taste, etc.

[0005] In the microscopic identification method, the microscopic differences between different original Qinpi and its adulterants mainly lie in the cork layer, suberin layer, pericycle, phloem, and calcium oxalate crystal type, etc.

[0006] The above identification methods require identification personnel to accumulate long-term experience and have certain working years and rich professional experience, thus making the time cost of cultivating a qualified traditional Chinese medicine identification personnel higher, which also leads to higher cost, more time, and lower efficiency of Qinpi identification.

[0007] In view of the above problems, through retrieval, Chinese patent publication No. CN114767737A, published on July 22, 2022, discloses a Qinpi extract, its preparation method and application. The Qinpi extract is prepared by the following method: Qinpi decoction pieces or Qinpi medicinal materials are extracted with ethanol to obtain Qinpi alcohol extract, then the Qinpi alcohol extract is subjected to enzymatic reaction with biological enzymes, followed by macroporous resin purification and drying. In the invention, Qinpi is treated by the above method, which can convert the high content of aesculin and aesculin in the extract into aesculin and aesculin with stronger pharmacological effects, thereby significantly improving the drug activity of the Qinpi extract. Although the invention can extract the effective components in Qinpi, if the Qinpi mixed with adulterants is not identified, the adulterants will greatly interfere with the extraction of the effective components of Qinpi. SUMMARY

[0008] 1. The technical problem to be solved by the present application:

[0009] In view of the problems of high cost and low efficiency in the prior art for identifying Chinese medicine material of cortex fraxini, the application provides an identification and collection device and method for Chinese medicine material, which is based on the fluorescence dominant mechanism of the Chinese medicine material, and through the cooperation of the collection mechanism and the identification mechanism, the purpose of collecting the identified Chinese medicine material of cortex fraxini is achieved.

[0010] 2. Technical scheme:

[0011] To achieve the above-mentioned purpose, the technical scheme provided by the application is as follows:

[0012] An identification and collection device and method for Chinese medicine material, which comprises a base plate, a walking mechanism and a collection mechanism connected to the bottom and the upper surface of the base plate respectively, a medicine spraying mechanism, an identification mechanism fixedly connected to the base plate, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covering above the Chinese medicine material; the medicine spraying mechanism sprays medicine to the surface of the Chinese medicine material; the collection mechanism collects the fluorescence dominant Chinese medicine material identified by the identification mechanism.

[0013] Further technical scheme, further comprising a single-chip microcomputer control board fixed to the base plate; the identification mechanism comprises a camera and a silicon photodiode; the camera identifies the Chinese medicine material; the silicon photodiode collects the fluorescence signal generated after the Chinese medicine material is sprayed with medicine, converts the fluorescence signal into an electric signal and transmits the electric signal to the single-chip microcomputer control board, and the single-chip microcomputer control board controls the collection mechanism to collect the fluorescence dominant Chinese medicine material.

[0014] Further technical scheme, the base plate comprises an aluminum square tube, a damping plate, an upper damping support, a lower damping support, a shock absorber and a motor support; the damping plate and the hinge are both connected to the aluminum square tube, the upper damping support and the motor support are both connected to the damping plate of the base plate, and the shock absorber is connected between the upper damping support and the lower damping support; the rear end of the lower damping support is hingedly connected to the bottom of the aluminum square tube.

[0015] Further technical scheme, the walking mechanism comprises a speed reducer, a shaft coupling, a conversion support, a conversion support, a moving rudder, a rudder support frame and a foot support; the speed reducer is installed on the motor support, the shaft coupling is connected with the output shaft of the speed reducer, the conversion support is installed on the shaft coupling, the conversion support is installed on the conversion support, the conversion support is connected with the moving rudder, the moving rudder and the foot support are both installed on the rudder support frame, and the moving rudder is signal connected with the single-chip microcomputer control board.

[0016] Further technical scheme, the moving rudder and the rudder support frame are both one-to-one corresponding multiple, the upper moving rudder is connected with the conversion support; and the lower moving rudder is connected with the foot support.

[0017] Further technical solutions, the collecting mechanism includes a clamp, a collection steering wheel, a mechanical arm base, a mechanical arm support, a mechanical arm connection, a connecting flange, a connecting plate and a cylinder; the collection steering wheel is multiple. The camera, the silicon diode and the mechanical arm base are all installed on the chassis shock absorbing plate; one collection steering wheel is installed below the mechanical arm base, one collection steering wheel is installed on the mechanical arm support, one collection steering wheel is installed on the mechanical arm connection, one collection steering wheel is installed on the connecting flange, the connecting plate is connected with the connecting flange through screws, the cylinder is connected with the connecting plate through screws, and the clamp is installed on the outside of the cylinder.

