Traditional Chinese medicinal material excavating and harvesting system

Abstract

The invention provides a traditional Chinese medicinal material digging and harvesting system, and relates to the field of traditional Chinese medicinal material digging, the traditional Chinese medicinal material digging and harvesting system comprises a digging assembly and a harvesting assembly, the digging assembly is arranged at the front end of the harvesting assembly through a movable mechanical arm, and the digging assembly comprises a bionic knife (11), a bionic shovel sheet (12), a bottom plate (13), a side plate (14) and a mounting part (15); the harvesting assembly comprises a rack (21), a walking mechanism (22), a conveying mechanism (23), a vibration mechanism (24), an air injection mechanism (25) and a control assembly (26). The system not only has the effects of reducing digging resistance and relieving soil adhesion and hilling problems in the digging process, but also can realize effective separation between rhizomes of the traditional Chinese medicinal materials and soil after digging, so that the harvesting efficiency of the traditional Chinese medicinal materials is improved, the harvesting cost is reduced, and damage to the traditional Chinese medicinal materials in the harvesting process is effectively avoided.

Description

Technical Field

[0001] The invention relates to the technical field of Chinese medicinal material excavation, and in particular to a Chinese medicinal material excavation and harvesting system. Background Art

[0002] Medicinal material cultivation not only promotes the development of the traditional Chinese medicine industry, but also effectively increases agricultural income and improves land utilization. The traditional process of digging and harvesting Chinese medicinal materials is usually manual, that is, human labor uses digging tools to dig Chinese medicinal materials. Not only is the labor intensity high and the harvesting efficiency low, it is impossible to dig and harvest all Chinese medicinal materials in the best harvest period, resulting in reduced efficacy. It is also impossible to accurately control the digging force, which easily causes the digging tools to damage the roots and stems of the medicinal materials, affecting the appearance and efficacy of the medicinal materials. At the same time, during the digging process, the digging tools will bring out the roots and stems of the Chinese medicinal materials together with the soil, that is, dig out the medicinal material-soil complex. It is necessary to separate the medicinal materials and soil after digging to ensure the subsequent processing and use of the medicinal materials; and the existing method of separating medicinal materials and soil is mainly flushing. This method not only has low separation efficiency (due to the adhesion of water, the separated soil will re-adhere to the surface of the roots and stems of the medicinal materials, and repeated and multiple flushing is required), it is time-consuming, and it also seriously wastes pure water resources and increases the harvesting cost. It can be seen that in the current process of mechanized excavation and harvesting of Chinese medicinal materials, there are problems such as high excavation power consumption, low excavation efficiency, incomplete separation of medicinal materials and soil, and excessive soil adhesion on the surface of medicinal materials. This has increased the cost of harvesting Chinese medicinal materials, reduced the income from Chinese medicinal materials planting, and seriously restricted the development and planting scale of Chinese medicinal materials. Summary of the invention

[0003] In view of the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a Chinese medicinal material excavation and harvesting system, which can not only reduce the excavation resistance and alleviate the effects of soil adhesion and soil mulch problems during the excavation process, but also realize the root-soil separation between the medicinal material and the soil through a composite process of vibration and jetting, thereby improving the excavation efficiency and controllability during the excavation process, while also effectively saving pure water resources and avoiding repeated root-soil separation.

[0004] The purpose of the present invention is achieved through the following technical solutions: A Chinese medicinal material excavation and harvesting system comprises an excavation component and a harvesting component. The excavation component is arranged at the front end of the harvesting component through a movable mechanical arm, and comprises a bionic knife, a bionic shovel blade, a bottom plate, a side plate and a mounting portion. The side plates are respectively arranged on both sides of the bottom plate, and the bionic shovel blades are evenly arranged on the bottom plate through the mounting portion. The end of the bionic shovel blade away from the bottom plate is provided with a bionic knife; the harvesting component comprises a frame, a walking mechanism, a transport mechanism, a vibration mechanism, an air jet mechanism and a control component. The longitudinal section of the frame is a U-shaped groove structure, and the bottom ends of the outer walls on both sides thereof are respectively provided with walking mechanisms. The transport mechanism is arranged between the U-shaped grooves of the frame, and comprises two sets of transmission components, a driving wheel and a plurality of The two transmission components are respectively arranged corresponding to the inner wall of the U-shaped groove of the frame, including a driving wheel, a guide wheel and a transmission chain. The driving wheel is connected to the corresponding guide wheel through a transmission chain and the outer diameter of the driving wheel is larger than the outer diameter of the guide wheel (one side of the transmission chain that causes the driving wheel to be connected to the guide wheel is an inclined surface), the two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, the two guide wheels are fixedly sleeved on the outer wall of the same rotating shaft, the outer wall of one end of the rotating rod is fixedly sleeved on the driving wheel, and a plurality of grid bars are evenly distributed between the two transmission chains; the vibration mechanism is arranged in the middle of the transportation mechanism and on the inner circle of the transmission chain, the jet mechanism is arranged above the frame corresponding to the vibration mechanism, and the control component is arranged at the rear end of the frame.

[0005] Based on the further optimization of the above scheme, the specific steps of the mining component design are: Step S11, three-dimensionally scan the shark model to obtain complete point cloud data corresponding to the shark model, and process the point cloud data to obtain a shark dorsal fin model and its corresponding size; Step S12, obtaining the ridge line and element line of the bionic shovel blade by reverse engineering according to the collected scattered coordinates of the wild boar head and nose and the reference size fitting curve of the digging shovel; Step S13, respectively establish simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade, perform three-sided wedge principle mechanical analysis on both, and simultaneously establish a mechanical model of the bionic excavating shovel, and reduce the excavation resistance of the bionic excavating shovel by analyzing the source of excavation resistance.

[0006] Based on the further optimization of the above scheme, the three-dimensional scanning of the shark model in step S11 is specifically as follows: first, evenly affix positioning stickers for size positioning around the dorsal fin of the shark model, then place the shark model in the three-dimensional scanning area, and finally use a three-dimensional laser scanner to perform rotational scanning on the dorsal fin position of the shark model; The point cloud data is processed to obtain the shark dorsal fin model and its corresponding size: All the point cloud data obtained by scanning are imported into Geomagic studio software for post-processing. First, the standard deviation around the point cloud data is calculated. S : Assume that the set corresponding to the point cloud data is: ; but:

[0007] Where: X i Represents the first i Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape", and complete the noise reduction of the point cloud data through iteration and deviation limitation, and use the upper and lower deviations of compressed point cloud data to reduce noise, so as to better reflect the true shape of the model; then rotate the model for observation, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; then, use the filling function to fill the concave holes of the mesh patch data, enlarge the model after filling, select the uneven problem features in the mesh patch, and remove the part; finally, use the smoothing function to remove the remaining irregular features, polish the local uneven surface, obtain a closed and smooth shark dorsal fin model, and measure the processed shark dorsal fin model to obtain the length, width and height of the shark dorsal fin.

