Intelligent recognition system for traditional Chinese medicine grabbing

Abstract

The invention discloses a traditional Chinese medicine grabbing intelligent recognition system which comprises a first conveying belt, a traditional Chinese medicine receiving hopper, a second conveying belt, a third conveying belt, a first laser device, a mechanical grabbing device, a vibration detection device and a controller. The traditional Chinese medicine is pushed to the second conveying belt, the mechanical grabbing device grabs the traditional Chinese medicine to the third conveying belt through hollow arrangement and stable movement after the image collecting device obtains the position of the traditional Chinese medicine, and the third conveying belt conveys the traditional Chinese medicine to the position corresponding to the variety of the traditional Chinese medicine. The vibration detection device is used for monitoring vibration information of the traditional Chinese medicine grabbing intelligent recognition system during operation, a vibration threshold value is stored in the controller, and if the vibration information received by the controller is larger than the vibration threshold value, the controller controls the traditional Chinese medicine grabbing intelligent recognition system to stop operating.

Description

Technical Field

[0001] The present invention relates to the technical field of traditional Chinese medicine position testing, and in particular to a traditional Chinese medicine grabbing intelligent recognition system. Background Art

[0002] In the prior art, there are two ways to grab Chinese medicine, namely manual operation grabbing and machine automatic grabbing. Manual operation grabbing is for the staff to input the information of Chinese medicine on the operation panel and manually place the corresponding Chinese medicine in the corresponding medicine box slot. The staff needs to perform a lot of repeated operations, which consumes a lot of time and manpower and is inefficient. Automatic machine grabbing requires accurate judgment of the position of Chinese medicine, which requires image analysis, that is, complex algorithms such as coordinate transformation. In addition, when there are a large number of Chinese medicines, stacking will occur, the image acquisition accuracy will be seriously damaged, and the cost of the device will be higher. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and effectively solve the problems in the background technology.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] The Chinese medicine grabbing intelligent identification system comprises a first conveyor belt, a Chinese medicine receiving bucket, a second conveyor belt, a third conveyor belt, a first laser, a mechanical grabbing device, a vibration detection device and a controller.

[0006] The Chinese medicine is placed on the first conveyor belt, and the Chinese medicine receiving bucket is arranged below the first conveyor belt. The first conveyor belt transmits the Chinese medicine to the Chinese medicine receiving bucket. The second conveyor belt is arranged below the Chinese medicine receiving bucket. The Chinese medicine receiving bucket pushes the Chinese medicine to the second conveyor belt. The second conveyor belt is provided with a first laser. When the Chinese medicine passes through the position of the first laser, the controller controls the first conveyor belt, the Chinese medicine receiving bucket and the second conveyor belt to stop working. The mechanical grasping device is provided with an image acquisition device. The position and image of the Chinese medicine are obtained by the image acquisition device. The image acquisition device transmits the collected position and image of the Chinese medicine to the controller. The controller controls the mechanical grasping device to grasp the Chinese medicine to the third conveyor belt. The controller controls the first conveyor belt, the Chinese medicine receiving bucket, the second conveyor belt and the third conveyor belt to start working. Different Chinese medicine image information is stored in the controller. The controller compares the received Chinese medicine image with the stored image to obtain the Chinese medicine variety. The controller controls the third conveyor belt to transmit the Chinese medicine to the position corresponding to its variety.

[0007] The vibration detection device is used to monitor the vibration information of the Chinese medicine grasping intelligent identification system during operation, and transmit the detected vibration information to the controller. A vibration threshold is stored in the controller. If the vibration information received by the controller is greater than the vibration threshold, the controller controls the Chinese medicine grasping intelligent identification system to stop running.

[0008] Preferably, a second laser is also provided on the first conveyor belt. When Chinese medicine passes through the second laser, the controller receives the Chinese medicine transmission signal, and the controller tests the Chinese medicine receiving bucket, the second conveyor belt, the mechanical grasping device and the third conveyor belt. If it is abnormal, the controller controls the Chinese medicine grasping intelligent identification system to stop operating.

[0009] Preferably, the Chinese medicine receiving bucket includes a bottom plate, a first push plate, a second push plate, a first pusher and a second pusher, wherein the bottom plate is arranged at the bottom layer, the second push plate is arranged above the bottom plate, and the first push plate is arranged above the second push plate. When the first conveyor belt conveys the Chinese medicine to the Chinese medicine receiving bucket, the first pusher pushes the first push plate to move forward. After the second push plate receives the Chinese medicine, the second pusher pushes the second push plate to move forward to push the Chinese medicine to the second conveyor belt.