[0018] Further technical solutions, the pesticide spraying mechanism includes a mounting seat, a spray head, an electromagnetic valve, a connecting pipe, a syringe and a support plate; the mounting seat and the support plate are connected to the bottom of the shock absorbing plate, the spray head is connected with one end of the connecting pipe through the electromagnetic valve, the other end of the connecting pipe is connected with the syringe, and then the electromagnetic valve and the syringe are installed on the mounting seat and the support plate respectively.

[0019] A traditional Chinese medicinal material identification and collection method, the steps are:

[0020] After the camera collects the target information of the traditional Chinese medicinal material, the information is transmitted to the single-chip microcomputer control board, and then the single-chip microcomputer control board controls the whole walking mechanism;

[0021] After the walking mechanism drives the whole device to move to the target position, the pesticide spraying mechanism sprays pesticides to the surface of the traditional Chinese medicinal material target;

[0022] If dominant fluorescence appears in the fluorescence test result, it is determined that the target type of traditional Chinese medicinal material is correct, and the rest are traditional Chinese medicinal material counterfeits;

[0023] The identification mechanism receives the fluorescence signal and converts it into an electrical signal to be transmitted to the single-chip microcomputer control board;

[0024] The single-chip microcomputer control board controls the collecting mechanism to collect the dominant traditional Chinese medicinal material identified by the identification mechanism.

[0025] 3. Beneficial effects

[0026] Compared with the prior art, the technical solutions provided by the present application have the following beneficial effects:

[0027] (1) The traditional Chinese medicinal material identification and collection device and method of the present application can ensure correct identification results under the condition that the front ultraviolet lamp or sunlight irradiates, through spraying ethanol solution under the device to perform fluorescence experiments on cortex fraxini and its counterfeits, collecting the fluorescence phenomenon generated by the ultraviolet lamp irradiating cortex fraxini through the front silicon diode, converting the identification results into an electrical signal to be transmitted to the rear single-chip microcomputer control board, and then controlling the mechanical arm through the single-chip microcomputer control board to achieve the effect of identifying and collecting cortex fraxini traditional Chinese medicinal material, thereby reducing the errors caused by manual identification;

[0028] (2) The traditional Chinese medicinal material identification collecting device and method, through the control of the steering engine rotation, under the threaded connection relationship between the chassis damping plate and the shock absorber, the spring absorbs the vibration, so that the movement process is relatively smooth, and the device driving leg structure is designed with multiple steering engines, the movement freedom is large, the rotation in X, Y and Z three directions can be realized, and two driving modes are designed, which can cope with complex and changeable working environment and flexibly switch;

[0029] (3) The traditional Chinese medicinal material identification collecting device and method, through the camera preliminary detection of the target, moving to the position through the walking mechanism, picking up through the mechanical arm, and realizing control through the single-chip microcomputer control board, the overall structure is compact, the use method is simple, and the time required for identification and collection of cortex fraxini is reduced;

[0030] (4) The traditional Chinese medicinal material identification collecting device and method, combined with intelligent mechanical design, promotes the whole-process mechanization of cortex fraxinus identification production, which can not only improve the identification efficiency and reduce the labor intensity, but also can reduce the cost of cortex fraxinus identification, quickly meet the demand of the corresponding traditional Chinese medicinal material market, and has important significance for helping the traditional Chinese medicinal material industry to expand the income and develop the intelligent related industry of traditional Chinese medicine identification;

[0031] (5) The traditional Chinese medicinal material identification collecting device and method, the cortex fraxinus and the identification technology of the vast traditional Chinese medicinal materials are combined with artificial intelligence and other information technologies, the needs of intelligentization, non-damage and single grain detection are met, and the foundation for high-quality development of traditional Chinese medicine industry is laid. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a traditional Chinese medicinal material identification collecting device structure schematic diagram of specific embodiment;

[0033] Figure 2 It is a traditional Chinese medicinal material identification collecting device structure schematic diagram of specific embodiment;

[0034] Figure 3 It is Figure 2 The structure schematic diagram of the walking mechanism;

[0035] Figure 4 It is Figure 2 The structure schematic diagram of the collecting mechanism;

[0036] Figure 5 It is Figure 2 The structure schematic diagram of another angle;

[0037] Figure 6 It is Figure 2 The structure schematic diagram of the medicine spraying mechanism;

[0038] Figure 7 It is Figure 2 The top view structure schematic diagram;

[0039] Figure 8 This is a control circuit diagram of the microcontroller control board in the Chinese medicinal herb identification and collection device according to a specific embodiment.