[0008] Based on further optimization of the above solution, the ridge line and element line of the bionic shovel obtained in step S12 are specifically: Firstly, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. Geomagic studio software was used to process the point cloud data obtained by the 3D scanning to extract the scattered coordinates of the wild boar's nose. Then, the length and width of the shovel of common rhizome Chinese medicinal materials were used as the range threshold of the fitting curve, the ridge line of the bionic shovel was set as the central axis, and the arc surface along the element line was used as the main structure of the bionic shovel. The fitting equation of the ridge line and the element line of the bionic shovel was obtained:

[0009] Where: y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

[0010] Based on the further optimization of the above scheme, the simplified models and mechanical analysis diagrams of the bionic knife and the bionic shovel blade are respectively established in step S13, and the three-sided wedge principle mechanical analysis of the two is specifically as follows: Establish a simplified model of the bionic shovel A 1 B 1 C 1 E 1 -D 1O 1 Simplified model of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2, among which, A 1 C 1 E 1 is the bottom surface, B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but:

[0011]

[0012] Where: , They represent the soil cutting load angles of the bionic shovel blade and bionic knife respectively; , Respectively represent the blade bevel angles of the bionic shovel blade and bionic knife; , They represent the soil cutting wedge angles of the bionic shovel blade and bionic knife respectively; , They represent the soil entry angles of the bionic shovel blade and bionic knife respectively; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely the length, width and height of the bionic shovel and bionic knife; The mechanical model of the bionic excavator shovel is established. By analyzing the source of excavation resistance, the excavation resistance of the bionic excavator shovel is reduced as follows: During the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into a soil compression zone and a soil stretching zone. The excavation resistance of the bionic excavation shovel is F for:

[0013] Where: G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately:

[0014] Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but:

[0015] The digging resistance of the excavation shovel is and The partial derivative of is:

[0016] in, and The range is 0 to 90°; pass and The value of is taken to obtain the minimum digging resistance of the bionic excavator shovel.

[0017] Based on the further optimization of the above scheme, the bionic shovel blade has a shovel length of 350-390 mm, a shovel width of 40-80 mm, and a shovel blade angle of The angle of the bionic knife is 40-80°; the length of the bionic knife is 28-32mm, the width is 5-9mm, and the height is 23-27mm.

[0018] Based on further optimization of the above solution, the length of the bottom plate is 1200-1800 mm and the width is 80-120 mm.

[0019] Based on the further optimization of the above scheme, the walking mechanism includes multiple groups of walking brackets and walking wheels, the walking wheels are connected to the frame through the walking brackets and the walking wheels are rotatably arranged at the bottom of the walking brackets; the vibration mechanism includes a vibration shaft, a vibration cam, a transmission gear and a photoelectric sensor, the two ends of the vibration shaft are respectively rotatably connected to the side walls of the frame on both sides and one end of the vibration shaft passes through the corresponding side wall on one side and is fixedly sleeved on the transmission gear, the vibration shaft is located on the outer wall between the two transmission chains and the corresponding grid bar is fixedly sleeved on the vibration cam; the photoelectric sensor is arranged on the inner wall of one side of the frame and is located on the upper side of the grid bar on the inclined surface; the jet mechanism includes a jet frame, a nozzle and an air pipe, the longitudinal cross-section of the jet frame is a door-shaped structure and the bottom ends thereof are respectively fixedly connected to the side walls of the U-shaped groove of the frame, the jet frame is vertically arranged to the inclined surface of the transmission chain and a plurality of nozzles are evenly arranged on the crossbeam of the jet frame; an air pipe is arranged on one side of the jet frame and an air pipe is arranged on the The pipes are respectively connected to multiple nozzles, and a battery valve is arranged between the air pipe and the nozzle (the opening and closing of the nozzle is controlled by the battery valve); the control component is fixedly arranged on the end face of the placement platform at the rear end of the frame and the control component includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel through a driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear through a vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe away from the jet frame; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

[0020] Based on the further optimization of the above scheme, the specific steps of the harvesting component for harvesting Chinese medicinal materials are as follows: Step S21, the whole system is moved to the Chinese medicinal material harvesting position by the walking mechanism, the transportation mechanism is started, and the Chinese medicinal materials are excavated by the excavating component, and the excavated Chinese medicinal material complex is gradually placed at the bottom of the slope of the transportation mechanism, and the Chinese medicinal material complex is gradually moved upward by the transmission of the transportation mechanism; Step S22, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller, so that the Chinese medicinal material complex reaches an optimal motion posture; Step S23: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism is started to separate the soil and the Chinese medicinal materials.

[0021] Based on further optimization of the above solution, step S21 is specifically as follows: Step S211, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, while ensuring the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain:

[0022] Where: F T It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step S212, during the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is (ignoring the influence of air resistance):

[0023] Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

[0024] Based on further optimization of the above solution, step S22 is specifically as follows: Step S221: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are:

[0025] Step S222: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bar is acted upon by the vibration mechanism, and its cross-sectional shape is approximately a broken line state, and the movement direction of the fence bar changes accordingly; as the vibration intensifies, the force of the fence bar on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are:

[0026] Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; F S2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step S223: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L D for:

[0027] Right now L D The setting range is: ; Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; vrepresents the speed of the complex when it leaves the bars; h 0 means the maximum jitter height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is adjusted synchronously: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by adjusting the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; conversely, the frequency is reduced by adjusting the vibration mechanism, so that the throwing height of the Chinese medicinal material complex is reduced, completing the PID closed-loop control.

[0028] Based on the further optimization of the above scheme, in step S23, the nozzle of the jet mechanism needs to be at a certain angle and peeling force to peel the soil from the Chinese medicinal materials to achieve the best separation effect; wherein the nozzle angle includes the horizontal angle (i.e. the angle between the nozzle and the horizontal plane) and the vertical angle (i.e. the angle between the nozzle and the jet frame plane):

[0029] Where: H D Indicates the distance between the nozzle end and the transmission chain; S d Indicates the distance between the Chinese medicinal material complex and the end of the nozzle; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p for:

[0030]

[0031] Where: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials; The gas ejected from the nozzle is F Soil separation is performed with an initial pressure of 0.