[0010] Preferably, a pressure sensor is provided on the first propulsion plate. When no Chinese medicine falls into the Chinese medicine receiving bucket, the pressure sensor monitors the pressure value to be 0. The pressure sensor transmits the collected pressure signal to the controller. When the controller receives the signal that the pressure value is 0, the controller controls the first propeller and the second propeller to stop operating. When Chinese medicine is transmitted to the Chinese medicine receiving bucket, the pressure sensor collects the corresponding pressure signal, and the controller controls the first propeller to operate, and then controls the second propeller to operate after a preset interval time.

[0011] Preferably, the mechanical grasping device includes a stabilizing platform, a driving motor, a first robotic arm, a second robotic arm and an actuator. The stabilizing platform is movably arranged on the guide rail above the second conveyor belt. The stabilizing platform moves perpendicular to the running direction of the second conveyor belt. The driving motor drives the first robotic arm to move. The first robotic arm is connected to the second robotic arm. The first robotic arm drives the second robotic arm to move. The number of the driving motor, the first robotic arm and the second robotic arm is three each. The actuator is connected to the three second robotic arms. The three second robotic arms drive the actuator to move.

[0012] Preferably, the angles between the mounting seats of the three drive motors of the actuator are 120°.

[0013] Preferably, the middle part of the stabilizing platform is a circular hollow structure, and the middle part of the actuator is also a circular hollow structure. The centers of the circular hollow structure of the stabilizing platform and the circular hollow structure of the actuator are in the same straight line. The image acquisition device is arranged in the circular hollow structure of the stabilizing platform. When Chinese medicine passes through the position of the first laser, the controller controls the second conveyor belt to stop operating, and the mechanical grasping device moves along the guide rail until the image acquisition device acquires the image information of the Chinese medicine through the circular hollow structure of the actuator. The image acquisition device sends the position of the Chinese medicine and the image of the Chinese medicine to the controller. An adsorption device is arranged on the side of the actuator facing the second conveyor belt. After receiving the Chinese medicine position signal sent by the image acquisition device, the controller controls the drive motor to move, and the second mechanical arm drives the actuator to move vertically downward. After the actuator grasps the Chinese medicine, the actuator places the Chinese medicine on the third conveyor belt.

[0014] Preferably, the second mechanical arm is connected to the first mechanical arm and the actuator via a ball joint.

[0015] Preferably, the vibration detection device includes a vibration sensor and a signal processing circuit, wherein the vibration sensor is connected to the signal processing circuit; the signal processing circuit includes capacitors C1-C10, resistors R1-R15 and 6 operational amplifiers, wherein the output end of the vibration sensor is connected to one end of the capacitor C1, the other end of the capacitor C1 is connected to one end of the capacitor C2, the other end of the capacitor C1 is connected to one end of the resistor R1, one end of the resistor R2 is grounded, the other end of the resistor R2 is connected to the other end of the capacitor C2, the other end of the capacitor C2 is connected to the non-inverting input end of the first operational amplifier, the other end of the resistor R1 is connected to the inverting input end of the first operational amplifier, the other end of the resistor R1 is also connected to the output end of the first operational amplifier, and the first operational amplifier The output end of the amplifier is connected to one end of the capacitor C3, the other end of the capacitor C3 is connected to one end of the capacitor C4, the other end of the capacitor C3 is connected to one end of the resistor R3, one end of the resistor R4 is grounded, the other end of the resistor R4 is connected to the other end of the capacitor C4, the other end of the capacitor C4 is connected to the non-inverting input end of the second operational amplifier, the other end of the resistor R4 is connected to the inverting input end of the second operational amplifier, the other end of the resistor R4 is also connected to the output end of the second operational amplifier, the output end of the second operational amplifier is connected to one end of the capacitor C5, the other end of the capacitor C5 is connected to one end of the capacitor C6, the other end of the capacitor C5 is connected to one end of the resistor R5, one end of the resistor R6 is grounded, and the other end of the resistor R6 is connected to the other end of the capacitor C6. The other end of the capacitor C6 is connected to the non-inverting input terminal of the third operational amplifier, the other end of the resistor R5 is connected to the inverting input terminal of the third operational amplifier, the other end of the resistor R5 is also connected to the output terminal of the third operational amplifier, the output terminal of the third operational amplifier is connected to one end of the resistor R7, the other end of the resistor R7 is connected to one end of the resistor R9, the other end of the resistor R9 is connected to the inverting input terminal of the fourth operational amplifier, one end of the resistor R8 is connected to one end of the capacitor C7, one end of the capacitor C7 is connected to the output terminal of the fourth operational amplifier, the other end of the resistor R8 is connected to the other end of the resistor R7, the other end of the capacitor C7 is connected to the inverting input terminal of the fourth operational amplifier, one end of the capacitor C8 is grounded, and the other end of the capacitor C8 is connected to the resistor R9 The output terminal of the fourth operational amplifier is connected to one end of the resistor R10, the other end of the resistor R10 is connected to one end of the resistor R12, the other end of the resistor R12 is connected to the inverting input terminal of the fifth operational amplifier, one end of the resistor R11 is connected to one end of the capacitor C9, one end of the capacitor C9 is connected to the output terminal of the fifth operational amplifier, the other end of the resistor R11 is connected to the other end of the resistor R10, the other end of the capacitor C9 is connected to the inverting input terminal of the fifth operational amplifier, one end of the capacitor C10 is grounded, the other end of the capacitor C10 is connected to one end of the resistor R12, the inverting input terminal of the fifth operational amplifier is grounded, and the output terminal of the fifth operational amplifier is connected to the resistor R13.One end of the resistor R13 is connected to the inverting input end of the sixth operational amplifier, one end of the resistor R14 is connected to the inverting input end of the sixth operational amplifier, the other end of the resistor R14 is connected to the output end of the sixth operational amplifier, one end of the resistor R15 is grounded, the other end of the resistor R15 is connected to the non-inverting input end of the sixth operational amplifier, and the output end of the sixth operational amplifier is wirelessly connected to the controller.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The Chinese medicine grabbing intelligent identification system provided by the present invention has a Chinese medicine receiving bucket with a two-layer propulsion structure, which can effectively avoid the stacking of Chinese medicines. The hollow design of the mechanical grabbing device and the image acquisition device obtain the position information of the Chinese medicine through two hollow structures, which can effectively and simply solve the problem of Chinese medicine positioning without complex positioning calculations. The grabbing structure setting of the mechanical grabbing device can effectively ensure the stable movement of the actuator. The vibration detection device includes a vibration sensor and a signal processing circuit, and the signal processing circuit can effectively solve the problem of weak vibration signals being interfered by high and low frequency noises. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0019] Figure 1 This is a structural diagram of a Chinese medicine grabbing intelligent recognition system of the present invention.