[0040] In the diagram: 1. Chassis; 2. Walking mechanism; 3. Collection mechanism; 4. Spraying mechanism; 5. Identification mechanism; 6. Microcontroller control board;

[0041] 11. Aluminum square tube; 12. Vibration damping plate; 13. Upper vibration damping bracket; 14. Lower vibration damping bracket; 15. Vibration damper; 16. Hinge; 17. Motor bracket; 151. Vibration damping bracket; 152. Spring; 153. End piece;

[0042] 21. Gear motor; 22. Coupling; 23. Transition support; 24. Transition bearing; 25. Motion servo; 26. Support frame I; 27. Support frame II; 28. Support frame III; 29. ​​Foot support; 291. Drive wheel; 292. Gear motor;

[0043] 31. Fixture; 33. Collection servo motor; 34. Robotic arm base; 35. Robotic arm support; 36. Robotic arm connection; 37. Connecting flange; 38. Connecting plate; 39. Cylinder;

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

[0045] 51. Camera; 52. Silicon diode. Detailed Implementation

[0046] To further understand the content of this invention, a detailed description of the invention is provided in conjunction with the accompanying drawings.

[0047] Example 1

[0048] The identification and collection device for Chinese medicinal materials in this embodiment, such as 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 top surface of the chassis 1. The walking mechanism 2 can be an existing straddle type, wheel type or track type, and the collecting mechanism 3 can be an existing robotic arm.

[0049] like Figure 1 , 2, 7, further comprising a pesticide spraying mechanism 4 fixedly connected to the chassis 1, a discrimination mechanism 5, a single-chip microcomputer control board 6, and an ultraviolet lamp irradiation or sunlight irradiation atmosphere covering the top of the Chinese medicinal materials; the pesticide spraying mechanism 4 can adopt an existing sprayer to spray pesticides onto the surface of the Chinese medicinal materials; the discrimination mechanism 5 comprises a camera 51 and a silicon photodiode 52; the camera 51 identifies the Chinese medicinal materials; the silicon photodiode 52 collects fluorescent signals generated after the Chinese medicinal materials are sprayed with pesticides, converts the fluorescent signals into electrical signals, and transmits the electrical signals to the single-chip microcomputer control board 6, which controls the collection mechanism 3 to collect the fluorescent Chinese medicinal materials.

[0050] The discrimination mechanism 5 is based on the fluorescent mechanism of the Chinese medicinal materials:

[0051] Table 1: Fluorescent mechanism of Chinese medicinal materials

[0052]

[0053] Due to various Chinese medicinal materials, different fluorescent signals will be generated after the surfaces of the Chinese medicinal materials are sprayed with special pesticide solutions. For example, the fluorescent signals of cortex fraxini and its adulterants, such as Fraxinus mandshurica and Juglans sigillata, are quite different under sunlight and ultraviolet light after the surfaces of the Chinese medicinal materials are sprayed with 95% ethanol solution. The fluorescent signals of cortex fraxini are respectively bright blue and bright blue-violet. In the case of ultraviolet light irradiation or sunlight irradiation, the fluorescent signals of cortex fraxini and its adulterants are tested after the surfaces of the Chinese medicinal materials are sprayed with ethanol solution through the sprayer under the device. Then, the silicon photodiode 52 in front discriminates the fluorescent signals generated by the ultraviolet light irradiation of cortex fraxini. The collection mechanism 3 collects the fluorescent Chinese medicinal materials discriminated by the discrimination mechanism 5.

[0054] The method for identifying and collecting Chinese medicinal materials in this embodiment comprises the following steps:

[0055] Step one: after the camera 51 collects the target information of the Chinese medicinal materials, the information is transmitted to the single-chip microcomputer control board 6, which controls the entire walking mechanism 2.