[0032] Based on the further optimization of the above scheme, the adhesion between the soil and the Chinese medicinal materials F f Obtained through pre-calibration experiments, specifically: Plant Chinese medicinal materials of different shapes in a soil-filled container, and use the clamping device of the universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed to the soil. Apply vertical pulling force to pull the Chinese medicinal materials until the Chinese medicinal materials are completely separated from the soil, and record the maximum pulling force during the pulling process. F lmax-I ; I=1,2,…,N , which means that there are N groups of Chinese medicinal materials with different shapes for testing, then:

[0033] Where: Indicates the standard deviation of the maximum tensile force of Chinese medicinal materials of different shapes; preset standard deviation threshold ,like , then the maximum pulling force mean is eliminated The two farthest values ​​are calculated again, and the iteration is repeated until , the maximum tensile force mean at this time The adhesion between soil and Chinese medicinal materials F f .

[0034] The following are the technical effects of the solution of the present invention: The present application uses an excavation component consisting of a bionic knife, a bionic shovel blade, a base plate, a side plate and a mounting portion, and utilizes the curved surface of the bionic knife that imitates a shark's dorsal fin to separate, crush and disturb the soil, so that the soil moves to both sides of the excavation component, thereby achieving the purpose of reducing resistance and reducing soil accumulation; by imitating the curved surface structure of the bionic shovel blade of the wild boar's head and nose, the shovel surface has better soil traction, thereby reducing the resistance caused by soil adhesion to the shovel blade; the excavation component of the present application has better disturbance and crushing performance on the soil and less resistance between the soil and the excavation component, thereby effectively improving the controllability and work efficiency of the excavation component, while efficiently and quickly completing the excavation process of Chinese medicinal materials, avoiding the crushing of the roots and rhizomes of Chinese medicinal materials caused by the deep soil resistance that makes it difficult to control the excavation component, thereby improving the harvest quality of Chinese medicinal materials. In addition, the present application uses a harvesting component consisting of a frame, a walking mechanism, a transportation mechanism, a vibration mechanism, a jet mechanism and a control component to transport the complex of excavated Chinese medicinal materials and soil through the transportation mechanism. Based on the characteristics of the complex and the movement trajectory of the complex composed of a transmission chain and bars, the vibration mechanism is used to throw up the transported complex, and the jet mechanism is used to spray high-pressure gas while the complex is thrown up, thereby blowing away the soil adhering to the roots and stems of the Chinese medicinal materials. This method not only does not use water for cleaning, saves pure water resources, and ensures the separation effect, but also does not require repeated flushing, separation and other operations. While improving the efficiency of root-soil separation, it avoids damage to the medicinal material epidermis caused by repeated flushing and friction, thereby ensuring the quality of the medicinal materials after root-soil separation.

[0035] The present application realizes the cooperation between the digging component and the harvesting component, and the roots and soil are separated in time after the Chinese medicinal materials are dug. It has a high degree of mechanization, convenient operation, and low cost, and saves time and effort in the process of digging and harvesting Chinese medicinal materials. The digging and root-soil separation processes are not likely to cause damage to the Chinese medicinal materials, which can effectively ensure the harvest quality of the Chinese medicinal materials and thus ensure the economic benefits of Chinese medicinal materials planting. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the mining component in an embodiment of the present invention.

[0037] Figure 2 It is a top view of the excavation assembly in an embodiment of the present invention.

[0038] Figure 3 It is a side view of the bionic knife of the excavation component in the embodiment of the present invention.

[0039] Figure 4 It is an axonometric view of the bionic shovel blade of the excavation assembly in an embodiment of the present invention.

[0040] Figure 5 Schematic diagram of mechanical analysis structure of bionic shovel blade and bionic knife of the excavation assembly in the embodiment of the present invention; wherein, Figure 5 (a) is a three-dimensional image of the bionic shovel blade. Figure 5 (b) is a simplified model of the bionic shovel blade. Figure 5 (c) is a schematic diagram of the forces acting on the simplified model of the bionic shovel. Figure 5 (d) is a three-dimensional image of the bionic knife. Figure 5 (e) is a simplified model of the bionic knife. Figure 5 (f) Schematic diagram of the forces acting on the simplified model of the bionic knife.

[0041] Figure 6 It is a schematic diagram of the mechanical model of the shovel face and root-soil complex of the excavation component in an embodiment of the present invention.

[0042] Figure 7 Schematic diagram of the structure of the harvesting component in an embodiment of the present invention.

[0043] Figure 8 It is a schematic diagram of the structure of the transport mechanism and the vibration mechanism of the harvesting component in an embodiment of the present invention.

[0044] Fig. 9 Schematic diagram of the structure of the jet mechanism of the harvesting component in an embodiment of the present invention.

[0045] Fig.10 The present invention is a flowchart of the combined soil removal by vibration and air jet of the harvesting component in an embodiment of the present invention.

[0046] Among them, 11, bionic knife; 12, bionic shovel blade; 13, bottom plate; 14, side plate; 15, mounting part; 21, frame; 22, walking mechanism; 23, transportation mechanism; 2311, driving wheel; 2312, guide wheel; 2313, transmission chain; 232, driving wheel; 233, grid bar; 24, vibration mechanism; 241, vibration shaft; 242, vibration cam; 243, transmission gear; 244, photoelectric sensor; 25, jet mechanism; 251, jet frame; 252, nozzle; 253, air pipe; 26, control component. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] Embodiment 1: A Chinese medicinal material excavation and harvesting system includes an excavation component and a harvesting component. The excavation component is arranged at the front end of the harvesting component through a movable mechanical arm, and includes a bionic knife 11, a bionic shovel blade 12, a bottom plate 13, a side plate 14 and a mounting portion 15. The side surfaces of the bottom plate 13 are respectively provided with side plates 14 (used to connect the bottom plate 13 with a harvesting machine body, i.e., a frame 21), and the bionic shovel blades 12 are evenly arranged on the bottom plate 13 through the mounting portion 15 (the distance between adjacent bionic shovel blades 12 is set according to actual conditions, and the number of bionic shovel blades 12 on the same bottom plate 13 is set according to actual conditions, such as Figure 1 , Figure 2 As shown, in this embodiment, five bionic shovel blades 12 are arranged on the same bottom plate 13), and a bionic knife 11 is arranged at one end of the bionic shovel blade 12 away from the bottom plate 13; the specific steps of designing the excavation component are: Step S11: Perform three-dimensional scanning on the shark model: First, evenly stick positioning stickers for size positioning around the dorsal fin of the shark model, then place the shark model in the 3D scanning area, and finally use a 3D laser scanner to rotate and scan the dorsal fin position of the shark model to obtain the complete point cloud data corresponding to the shark model; And process the point cloud data: All the point cloud data obtained by scanning are imported into Geomagic studio software for post-processing. First, the standard deviation around the point cloud data is calculated. S : Assume that the set corresponding to the point cloud data is: ; but:

[0049] Where: X i Represents the firsti Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape", and complete the noise reduction of the point cloud data by iteration and deviation limit (in this embodiment, the iteration is set to 3 and the deviation limit is set to 0.2mm), and use the upper and lower deviations of the compressed point cloud data to reduce noise, so as to better reflect the true shape of the model; then rotate the model for observation, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; then, fill the concave holes of the mesh patch data through the filling function, enlarge the model after filling, select the uneven problem features in the mesh patch, and remove the part; finally, use the smoothing function to remove the remaining irregular features, polish the local uneven surface, obtain a closed and smooth shark dorsal fin model, and measure the processed shark dorsal fin model to obtain the length, width, and height of the shark dorsal fin (such as Figure 3 As shown, in this embodiment, the length of the shark dorsal fin is l , width is d , height is h ).

[0050] Step S12, by reverse engineering, according to the collected wild boar head nose scattered coordinates and the reference size fitting curve of the digging shovel, the ridge line and the element line of the bionic shovel blade 12 are obtained: First, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. The point cloud data obtained by the 3D scan was processed using Geomagic studio software to extract the scattered coordinates of the wild boar's nose (specifically: according to the default settings of the software, the unit was set to mm; through the "Reduce Noise" command, "Free Surface Shape" was selected, the iteration was set to 3, and the deviation limit was set to 0.2 mm. The upper and lower deviations of the compressed point cloud data were used to reduce noise and complete the noise reduction of the point cloud data to better reflect the true shape of the model; then the model was rotated for observation, and the redundant point cloud data was selected and deleted; then the point cloud data was converted into mesh patch data; then, the concave holes of the mesh patch data were filled by the filling function, and the model was enlarged after filling, and the uneven problem features in the mesh patch were selected and removed; finally, the smoothing function was used to remove the remaining irregular features, and the local uneven surface was polished to obtain a closed and smooth wild boar's nose model. According to the processed wild boar's nose model, the effective ridges and element line scattered coordinates were selected and exported); Then, the shovel length and width range of common rhizome Chinese medicinal materials are used as the range threshold of the fitting curve, the ridge line of the bionic shovel blade 12 is set as the central axis, and the arc surface along the element line is used as the main structure of the bionic shovel blade 12, and the fitting equation of the ridge line and the element line of the bionic shovel blade 12 is obtained:

[0051] Where: y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

[0052] Step S13, respectively establish simplified models and mechanical analysis diagrams of the bionic knife 11 and the bionic shovel blade 12, and perform three-sided wedge principle mechanical analysis on the two: Establish a simplified model of bionic shovel blade 12 A 1 B 1 C 1 E 1 -D 1 O 1 and 11 simplified models of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2 (such as Figure 5 shown), where A 1 C 1 E 1 is the bottom surface, B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but:

[0053]

[0054] Where: , Respectively represent the soil cutting load angles of the bionic shovel blade 12 and the bionic knife 11; , Respectively represent the blade bevel angles of the bionic shovel blade 12 and the bionic knife 11; , Respectively represent the soil cutting wedge angles of the bionic shovel blade 12 and the bionic knife 11; , They respectively represent the soil penetration angles of the bionic shovel blade 12 and the bionic knife 11; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely, the length, width and height of the bionic shovel blade 12 and the bionic knife 11; At the same time, the mechanical model of the bionic excavator shovel is established, and the excavation resistance of the bionic excavator shovel is reduced by analyzing the source of excavation resistance: Reference Figure 6 As shown in the figure, during the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into the soil compression zone and the soil stretching zone. The excavation resistance of the bionic excavation shovel is F for:

[0055] Where: G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately:

[0056] Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but:

[0057] The digging resistance of the excavation shovel is and The partial derivative of is:

[0058] in, and The range is 0~90°; pass and The value of is taken to obtain the minimum digging resistance of the bionic excavator shovel.

[0059] Taking the digging resistance of bionic excavating shovels with different parameters as the experimental index, combined with the performance requirements of the Chinese herbal medicine harvester and the actual working conditions, the selection range of the six factors of the length, width, height of the bionic knife 11 and the width, length, and blade angle (i.e., height) of the excavating shovel is divided into five rounds of evaluation, and the horizontal orthogonal table is selected. 25 (5 6 ), a six-factor five-level orthogonal test was conducted on the bionic excavation shovel, wherein the shovel length of the bionic shovel blade 12 is 350-390 mm, the shovel width is 40-80 mm, and the shovel blade angle is is 40 to 80°; the length of the bionic knife 11 is 28 to 32 mm, the width is 5 to 9 mm, and the height is 23 to 27 mm; in addition, the base plate 13 is set accordingly according to the length, width and number of the bionic shovel blades 12, and the length of the base plate 13 is 1200 to 1800 mm and the width is 80 to 120 mm.