[0020] Figure 2 This is a structural diagram of a Chinese medicine receiving bucket of a Chinese medicine grabbing intelligent identification system of the present invention.

[0021] Figure 3 This is a structural diagram of a mechanical grasping device of a traditional Chinese medicine grasping intelligent identification system of the present invention.

[0022] Figure 4 This is a structural diagram of a stable platform of a Chinese medicine grabbing intelligent identification system of the present invention.

[0023] Figure 5 This is a structural diagram of the first mechanical arm of a traditional Chinese medicine grabbing intelligent identification system of the present invention.

[0024] Figure 6 This is a structural diagram of the second mechanical arm of a traditional Chinese medicine grabbing intelligent identification system of the present invention.

[0025] Figure 7 The present invention is a signal processing circuit diagram of a Chinese medicine grabbing intelligent identification system.

[0026] Figure markings: 1-first conveyor belt, 2-traditional Chinese medicine receiving bucket, 3-second conveyor belt, 4-third conveyor belt, 5-first laser, 6-mechanical grasping device, 7-vibration detection device, 8-second laser, 9-bottom plate, 10-first propulsion plate, 11-second propulsion plate, 12-first propeller, 13-second propeller, 14-stabilizing platform, 15-driving motor, 16-first robotic arm, 17-second robotic arm, 18-actuator. DETAILED DESCRIPTION

[0027] The present invention is further described below in conjunction with specific embodiments, wherein the accompanying drawings are only used for exemplary descriptions and represent only schematic diagrams rather than actual drawings, and should not be understood as limitations on this patent. In order to better illustrate the specific embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted. Based on the specific embodiments of the present invention, all other specific embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, in the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The present invention is further explained below in conjunction with specific implementation methods.

[0029] like Figure 1 As shown, a Chinese medicine grabbing intelligent identification system includes a first conveyor belt 1, a Chinese medicine receiving bucket 2, a second conveyor belt 3, a third conveyor belt 4, a first laser 5, a mechanical grabbing device 6, a vibration detection device 7 and a controller.

[0030] Traditional Chinese medicine is placed on the first conveyor belt 1, and the traditional Chinese medicine receiving bucket 2 is arranged below the first conveyor belt 1. The first conveyor belt 1 transmits the traditional Chinese medicine to the traditional Chinese medicine receiving bucket 2. The second conveyor belt 3 is arranged below the traditional Chinese medicine receiving bucket 2. The traditional Chinese medicine receiving bucket 2 pushes the traditional Chinese medicine to the second conveyor belt 3. The second conveyor belt 3 is provided with a first laser 5. When the traditional Chinese medicine passes through the position of the first laser 5, the controller controls the first conveyor belt 1, the traditional Chinese medicine receiving bucket 2 and the second conveyor belt 3 to stop working. The mechanical grasping device 6 is provided with an image acquisition device. The position and image of the traditional Chinese medicine are obtained by the image acquisition device. The image acquisition device transmits the collected position and image of the traditional Chinese medicine to the controller. The controller controls the mechanical grasping device 6 to grab the traditional Chinese medicine to the third conveyor belt 4. The controller controls the first conveyor belt 1, the traditional Chinese medicine receiving bucket 2, the second conveyor belt 3 and the third conveyor belt 4 to start working. Different traditional Chinese medicine image information is stored in the controller. The controller compares the received traditional Chinese medicine image with the stored image to obtain the variety of traditional Chinese medicine. The controller controls the third conveyor belt 4 to transmit the traditional Chinese medicine to the position corresponding to its variety.