[0056] Step two: after the walking mechanism 2 moves the entire device to the target location, the pesticide spraying mechanism 4 sprays pesticides onto the surface of the target Chinese medicinal materials.

[0057] Step three: if the fluorescent test result is dominant, the type of the Chinese medicinal materials is determined, and the rest are adulterants of Chinese medicinal materials.

[0058] Step four: the silicon photodiode 52 receives the fluorescent signals and converts them into electrical signals, which are transmitted to the single-chip microcomputer control board 6.

[0059] Step five: the single-chip microcomputer control board 6 controls the collection mechanism 3 to collect the fluorescent Chinese medicinal materials discriminated by the discrimination mechanism 5.

[0060] Example 2

[0061] The traditional Chinese medicinal material identification collecting device of the embodiment has the same basic structure as that of Embodiment 1, and is different or improved in that, as shown in Figure 2 The chassis 1 includes an aluminum square tube 11, a shock-absorbing plate 12, a shock-absorbing upper support 13, a shock-absorbing lower support 14, a shock absorber 15, and a motor support 17. The shock-absorbing plate 12 and the hinge 16 are connected to the aluminum square tube 11. The shock-absorbing upper support 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 support 13 and the shock-absorbing lower support 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 support 14 and the shock-absorbing upper support 13. The spring 152 is wrapped around the connecting rod, and 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 support 14 is hingedly connected to the bottom of the aluminum square tube 11 through the hinge 16. The hinge 16 is connected to the aluminum square tube 101 through a screw.

[0062] As shown in Figure 3 The walking mechanism 2 includes a speed reducer motor 21, a shaft coupling 22, a conversion support 23, a conversion support 24, a moving steering engine 25, a steering engine support frame, and a foot support 29. The speed reducer motor 21 is installed on the motor support 17. The shaft coupling 22 is connected to the output shaft of the speed reducer motor 21. The conversion support 23 is installed on the shaft coupling 22. The conversion support 24 is installed on the conversion support 23. The conversion support 24 is connected to the moving steering engine 25. The moving steering engine 25 and the foot support 29 are both installed on the steering engine support frame. The moving steering engine 25 is signal-connected to the single-chip microcomputer control panel 6. The moving steering engine 25 and the steering engine support frame are both one-to-one corresponding multiple, which are three in this embodiment, and are respectively installed on the support frame I 26, the support frame II 27, and the support frame III 28. The upper moving steering engine 25 is connected to the conversion support 24. The lower moving steering engine 25 is connected to the foot support 29.

[0063] As shown in Figure 4 , 5 The collecting mechanism 3 is in the form of a mechanical arm, which includes a clamp 31, a collecting steering engine 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 pneumatic cylinder 39. The collecting steering engine 33 is multiple, which is four in this embodiment. The camera 51, the silicon diode 52, and the mechanical arm base 34 are all installed on the chassis shock-absorbing plate 12. One collecting steering engine 33 is installed below the hole of the mechanical arm base 34. One collecting steering engine 33 is installed on the mechanical arm support 35. One collecting steering engine 33 is installed on the mechanical arm connection 36. One collecting steering engine 33 is installed on the connecting flange 37. The connecting plate 38 is connected to the connecting flange 37 through a screw. The pneumatic cylinder 39 is connected to the connecting plate 38 through a screw. The clamp 31 is installed on the outside of the pneumatic cylinder 39.

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

[0065] In order to adapt to different ground environments, the walking mechanism 2 further includes a driving wheel 291 and a speed reduction motor 292; the speed reduction motor 292 is a direct current speed reduction TT motor, which is installed in a side opening of the foot support 29, and the driving wheel 291 is installed on an output shaft of the direct current speed reduction TT motor. All the steering engines are signal connected to the single-chip microcomputer control board 6.

[0066] As shown in the figure, Figure 8 The identification and collection steps of the traditional Chinese medicinal material identification and collection device for the Chinese herbal medicine cortex fraxini are as follows:

[0067] Step one: in the use environment where cortex fraxini and its adulterants need to be identified and collected, turn on the power switch, the device starts to work, first collect target information through the camera 51, judge the position of the target and roughly identify the nature of the target;

[0068] Step two: after the camera 51 collects the target information, the information is transmitted to the single-chip microcomputer control board 6, and then the single-chip microcomputer control board 6 controls the whole walking mechanism 2, and the specific control mode is as follows: the 6 IR300RGU speed reduction motors 21 installed on the speed reduction motor support 17 control the approximate direction of the device, and the specific driving is controlled by the three DS3115 moving steering engines 25, which control the steering engine support frame I 26, the support frame II 27 and the support frame III 28 respectively to realize the rotation freedom degrees in X, Y and Z directions, and two moving modes are designed:

[0069] 1. Move by striding the foot support 29 and the ground, adopt four-foot stride driving, and more stably move to the target position;

[0070] 2. Move by rolling the driving wheel 291 driven by the direct current speed reduction TT motor 292 and the ground, mode one is suitable for complex working environments with uneven ground and obstacles that are not conducive to the rolling of the driving wheel 291. Mode two is suitable for relatively smooth working environments, which can quickly move to the target position.

[0071] Step three: when the device moves to the target location, the nozzle 42 is aimed at the target through the integrated control of the single-chip microcomputer control board 6 and the camera 51, and then the ethanol solution stored in the syringe 45 is sprayed by controlling the electromagnetic valve 43 to open and close through the single-chip microcomputer control board 6. The fluorescence phenomenon is more obvious under sunlight or ultraviolet light irradiation.

[0072] Step four: after the solution is sprayed on the target, wait for a period of time, if the fluorescence test result appears bright blue-violet fluorescence, it is determined that the target is cortex fraxini, and the rest is cortex fraxini adulterants. After it is determined that the target is cortex fraxini, the front silicon photodiode 52 receives the light signal and converts it into an electrical signal to transmit to the single-chip microcomputer control board 6.

[0073] Step five: after the single-chip microcomputer control board 6 receives the signal transmitted by the silicon photodiode 52, the mechanical arm is then controlled, the MG995 collection servo 33 of the mechanical arm base 34 installed on the chassis damping plate 12 is first controlled 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 orientation. After moving to the target location, the clamp 31 is controlled by controlling the opening and closing of the HFZ20 cylinder 39, thereby collecting the target, thus completing the identification and collection of cortex fraxini, a traditional Chinese medicinal material.

[0074] The traditional Chinese medicinal material identification and collection device and method of the embodiment, under the condition of ultraviolet light irradiation or sunlight irradiation atmosphere in front of the device, carries out fluorescence experiment on cortex fraxini and its adulterants by spraying ethanol solution under the device, collects the fluorescence phenomenon generated by the ultraviolet light irradiation on cortex fraxini through the front silicon photodiode 53, ensures the correctness of the identification result, converts the identification result into an electrical signal to transmit to the rear single-chip microcomputer control board 6, and then controls the mechanical arm through the single-chip microcomputer control board 6 to realize the effect of identifying and collecting cortex fraxini, a traditional Chinese medicinal material, thereby reducing the error generated by manual identification; by controlling the rotation of the servo, under the threaded connection relationship between the chassis damping plate and the shock absorber, the spring absorbs the vibration, so that the movement process is relatively smooth, and the device driving leg structure is designed with multiple servos, has large freedom of movement, can realize rotation in X, Y and Z directions, and is designed with two driving modes, which can flexibly switch in complex and variable working environment. The traditional Chinese medicinal material identification and collection device of the embodiment can combine with intelligent mechanical design to promote the whole-process mechanization of cortex fraxini identification production, not only can improve the identification efficiency and reduce the labor intensity, but also can reduce the cost of cortex fraxini identification, quickly meet the demand of the corresponding traditional Chinese medicinal material market, and has important significance for helping the traditional Chinese medicinal material industry to expand the income and develop the intelligent related industry of traditional Chinese medicine identification.

[0075] The above describes the present application and its embodiments in a schematic manner, and the description is not restrictive, and the embodiments shown in the drawings are only one of the embodiments of the present application, and the actual structure and manufacturing steps are not limited thereto. Therefore, if a person of ordinary skill in the art is inspired by the above, without departing from the spirit of the present application, similar structural modes and embodiments are not created by creative design, and all should belong to the protection scope of the present application.