[0060] The harvesting assembly includes a frame 21, a walking mechanism 22, a transport mechanism 23, a vibration mechanism 24, an air jet mechanism 25 and a control assembly 26 (such as Figure 7 As shown, the longitudinal section of the frame 21 is a U-shaped groove structure and the bottom ends of the outer walls on both sides are respectively provided with walking mechanisms 22, the walking mechanisms 22 include multiple groups of walking brackets and walking wheels, the walking wheels are connected to the frame 21 through the walking brackets and the walking wheels are rotatably arranged at the bottom ends of the walking brackets (as shown Figure 7 As shown, in this embodiment, three running wheels are arranged on one side of the frame 21, and a total of six running wheels are arranged); the transport mechanism 23 is arranged between the U-shaped grooves of the frame 21, and includes two sets of transmission components, a driving wheel 232 and a plurality of bars 233. The two sets of transmission components are arranged corresponding to the inner wall of the U-shaped groove of the frame 21, respectively, and include a driving wheel 2311, a guide wheel 2312 and a transmission chain 2313 (such as Figure 8 As shown in FIG. 1 ), the driving wheel 2311 is connected to the corresponding guide wheel 2312 via a transmission chain 2313, and the outer diameter of the driving wheel 2311 is larger than the outer diameter of the guide wheel 2312 (one side of the transmission chain 2313 that causes the driving wheel 2311 to connect with the guide wheel 2312 is an inclined surface, as shown in FIG. Figure 8 As shown, the two driving wheels 2311 are fixedly sleeved on the outer wall of the same rotating rod, and the two guiding wheels 2312 are fixedly sleeved on the outer wall of the same rotating shaft (as shown in FIG. Figure 8 As shown, the rotating shaft and the rotating rod are parallel to each other), the outer wall of one end of the rotating rod is fixedly sleeved with the driving wheel 232, and a plurality of grid bars 233 are evenly distributed between the two transmission chains 2313 (such as Figure 8As shown, the plurality of bars 233 are parallel to the rotating rod; the vibration mechanism 24 is arranged in the middle of the transport mechanism 23 and is located in the inner circle of the transmission chain 2313 (as shown in FIG. Figure 8 As shown, the vibration mechanism 24 is arranged in the inner circle formed by the grid bars 233), including a vibration shaft 241, a vibration cam 242, a transmission gear 243 and a photoelectric sensor 244. The two ends of the vibration shaft 241 are respectively rotatably connected to the side walls of the frame 21, and one end of the vibration shaft 241 passes through the corresponding side wall on one side and is fixedly sleeved with the transmission gear 243. The vibration shaft 241 is located on the outer wall between the two transmission chains 2313 and is fixedly sleeved with the vibration cam 242 corresponding to the grid bars 233. The two vibration cams 242 are connected by a connecting rod (such as Figure 8 The photoelectric sensor 244 is arranged on the inner wall of one side of the frame 21 and is located on the upper side of the inclined grid bar 233. The jet mechanism 25 is arranged above the frame 21 corresponding to the vibration mechanism 24, and includes a jet frame 251, a nozzle 252 and an air pipe 253 (as shown in FIG. Fig. 9 As shown, the longitudinal section of the jet rack 251 is a gate-shaped structure and its bottom end is fixedly connected to the side walls of the U-shaped groove of the frame 21, the jet rack 251 is vertically arranged with the inclined surface of the transmission chain 2313 and a plurality of nozzles 252 are evenly arranged on the crossbeam of the jet rack 251 (the number of nozzles 252 is set according to actual conditions, see Fig. 9 As shown, in this embodiment, two rows are arranged, each row contains 7 nozzles 252); an air pipe 253 is arranged on one side of the jet frame 251 and the air pipe 253 is connected to multiple nozzles 252 respectively, and a battery valve is arranged between the air pipe 253 and the nozzle 252 (the opening and closing of the nozzle 252 is controlled by the battery valve). The control component 26 is arranged at the rear end of the frame 21, that is, the control component 26 is fixedly arranged on the end surface of the placement platform at the rear end of the frame 21 and the control component 26 includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller. The transport controller includes a transport motor, a driving gear and a driving chain. The output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel 232 through the driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain. The output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear 243 through the vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe 253 away from the jet frame 251; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor 244, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

[0061] The specific steps of harvesting Chinese medicinal materials using the harvesting component are as follows: Step S21, the whole system is moved to the Chinese medicinal material harvesting position by the walking mechanism 22, the transportation mechanism 23 is started, and the Chinese medicinal materials are excavated by the excavation component, and the excavated Chinese medicinal material complex is gradually placed at the bottom of the slope of the transportation mechanism 23, and the Chinese medicinal material complex is gradually moved upward by the transmission of the transportation mechanism 23: Step S211, when the transport mechanism 23 is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars 233 and does not get stuck between adjacent bars 233 or roll off the bars 233, and to ensure the efficiency of soil screening; First, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent grid bars 233 is limited according to the width threshold; Then, the angle of the transmission chain 2313 is designed:

[0062] Where: F T represents the force of the grid bar 233 on the Chinese medicinal material complex; mg It represents the self-weight of the TCM complex; represents the angle between the transmission chain 2313 and the horizontal plane; when When the Chinese medicinal material complex is in the transmission chain 2313, the stable operation can be ensured; Step S212, during the process of starting the transmission chain 2313, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain 2313. When the grid bar 233 is not vibrated, the force on the Chinese medicinal material complex is (ignoring the influence of air resistance):

[0063] Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain 2313 is not vibrating; Indicates the angle between the transmission chain 2313 and the horizontal plane when the transmission chain 2313 is not vibrating; F S1 Indicates the friction force between the Chinese medicinal material complex and the grid bar 233 when the transmission chain 2313 is not vibrating; a x1 represents the tangential acceleration of the Chinese medicinal material complex when the transmission chain 2313 is not vibrating; F N1 It indicates the supporting force of the working surface on the Chinese medicinal material complex when the transmission chain 2313 is not vibrating; a y1 represents the normal acceleration of the Chinese medicinal material complex when the transmission chain 2313 is not vibrating; Taking the moving direction of the transmission chain 2313 as the positive direction, when When the Chinese medicinal material complex is transported by the transport mechanism 23, it can move normally.

[0064] Step S22: After the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism 24 is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by the photoelectric sensor 244, and the vibration is adjusted by the PID controller so that the Chinese medicinal material complex reaches the optimal motion posture: Step S221: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cut surface of the transmission chain 2313, and under the action of the vibration cam 242 on the transmission chain 2313, the grid bar 233 realizes the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain 2313, and the conditions are:

[0065] Step S222: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism 24 throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the grid bar 233 is acted upon by the vibration mechanism 24, and its cross-sectional shape is approximately a broken line state, and the movement direction of the grid bar 233 changes accordingly; as the vibration intensifies, the force of the grid bar 233 on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are:

[0066] Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; Indicates the angle between the vibration grid 233 segment and the horizontal plane under vibration conditions; F S2 Indicates the friction force between the Chinese medicinal material complex and the grid bar 233 when the transmission chain 2313 is in a broken line state; a x2 Indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain 2313 is in the broken line state; F N2 Indicates the supporting force of the working surface of the Chinese medicinal material complex when the transmission chain 2313 is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain 2313; When satisfied When the Chinese medicinal material complex is not dropped, it will be thrown to the soil removal position of the jet mechanism 25 along with the vibration mechanism 24; Step S223: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L D for:

[0067] Right now L D The setting range is: ; Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h 0 means the maximum jitter height of the grid bar; During the monitoring process of the photoelectric sensor 244, the PID controller is synchronously adjusted: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by adjusting the vibration mechanism 24, so that the Chinese medicinal material complex is further thrown up to reach a predetermined height; conversely, the frequency is reduced by adjusting the vibration mechanism 24, so that the throwing height of the Chinese medicinal material complex is reduced, completing the PID closed-loop control.