[0031] The vibration detection device 7 is used to monitor the vibration information of the Chinese medicine grasping intelligent identification system during operation, and transmit the detected vibration information to the controller. A vibration threshold is stored in the controller. If the vibration information received by the controller is greater than the vibration threshold, the controller controls the Chinese medicine grasping intelligent identification system to stop running.

[0032] Specifically, when the Chinese medicine grabbing intelligent identification system is not operating, the Chinese medicine grabbing intelligent identification system is in a preparation stage, the first conveyor belt 1, the second conveyor belt 3 and the third conveyor belt 4 are in a standby state, and the Chinese medicine receiving bucket 2 and the mechanical grabbing device 6 are in a reset state.

[0033] like Figure 2 As shown, a second laser 8 is also provided on the first conveyor belt 1. When Chinese medicine passes through the second laser 8, the controller receives a Chinese medicine transmission signal, indicating that Chinese medicine is being transmitted.

[0034] Specifically, the first laser 5 and the second laser 8 each include a laser emitting device and a laser receiving device. When Chinese medicine passes through, the Chinese medicine blocks the laser emitted by the laser emitting device, causing the laser receiving device to be unable to receive the laser signal emitted by the laser emitting device. As a result, the laser receiving device transmits the signal that Chinese medicine has passed through to the controller. The difference is that when the controller receives the signal that Chinese medicine has passed through emitted by the laser receiving device of the first laser 5, the controller controls the first conveyor belt 1, the Chinese medicine receiving bucket 2 and the second conveyor belt 3 to stop operating. When the controller receives the signal that Chinese medicine has passed through emitted by the laser receiving device of the second laser 8, the controller tests the Chinese medicine receiving bucket 2, the second conveyor belt 3, the mechanical grasping device 6 and the third conveyor belt 4 to test whether they are normal. If not, the Chinese medicine grasping intelligent identification system is controlled to stop operating, and a fault signal is sent to the operator to remind the operator to perform maintenance.

[0035] like Figure 2 As shown, the Chinese medicine receiving bucket 2 includes a bottom plate 9, a first pusher plate 10, a second pusher plate 11, a first pusher 12 and a second pusher 13, wherein the bottom plate 9 is arranged at the bottom layer, the second pusher plate 11 is arranged above the bottom plate 9, and the first pusher plate 10 is arranged above the second pusher plate. When the first conveyor belt 1 conveys the Chinese medicine to the Chinese medicine receiving bucket 2, the first pusher 12 pushes the first pusher plate 10 to move forward to transfer part of the Chinese medicine to the second pusher plate 11. After the second pusher plate 11 receives the Chinese medicine, the second pusher 13 pushes the second pusher plate 11 to move forward to push the Chinese medicine to the second conveyor belt 3.

[0036] Specifically, since the first pusher plate 10 is arranged on the topmost layer, a pressure sensor is arranged on the first pusher plate 10. When no Chinese medicine falls into the Chinese medicine receiving bucket 2, the pressure value monitored by the pressure sensor is 0, and the pressure sensor transmits the collected pressure signal to the controller. When the controller receives the signal that the pressure value is 0, the controller controls the first pusher 12 and the second pusher 13 to stop working. When Chinese medicine is transmitted to the Chinese medicine receiving bucket 2, the pressure sensor collects the corresponding pressure signal, that is, the pressure value is not 0, then the controller controls the first pusher 12 to work, and controls the second pusher 13 to work after a preset interval time (such as 1s). Since the first pusher plate 10 and the second pusher plate 11 push the Chinese medicine in turn, the stacking caused by too much Chinese medicine falling into the Chinese medicine receiving bucket 2 can be effectively avoided, thereby improving the accuracy of the image collected by the subsequent image acquisition device.