Claims

1. A traditional Chinese medicine material identification and collection device, comprising a base plate (1), a walking mechanism (2) and a collection mechanism (3) connected to the bottom and upper surface of the base plate (1) respectively, characterized in that: It also includes a pesticide spraying mechanism (4) fixedly connected to the base plate (1), a discrimination mechanism (5), and an ultraviolet light irradiation or sunlight irradiation atmosphere covering the top of the traditional Chinese medicinal materials; The pesticide spraying mechanism (4) sprays pesticides onto the surface of the traditional Chinese medicinal materials; The collection mechanism (3) collects the fluorescent traditional Chinese medicinal materials discriminated by the discrimination mechanism (5); It also includes a single-chip microcomputer control panel (6) fixed to the base plate (1); the discrimination mechanism (5) includes a camera (51) and a silicon photodiode (52); the camera (51) identifies the traditional Chinese medicinal materials; the silicon photodiode (52) collects the fluorescent signals generated after the traditional Chinese medicinal materials are sprayed with pesticides, converts the fluorescent signals into electrical signals, and transmits the electrical signals to the single-chip microcomputer control panel (6); the single-chip microcomputer control panel (6) controls the collection mechanism (3) to collect the fluorescent traditional Chinese medicinal materials. The base plate (1) includes an aluminum square tube (11), a shock-absorbing plate (12), a shock-absorbing upper support (13), a shock-absorbing lower support (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 support (13) and the motor support (17) are both connected to the shock-absorbing plate (12), and the shock absorber (15) is connected between the shock-absorbing upper support (13) and the shock-absorbing lower support (14); the rear end of the shock-absorbing lower support (14) is hingedly connected to the bottom of the aluminum square tube (11). The collection mechanism (3) includes a clamp (31), a collection servo (33), a mechanical arm base (34), a mechanical arm support (35), a mechanical arm connection (36), a connection flange (37), a connection plate (38), and a pneumatic cylinder (39). The camera (51), the silicon photodiode (52), and the mechanical arm base (34) are all mounted on the shock-absorbing plate (12); the collection servo (33) is provided in multiple numbers, one of which is mounted below the mechanical arm base (34), another of which is mounted on the mechanical arm support (35), another of which is mounted on the mechanical arm connection (36), another of which is mounted on the connection flange (37), the connection plate (38) is connected to the connection flange (37), the pneumatic cylinder (39) is connected to the connection plate (38), and the clamp (31) is mounted on the outside of the pneumatic cylinder (39).

2. The authentication collection apparatus according to claim 1, characterized by: The walking mechanism (2) includes a speed reducer motor (21), a shaft coupling (22), a conversion support (23), a conversion support (24), a movement servo (25), a servo support frame, and a foot support (29); the speed reducer motor (21) is mounted on the motor support (17), the shaft coupling (22) is connected to the output shaft of the speed reducer motor (21), the conversion support (23) is mounted on the shaft coupling (22), the conversion support (24) is mounted on the conversion support (23), the conversion support (24) is connected to the movement servo (25), and the movement servo (25) and the foot support (29) are both mounted on the servo support frame; the movement servo (25) is signal-connected to the single-chip microcomputer control panel (6).

3. The authenticating collection device of claim 2, wherein: The movement servo (25) and the servo support frame are both provided in one-to-one correspondence in multiple numbers, the uppermost movement servo (25) is connected to the conversion support (24), and the lowermost movement servo (25) is connected to the foot support (29).

4. The authenticating collection device of claim 3, wherein: The pesticide spraying mechanism (4) comprises a mounting seat (41), a spraying head (42), an electromagnetic 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 damping plate (12), the spraying head (42) is connected with one end of the connecting pipe (44) through the electromagnetic valve (43), the other end of the connecting pipe (44) is connected with the syringe (45), and the electromagnetic valve (43) and the syringe (45) are respectively mounted on the mounting seat (41) and the supporting plate (46).

5. The traditional Chinese medicinal material identification and collection method of claim 4, characterized in that: After the camera (51) collects the target information of the traditional Chinese medicinal material, the information is transmitted to the single-chip microcomputer control board (6), and then the single-chip microcomputer control board (6) controls the whole walking mechanism (2); After the walking mechanism (2) drives the whole device to move to the target position, the pesticide spraying mechanism (4) sprays pesticides to the surface of the target traditional Chinese medicinal material; If the fluorescence test result shows dominant fluorescence, the target type of the traditional Chinese medicinal material is determined, and the rest are counterfeit traditional Chinese medicinal materials; The identification mechanism (5) receives the fluorescence signal and converts it into an electric signal to be transmitted to the single-chip microcomputer control board (6); The single-chip microcomputer control board (6) controls the collection mechanism (3) to collect the traditional Chinese medicinal material with dominant fluorescence identified by the identification mechanism (5).

Images