[0068] PID control is as follows: First, define the proportional coefficients of the PID controller K p , integral coefficient K i and the differential coefficient K d , and preset a target distance value Setpoint (The target distance value can be set to the distance within the measurement range of the photoelectric sensor 244); then, the PID controller continuously monitors and controls the speed of the motor. In each iteration of the main loop, the PID controller is called read_sensor() The function reads the distance data of the photoelectric sensor 244 and assigns it to measured_value ,in, read_sensor() The function simulates obtaining distance data from the photoelectric sensor 244 (in actual applications, this function will read a physical signal, such as an analog voltage, and convert it into a percentage or other distance-related units; here, it is assumed that a value between the closest distance 0 and the farthest distance 100 is returned; for actual hardware, sensor data acquisition may require an ADC to interpret the signal in a usable form); the PID controller calculates the error of each cycle erorr :

[0069] And get the output value output through the error value:

[0070] Where: previous_error Indicates the last error value; Subsequently, the set_motor_speed (In actual applications, this function can control the motor speed through PWM signals or digital control interfaces) Convert the output value of the PID controller into a control signal for the motor speed, where output=0 means the motor stops running, and output=100 means the motor runs at maximum speed (that is, the size of the output determines the percentage of the motor speed); Finally, update previous_error , assign the current error to previous_error, Provide a reference for the next loop; during the loop iteration, control the execution frequency of the loop by setting a delay program; The main loop repeats the above process continuously, monitoring the sensor data once a second, calculating the PID control output, and adjusting the motor speed to keep the system at the target distance.

[0071] Step S23: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism 25 is started to peel off the soil and the Chinese medicinal material; The nozzle 252 of the jet mechanism 25 needs to be at a certain angle and peeling force to peel the soil from the Chinese medicinal materials to achieve the best separation effect; wherein the nozzle 252 angle includes the horizontal angle (i.e. the angle between the nozzle 252 and the horizontal plane) and the vertical angle (i.e. the angle between the nozzle 252 and the jet frame 251 plane):

[0072] Where: H D represents the distance between the end of the nozzle 252 and the transmission chain 2313; S d represents the distance between the Chinese medicinal material complex and the end of the nozzle 252; At the same time, the gas ejected from the nozzle 252 contacts the Chinese medicinal material complex. F p for:

[0073]

[0074] Where: F 0 represents the initial pressure of the gas ejected from the nozzle 252; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; tIndicates the time from when the gas is ejected from the nozzle 252 to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials, which is obtained through pre-calibration experiments, specifically: Plant Chinese medicinal materials of different shapes in a soil-filled container, and use the clamping device of the universal mechanical testing machine to clamp the part of the Chinese medicinal materials exposed to the soil. Apply vertical pulling force to pull the Chinese medicinal materials until the Chinese medicinal materials are completely separated from the soil, and record the maximum pulling force during the pulling process. F lmax-I ; I=1,2,…,N , which means that there are N groups of Chinese medicinal materials with different shapes for testing, then:

[0075] Where: Indicates the standard deviation of the maximum tensile force of Chinese medicinal materials of different shapes; preset standard deviation threshold ,like , then the maximum pulling force mean is eliminated The two farthest values ​​are calculated again, and the iteration is repeated until (The above method eliminates the large pulling force generated by the Chinese medicinal materials with very irregular shapes, so as to avoid the large pulling force generated by the very irregular shapes affecting the accuracy of soil adhesion), the average maximum pulling force at this time The adhesion between soil and Chinese medicinal materials F f ; That is, the gas ejected from the nozzle 252 is F 0 initial pressure for soil separation.

[0076] Embodiment 2: As another preferred embodiment of the present invention, based on the solution of Example 1, the mounting portion 15 is installed by countersunk screws, and the mounting end of each bionic shovel blade 12 (i.e., the end away from the bionic knife 11) is provided with two symmetrically distributed countersunk holes (such as Figure 2 or Figure 4 As shown in the figure, the distance between the two countersunk holes is 28 to 30 mm (preferably 29 mm), the distance between the mounting ends of the countersunk holes is 29 to 31 mm (preferably 30 mm), and the distance between the countersunk holes and the corresponding side edges of the bionic shovel blade 12 is 12 to 14 mm (preferably 13 mm). The bionic shovel blade 12 is fixed by means of countersunk screws penetrating the countersunk holes and the corresponding mounting holes of the base plate 13.

[0077] At the same time, the bionic knife 11 and the bionic shovel blade 12 are fixedly connected by welding.

[0078] Embodiment 3: As another preferred embodiment of the present invention, after the separation of the Chinese medicinal materials and the soil is completed, in order to ensure the cleanliness of the entire device, based on the scheme of Example 1 or Example 2, the harvesting component can also perform self-cleaning, specifically: After the root-soil separation operation is completed, a certain amount of soil will adhere to the grid bar 233. First, the adhesion between the soil and the grid bar 233 is obtained by studying the physical properties of the soil and the grid bar 233. F t , F t The value is obtained through a pre-calibration experiment, specifically: the bars are placed horizontally in the soil, and a vertical tensile force is applied to the bars through the clamping device of the universal mechanical testing machine. The bars are pulled out of the soil until the bars are completely separated from the soil, and the maximum tensile force during the pulling process is recorded. F Lmax-I , I=1,2,…， N , indicating that N groups of bars are used for testing, then:

[0079] After the root-soil separation operation is completed, the jet mechanism 25 and the vibration mechanism 24 are controlled by the industrial computer to operate under predetermined conditions, specifically:

[0080] Where: P represents the self-cleaning power of the jet structure of the harvesting assembly; P H Indicates the maximum power of the high voltage jumper; F c represents the self-cleaning power of the harvesting component; f z Indicates the frequency at which the transmission chain 2313 vibrates normally and is not damaged; f t represents the frequency required for the soil to be peeled off from the grid bars 233; f 0 represents the vibration frequency of the vibration mechanism 24; Through the vibration of the grid bar 233 and the jet of the nozzle 252, when the force of the nozzle 252 on the soil on the grid bar 233 is greater than the soil adhesion force and the vibration frequency of the grid bar 233 is greater than the frequency required for soil stripping the grid bar 233, self-cleaning of the soil stripping grid bar 233 is achieved without damaging the equipment.