[0037] like Figure 3As shown, the mechanical grasping device 6 includes a stabilizing platform 14, a driving motor 15, a first robotic arm 16, a second robotic arm 17 and an actuator 18. The stabilizing platform 14 is movably arranged on the guide rail above the second conveyor belt 3. The stabilizing platform 14 moves perpendicular to the running direction of the second conveyor belt 3. The driving motor 15 drives the first robotic arm 16 to move. The first robotic arm 16 is connected to the second robotic arm 17. The first robotic arm 16 drives the second robotic arm 17 to move. The number of the driving motor 15, the first robotic arm 16 and the second robotic arm 17 are all 3. The actuator 18 is connected to the 3 second robotic arms 17. The 3 second robotic arms 17 drive the actuator 18 to move.

[0038] Specifically, the mechanical grasping device 6 is a parallel structure. The first mechanical arm 16 is driven by the drive motor 15 and can be regarded as a connecting rod, which can generate rotational motion around the axis of the motor. The second mechanical arm 17 is composed of a group of connecting rods with parallel and equal opposite sides, satisfying the parallelogram characteristics. Therefore, the straight line connecting the contact points of the second mechanical arm 17 and the actuator 18 is parallel to the axis of the drive motor 15. Since the three intersecting straight lines in the same plane are parallel to the axis of each axis, the posture of the actuator 18 will be parallel to the top mounting platform.

[0039] Specifically, the first mechanical arm 16 and the second mechanical arm 17 are connected and combined via a spherical hinge.

[0040] Specifically, the angle between the mounting seats of the three drive motors 15 of the actuator 18 is 120°.

[0041] like Figure 4-6 As shown, the middle part of the stable platform 14 is a circular hollow structure, the middle part of the actuator 18 is also a circular hollow structure, the circular hollow structure of the stable platform 14 and the circular hollow structure of the actuator 18 are in the same straight line, and the image acquisition device is arranged on the circular hollow structure of the stable platform 14. When Chinese medicine passes through the position of the first laser 5, the controller controls the second conveyor belt 3 to stop working, and the mechanical grasping device 6 moves along the guide rail until the image acquisition device acquires the image information of the Chinese medicine through the circular hollow structure of the actuator 18. At this time, it indicates that the Chinese medicine has been mechanically Directly below the grabbing device 6, the image acquisition device sends the position and image of the Chinese medicine to the controller. The actuator 18 is provided with an adsorption device on the side facing the second conveyor belt 3. After receiving the Chinese medicine position signal sent by the image acquisition device, the controller controls the drive motor 15 to move, and the drive motor 15 drives the first robotic arm 16 to move. The three first robotic arms 16 drive the three second robotic arms 17 to move, and the three second robotic arms 17 drive the actuator 18 to move vertically downward. After the actuator 18 grabs the Chinese medicine, the actuator 18 places the Chinese medicine on the third conveyor belt 4.

[0042] Specifically, the adsorption device is a movable mechanical structure, which can place the adsorbed Chinese medicine on the third conveyor belt 4, wherein the movable mechanical structure can be an adsorption device with a multi-degree-of-freedom telescopic rod.

[0043] Specifically, the first mechanical arm 16 is used to transmit the torque of the drive motor 15 to the second mechanical arm 17 . The large end of the first mechanical arm 16 is connected to the shaft of the drive motor 15 via a flange, and the small end of the first mechanical arm 16 is connected to the second mechanical arm 17 via a spherical hinge.

[0044] Specifically, the second mechanical arm 17 is connected to the first mechanical arm 16 and the actuator 18 via a ball joint.

[0045] Specifically, the vibration detection device 7 is used to monitor the vibration information of the Chinese medicine grasping intelligent identification system during operation. The vibration detection device 7 includes a vibration sensor and a signal processing circuit. The vibration sensor is connected to the signal processing circuit, and the signal processing circuit is wirelessly connected to the controller.