Claims

1. A Chinese medicinal material excavation and harvesting system, characterized in that: The invention comprises an excavating component and a harvesting component. The excavating component is arranged at the front end of the harvesting component through a movable mechanical arm, and comprises a bionic knife, a bionic shovel, a bottom plate, a side plate and a mounting portion. The side plates are respectively arranged on both sides of the bottom plate, and the bionic shovels are evenly arranged on the bottom plate through the mounting portion. The end of the bionic shovel away from the bottom plate is provided with a bionic knife; the harvesting component comprises a frame, a walking mechanism, a transport mechanism, a vibration mechanism, an air jet mechanism and a control component. The longitudinal section of the frame is a U-shaped groove structure, and the bottom ends of the outer walls on both sides thereof are respectively provided with walking mechanisms, and the transport mechanism is arranged between the U-shaped grooves of the frame, and comprises two sets of transmission components, a drive component and a control component. A driving wheel and a plurality of bars, two groups of transmission components are respectively arranged corresponding to the inner walls of the U-shaped groove of the frame, including a driving wheel, a guide wheel and a transmission chain, the driving wheel and the corresponding guide wheel are connected through a transmission chain and the outer diameter of the driving wheel is larger than the outer diameter of the guide wheel, the two driving wheels are fixedly sleeved on the outer wall of the same rotating rod, the two guide wheels are fixedly sleeved on the outer wall of the same rotating shaft, the outer wall of one end of the rotating rod is fixedly sleeved on the driving wheel, and the plurality of bars are evenly distributed between the two transmission chains; the vibration mechanism is arranged in the middle of the transportation mechanism and is located on the inner ring of the transmission chain, the jet mechanism is arranged above the frame corresponding to the vibration mechanism, and the control component is arranged at the rear end of the frame.

2. A Chinese medicinal material digging and harvesting system according to claim 1, characterized in that: The specific steps of the mining component design are: Step S11, three-dimensionally scan the shark model to obtain complete point cloud data corresponding to the shark model, and process the point cloud data to obtain a shark dorsal fin model and its corresponding size; Step S12, obtaining the ridge line and element line of the bionic shovel blade by reverse engineering according to the collected scattered coordinates of the wild boar head and nose and the reference size fitting curve of the digging shovel; Step S13, respectively establish simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade, perform three-sided wedge principle mechanical analysis on both, and simultaneously establish a mechanical model of the bionic excavating shovel, and reduce the excavation resistance of the bionic excavating shovel by analyzing the source of excavation resistance.

3. A Chinese medicinal material digging and harvesting system according to claim 1 or 2, characterized in that: The three-dimensional scanning of the shark model in step S11 is specifically as follows: first, evenly affix positioning stickers for size positioning around the dorsal fin of the shark model, then place the shark model in the three-dimensional scanning area, and finally use a three-dimensional laser scanner to perform rotational scanning on the dorsal fin position of the shark model; The point cloud data is processed to obtain the shark dorsal fin model and its corresponding size: All the point cloud data obtained by scanning are imported into Geomagic studio software for post-processing. First, the standard deviation around the point cloud data is calculated. S : Assume that the set corresponding to the point cloud data is: ; but: Where: X i Represents the first i Points, n Indicates the number of points around the point cloud data; Then, select "Free Surface Shape" and complete the noise reduction of the point cloud data by iteration and deviation limit, using the upper and lower deviations of the compressed point cloud data to better reflect the true shape of the model; Then rotate the model to observe, select and delete the redundant point cloud data; then convert the point cloud data into mesh patch data; Then, the concave holes in the mesh patch data are filled through the filling function. After filling, the model is enlarged, the uneven problematic features in the mesh patch are selected, and the part is removed. Finally, the smoothing function is used to remove the remaining irregular features, and the local uneven surface is polished to obtain a closed and smooth shark dorsal fin model. The processed shark dorsal fin model is measured to obtain the length, width, and height dimensions of the shark dorsal fin.

4. A Chinese medicinal material digging and harvesting system according to claim 3, characterized in that: The ridge line and element line of the bionic shovel obtained in step S12 are specifically: Firstly, a 3D laser scanner was used to scan the wild boar's nose to obtain the 3D point cloud data of the wild boar's nose. Geomagic studio software was used to process the point cloud data obtained by the 3D scanning to extract the scattered coordinates of the wild boar's nose. Then, the length and width of the shovel of common rhizome Chinese medicinal materials were used as the range threshold of the fitting curve, the ridge line of the bionic shovel was set as the central axis, and the arc surface along the element line was used as the main structure of the bionic shovel. The fitting equation of the ridge line and the element line of the bionic shovel was obtained: Where: y 1 represents the ridge fitting equation of the bionic shovel blade, y 2 represents the linear fitting equation of the bionic shovel. x represents the independent variable, R 2 represents the fitted variance.