[0046] like Figure 7As shown, the signal processing circuit includes capacitors C1-C10, resistors R1-R15 and 6 operational amplifiers, wherein the output end of the vibration sensor is connected to one end of the capacitor C1, the other end of the capacitor C1 is connected to one end of the capacitor C2, the other end of the capacitor C1 is connected to one end of the resistor R1, one end of the resistor R2 is grounded, the other end of the resistor R2 is connected to the other end of the capacitor C2, the other end of the capacitor C2 is connected to the non-inverting input end of the first operational amplifier, the other end of the resistor R1 is connected to the inverting input end of the first operational amplifier, the other end of the resistor R1 is also connected to the output end of the first operational amplifier, the output end of the first operational amplifier is connected to one end of the capacitor C3, the other end of the capacitor C3 is connected to one end of the capacitor C4, The other end of the capacitor C3 is connected to one end of the resistor R3, one end of the resistor R4 is grounded, the other end of the resistor R4 is connected to the other end of the capacitor C4, the other end of the capacitor C4 is connected to the non-inverting input terminal of the second operational amplifier, the other end of the resistor R4 is connected to the inverting input terminal of the second operational amplifier, the other end of the resistor R4 is also connected to the output terminal of the second operational amplifier, the output terminal of the second operational amplifier is connected to one end of the capacitor C5, the other end of the capacitor C5 is connected to one end of the capacitor C6, the other end of the capacitor C5 is connected to one end of the resistor R5, one end of the resistor R6 is grounded, the other end of the resistor R6 is connected to the other end of the capacitor C6, the other end of the capacitor C6 is connected to the non-inverting input terminal of the third operational amplifier, the other end of the resistor R5 is connected to the inverting input terminal of the third operational amplifier, and the other end of the resistor R5 is connected to the inverting input terminal of the third operational amplifier. The other end of the resistor R5 is connected to the inverting input terminal of the third operational amplifier, the other end of the resistor R5 is also connected to the output terminal of the third operational amplifier, the output terminal of the third operational amplifier is connected to one end of the resistor R7, the other end of the resistor R7 is connected to one end of the resistor R9, the other end of the resistor R9 is connected to the inverting input terminal of the fourth operational amplifier, one end of the resistor R8 is connected to one end of the capacitor C7, one end of the capacitor C7 is connected to the output terminal of the fourth operational amplifier, the other end of the resistor R8 is connected to the other end of the resistor R7, the other end of the capacitor C7 is connected to the inverting input terminal of the fourth operational amplifier, one end of the capacitor C8 is grounded, the other end of the capacitor C8 is connected to one end of the resistor R9, the non-inverting input terminal of the fourth operational amplifier is grounded, and the fourth operational amplifier is connected to the ground. The output end of the amplifier is connected to one end of the resistor R10, the other end of the resistor R10 is connected to one end of the resistor R12, the other end of the resistor R12 is connected to the inverting input end of the fifth operational amplifier, one end of the resistor R11 is connected to one end of the capacitor C9, one end of the capacitor C9 is connected to the output end of the fifth operational amplifier, the other end of the resistor R11 is connected to the other end of the resistor R10, the other end of the capacitor C9 is connected to the inverting input end of the fifth operational amplifier, one end of the capacitor C10 is grounded, the other end of the capacitor C10 is connected to one end of the resistor R12, the non-inverting input end of the fifth operational amplifier is grounded, the output end of the fifth operational amplifier is connected to the resistor R13, one end of the resistor R13 is connected to the inverting input end of the sixth operational amplifier,One end of the resistor R14 is connected to the inverting input end of the sixth operational amplifier, the other end of the resistor R14 is connected to the output end of the sixth operational amplifier, one end of the resistor R15 is grounded, the other end of the resistor R15 is connected to the non-inverting input end of the sixth operational amplifier, and the output end of the sixth operational amplifier is wirelessly connected to the controller.

[0047] Specifically, in order to solve the problem that the collected weak vibration signal is interfered by high and low frequency noise, the present invention designs a high-order active bandpass filter formed by cascading a sixth-order active high-pass filter and a fourth-order active low-pass filter, which is used to obtain a vibration signal with higher accuracy.

[0048] According to the intelligent identification system for grasping traditional Chinese medicine provided by the present invention, the traditional Chinese medicine receiving bucket 2 adopts a two-layer propulsion structure, which can effectively avoid the stacking of traditional Chinese medicines. The hollow design of the mechanical grasping device 6 and the image acquisition device obtain the position information of the traditional Chinese medicine through two hollow structures can effectively and simply solve the problem of positioning the traditional Chinese medicine without the need for complex positioning calculations. The grasping structure setting of the mechanical grasping device 6 can effectively ensure the stable movement of the actuator 18. The vibration detection device 7 includes a vibration sensor and a signal processing circuit. The signal processing circuit can effectively solve the problem of weak vibration signals being interfered by high and low frequency noise.

[0049] The above is a preferred embodiment of the present invention. The basic principles, main features and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for illustrating the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which shall fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A Chinese medicine grabbing intelligent identification system, the Chinese medicine grabbing intelligent identification system comprising a first conveyor belt (1), a Chinese medicine receiving bucket (2), a second conveyor belt (3), a third conveyor belt (4), a first laser (5), a mechanical grabbing device (6), a vibration detection device (7) and a controller; The Chinese medicine is placed on a first conveyor belt (1), a Chinese medicine receiving bucket (2) is arranged below the first conveyor belt (1), the first conveyor belt (1) conveys the Chinese medicine to the Chinese medicine receiving bucket (2), the second conveyor belt (3) is arranged below the Chinese medicine receiving bucket (2), the Chinese medicine receiving bucket (2) pushes the Chinese medicine to the second conveyor belt (3), a first laser (5) is arranged on the second conveyor belt (3), when the Chinese medicine passes the position of the first laser (5), the controller controls the first conveyor belt (1), the Chinese medicine receiving bucket (2) and the second conveyor belt (3) to stop working, and an image acquisition device (6) is arranged on the mechanical grasping device (6) The collecting device acquires the position and image of the Chinese medicine through the image acquisition device, the image acquisition device transmits the acquired position and image of the Chinese medicine to the controller, the controller controls the mechanical grasping device (6) to grasp the Chinese medicine to the third conveyor belt (4), the controller controls the first conveyor belt (1), the Chinese medicine receiving bucket (2), the second conveyor belt (3) and the third conveyor belt (4) to start operation, the controller stores different Chinese medicine image information, the controller compares the received Chinese medicine image with the stored image to acquire the Chinese medicine variety, and the controller controls the third conveyor belt (4) to convey the Chinese medicine to the position corresponding to its variety; The vibration detection device (7) is used to monitor the vibration information of the Chinese medicine grabbing intelligent identification system during operation, and transmit the detected vibration information to the controller. A vibration threshold is stored in the controller. If the vibration information received by the controller is greater than the vibration threshold, the controller controls the Chinese medicine grabbing intelligent identification system to stop operating.

2. The intelligent identification system for grabbing traditional Chinese medicine according to claim 1 is characterized in that: A second laser (8) is also provided on the first conveyor belt (1). When Chinese medicine passes through the second laser (8), the controller receives a Chinese medicine transmission signal and tests the Chinese medicine receiving bucket (2), the second conveyor belt (3), the mechanical grasping device (6) and the third conveyor belt (4). If the conditions are abnormal, the controller controls the Chinese medicine grasping intelligent identification system to stop operating.

3. The intelligent identification system for grabbing traditional Chinese medicine according to claim 1 is characterized in that: The Chinese medicine receiving bucket (2) comprises a bottom plate (9), a first propulsion plate (10), a second propulsion plate (11), a first propeller (12) and a second propeller (13), wherein the bottom plate (9) is arranged at the bottom layer, the second propulsion plate (11) is arranged above the bottom plate (9), and the first propulsion plate (10) is arranged above the second propulsion plate (11). When the first conveyor belt (1) conveys the Chinese medicine to the Chinese medicine receiving bucket (2), the first propeller (12) pushes the first propulsion plate (10) to move forward, and after the second propulsion plate (11) receives the Chinese medicine, the second propeller (13) pushes the second propulsion plate (11) to move forward, thereby pushing the Chinese medicine to the second conveyor belt (3).

4. The intelligent identification system for grabbing traditional Chinese medicine according to claim 3 is characterized in that: A pressure sensor is provided on the first propulsion plate (10). When no Chinese medicine falls into the Chinese medicine receiving bucket (2), the pressure value monitored by the pressure sensor is 0. The pressure sensor transmits the collected pressure signal to the controller. When the controller receives a signal indicating that the pressure value is 0, the controller controls the first propeller (12) and the second propeller (13) to stop operating. When Chinese medicine is transmitted to the Chinese medicine receiving bucket (2), the pressure sensor collects a corresponding pressure signal, and the controller controls the first propeller (12) to operate, and then controls the second propeller (13) to operate after a preset interval time.

5. The intelligent identification system for grabbing traditional Chinese medicine according to claim 1 is characterized in that: The mechanical grasping device (6) comprises a stabilizing platform (14), a driving motor (15), a first mechanical arm (16), a second mechanical arm (17) and an actuator (18); the stabilizing platform (14) is movably arranged on a guide rail above the second conveyor belt (3); the stabilizing platform (14) moves in a direction perpendicular to the running direction of the second conveyor belt (3); the driving motor (15) drives the first mechanical arm (16) to move; the first mechanical arm (16) is connected to the second mechanical arm (17); the first mechanical arm (16) drives the second mechanical arm (17) to move; the number of the driving motor (15), the first mechanical arm (16) and the second mechanical arm (17) are all three; the actuator (18) is connected to the three second mechanical arms (17); the three second mechanical arms (17) drive the actuator (18) to move.

6. The intelligent identification system for grabbing Chinese medicine according to claim 5 is characterized in that: The angle between the mounting seats of the three driving motors (15) of the actuator (18) is 120 degrees.

7. The intelligent identification system for grabbing Chinese medicine according to claim 5 is characterized in that: The middle part of the stabilizing platform (14) is a circular hollow structure, and the middle part of the actuator (18) is also a circular hollow structure. The centers of the circular hollow structures of the stabilizing platform (14) and the actuator (18) are in the same straight line. The image acquisition device is arranged in the circular hollow structure of the stabilizing platform (14). When Chinese medicine passes through the position of the first laser (5), the controller controls the second conveyor belt (3) to stop working, and the mechanical grasping device (6) moves along the guide rail until the image acquisition device acquires the image information of the Chinese medicine through the circular hollow structure of the actuator (18). The image acquisition device sends the position of the Chinese medicine and the image of the Chinese medicine to the controller. The actuator (18) is provided with an adsorption device on one side facing the second conveyor belt (3). After receiving the Chinese medicine position signal sent by the image acquisition device, the controller controls the driving motor (15) to move, and the second mechanical arm (17) drives the actuator (18) to move vertically downward. After the actuator (18) grasps the Chinese medicine, the actuator (18) places the Chinese medicine on the third conveyor belt (4).

8. The intelligent identification system for grabbing traditional Chinese medicine according to claim 7 is characterized in that: The second mechanical arm (17) is connected to the first mechanical arm (16) and the actuator (18) via a spherical hinge.

9. The intelligent identification system for grabbing Chinese medicine according to claim 1, characterized in that: The vibration detection device (7) comprises a vibration sensor and a signal processing circuit, wherein the vibration sensor is connected to the signal processing circuit; the signal processing circuit comprises capacitors C1-C10, resistors R1-R15 and 6 operational amplifiers, wherein the output end of the vibration sensor is connected to one end of the capacitor C1, the other end of the capacitor C1 is connected to one end of the capacitor C2, the other end of the capacitor C1 is connected to one end of the resistor R1, one end of the resistor R2 is grounded, the other end of the resistor R2 is connected to the other end of the capacitor C2, the other end of the capacitor C2 is connected to the non-inverting input end of the first operational amplifier, the other end of the resistor R1 is connected to the inverting input end of the first operational amplifier, the other end of the resistor R1 is also connected to the output end of the first operational amplifier, and the first operational amplifier is grounded. The output end is connected to one end of capacitor C3, the other end of capacitor C3 is connected to one end of capacitor C4, the other end of capacitor C3 is connected to one end of resistor R3, one end of resistor R4 is grounded, the other end of resistor R4 is connected to the other end of capacitor C4, the other end of capacitor C4 is connected to the non-inverting input end of the second operational amplifier, the other end of resistor R4 is connected to the inverting input end of the second operational amplifier, the other end of resistor R4 is also connected to the output end of the second operational amplifier, the output end of the second operational amplifier is connected to one end of capacitor C5, the other end of capacitor C5 is connected to one end of capacitor C6, the other end of capacitor C5 is connected to one end of resistor R5, one end of resistor R6 is grounded, the other end of resistor R6 is connected to the other end of capacitor C6, and the output end of the second operational amplifier is connected to one end of capacitor C5 ... the other end of resistor R6 is grounded, and the other end of resistor R6 is connected to the other end of capacitor C6. The other end of capacitor C6 is connected to the non-inverting input terminal of the third operational amplifier, the other end of resistor R5 is connected to the inverting input terminal of the third operational amplifier, the other end of resistor R5 is also connected to the output terminal of the third operational amplifier, the output terminal of the third operational amplifier is connected to one end of resistor R7, the other end of resistor R7 is connected to one end of resistor R9, the other end of resistor R9 is connected to the inverting input terminal of the fourth operational amplifier, one end of resistor R8 is connected to one end of capacitor C7, one end of capacitor C7 is connected to the output terminal of the fourth operational amplifier, the other end of resistor R8 is connected to the other end of resistor R7, the other end of capacitor C7 is connected to the inverting input terminal of the fourth operational amplifier, one end of capacitor C8 is grounded, and the other end of capacitor C8 is connected to resistor R9 The output terminal of the fourth operational amplifier is connected to one end of the resistor R10, the other end of the resistor R10 is connected to one end of the resistor R12, the other end of the resistor R12 is connected to the inverting input terminal of the fifth operational amplifier, one end of the resistor R11 is connected to one end of the capacitor C9, one end of the capacitor C9 is connected to the output terminal of the fifth operational amplifier, the other end of the resistor R11 is connected to the other end of the resistor R10, the other end of the capacitor C9 is connected to the inverting input terminal of the fifth operational amplifier, one end of the capacitor C10 is grounded, the other end of the capacitor C10 is connected to one end of the resistor R12, the inverting input terminal of the fifth operational amplifier is grounded, and the output terminal of the fifth operational amplifier is connected to the resistor R13.One end of the resistor R13 is connected to the inverting input end of the sixth operational amplifier, one end of the resistor R14 is connected to the inverting input end of the sixth operational amplifier, the other end of the resistor R14 is connected to the output end of the sixth operational amplifier, one end of the resistor R15 is grounded, the other end of the resistor R15 is connected to the non-inverting input end of the sixth operational amplifier, and the output end of the sixth operational amplifier is wirelessly connected to the controller.

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