5. A Chinese medicinal material digging and harvesting system according to claim 4, characterized in that: In step S13, simplified models and mechanical analysis diagrams of the bionic knife and bionic shovel blade are respectively established, and the three-sided wedge principle mechanical analysis is performed on the two, specifically: Establish a simplified model of the bionic shovel A 1 B 1 C 1 E 1 -D 1 O 1 Simplified model of bionic knife A 2 B 2 C 2 E 2 -D 2 O 2, among which, A 1 C 1 E 1 is the bottom surface, B 1 is the vertex, B 1 O 1 Vertical E 1 C 1. O 1 D 1 Vertical A 1 C 1; A 2 C 2 E 2 is the bottom surface, B 2 is the vertex, B 2 O 2Vertical E 2 C 2. O 2 D 2Vertical A 2 C 2, but: Where: , They represent the soil cutting load angles of the bionic shovel blade and bionic knife respectively; , They represent the bevel angles of the shovel blade of the bionic shovel and the bionic knife respectively; , They represent the soil cutting wedge angles of the bionic shovel blade and bionic knife respectively; , They represent the soil entry angles of the bionic shovel blade and bionic knife respectively; L xx represents the length of the corresponding side; From the above, we know that the factor affecting the excavation resistance is the soil cutting load angle , blade bevel and Rutu Corner , namely the length, width and height of the bionic shovel and bionic knife; The mechanical model of the bionic excavator shovel is established. By analyzing the source of excavation resistance, the excavation resistance of the bionic excavator shovel is reduced as follows: During the excavation process, the root-soil complex will be compressed and stretched by the shovel surface. The part of the bionic excavation shovel in contact with the soil is divided into a soil compression zone and a soil stretching zone. The excavation resistance of the bionic excavation shovel is F for: Where: G represents the weight of the root-soil complex above the digging shovel; The friction factor between soil and bionic excavation shovel represents soil adhesion; S It represents the contact area of ​​the bionic excavator shovel when it is working; f Indicates the chip force; The horizontal and vertical forces of the root-soil complex are decomposed separately: Where: G n represents the normal load of the bionic excavator shovel; G t represents the lateral load of the bionic excavation shovel; represents the inclination angle of the front failure surface; Indicates the friction factor within the soil; but: The digging resistance of the excavation shovel is and The partial derivative of is: in, and The range is 0 to 90°; pass and The value of is taken to obtain the minimum digging resistance of the bionic excavator shovel.

6. A Chinese medicinal material digging and harvesting system according to claim 1 or 5, characterized in that: The walking mechanism includes multiple groups of walking brackets and walking wheels, the walking wheels are connected to the frame through the walking brackets and the walking wheels are rotatably arranged at the bottom of the walking brackets; the vibration mechanism includes a vibration shaft, a vibration cam, a transmission gear and a photoelectric sensor, the two ends of the vibration shaft are respectively rotatably connected to the side walls of the frame on both sides and one end of the vibration shaft passes through the corresponding side wall on one side and is fixedly sleeved on the transmission gear, the vibration shaft is located on the outer wall between the two transmission chains and the corresponding grid bar is fixedly sleeved on the vibration cam; the photoelectric sensor is arranged on the inner wall of one side of the frame and is located on the upper side of the grid bar on the inclined surface; the jet mechanism includes a jet frame, a nozzle and an air pipe, the longitudinal section of the jet frame is a door-shaped structure and the bottom ends thereof are respectively fixedly connected to the side walls of the U-shaped groove of the frame, the jet frame is vertically arranged to the inclined surface of the transmission chain and a plurality of nozzles are evenly arranged on the crossbeam of the jet frame; an air pipe is arranged on one side of the jet frame and an air pipe is arranged on the The pipes are respectively connected to multiple nozzles, and a battery valve is arranged between the air pipe and the nozzle; the control component is fixedly arranged on the end face of the placement platform at the rear end of the frame and the control component includes a transport controller, a vibration controller, a high-pressure air pump, an industrial computer and a PID controller, the transport controller includes a transport motor, a driving gear and a driving chain, the output shaft of the transport motor is fixedly sleeved with the driving gear, and the driving gear is connected to the driving wheel through a driving chain; the vibration controller includes a vibration motor, a vibration gear and a vibration chain, the output shaft of the vibration motor is fixedly sleeved with the vibration gear, and the vibration gear is connected to the transmission gear through a vibration chain; the output end of the high-pressure air pump is connected to the end of the air pipe away from the jet frame; the control motor of the walking wheel, the transport motor, the vibration motor, the photoelectric sensor, the high-pressure air pump, the solenoid valve, and the PID controller are all electrically connected to the industrial computer.

7. A Chinese medicinal material digging and harvesting system according to claim 6, characterized in that: The specific steps of the harvesting component for harvesting Chinese medicinal materials are as follows: Step S21, the whole system is moved to the Chinese medicinal material harvesting position by the walking mechanism, the transportation mechanism is started, and the Chinese medicinal materials are excavated by the excavating component, and the excavated Chinese medicinal material complex is gradually placed at the bottom of the slope of the transportation mechanism, and the Chinese medicinal material complex is gradually moved upward by the transmission of the transportation mechanism; Step S22, after the Chinese medicinal material complex is transferred to the soil removal area, the vibration mechanism is activated to vibrate the Chinese medicinal material complex, and the motion state of the moving Chinese medicinal material complex is monitored by a photoelectric sensor, and the vibration is adjusted by a PID controller, so that the Chinese medicinal material complex reaches an optimal motion posture; Step S23: during the vibration process, after the Chinese medicinal material complex reaches the optimal motion posture, the jet mechanism is started to separate the soil and the Chinese medicinal materials.

8. A Chinese medicinal material digging and harvesting system according to claim 7, characterized in that: The step S21 is specifically as follows: Step S211, when the transport mechanism is in a stationary state, to ensure that the Chinese medicinal material complex is normally placed between the bars and does not get stuck between adjacent bars or roll off the bars, while ensuring the efficiency of soil screening; Firstly, by collecting and studying the volume dimensions of a large number of similar Chinese medicinal material complexes, a width threshold of the Chinese medicinal material complex is set, and the distance between two adjacent bars is limited according to the width threshold; Then, design the angle of the transmission chain: Where: F T It represents the force of the bars on the TCM complex; mg It represents the self-weight of the TCM complex; Indicates the angle between the transmission chain and the horizontal plane; when When the Chinese medicinal materials complex is in motion, it can ensure the stable operation of the transmission chain; Step S212: During the process of starting the transmission chain, the Chinese medicinal material complex is transported obliquely upward on the cross section of the transmission chain. When the bars are not vibrated, the force on the Chinese medicinal material complex is: Where: m 1 represents the mass of the Chinese medicinal material complex when the transmission chain is not vibrating; Indicates the angle between the transmission chain and the horizontal plane when the transmission chain is not vibrating; F S1 It indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is not vibrating; a x1 It indicates the tangential acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; F N1 It indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is not vibrating; a y1 It represents the normal acceleration of the Chinese medicinal material complex when the transmission chain is not vibrating; Taking the moving direction of the transmission chain as the positive direction, when When transported, the Chinese medicinal materials complex can move normally on the transport mechanism.

9. A Chinese medicinal material digging and harvesting system according to claim 8, characterized in that: The step S22 is specifically as follows: Step S221: In order to achieve the requirement of vibrating and removing soil from the Chinese medicinal material complex, the Chinese medicinal material complex needs to be transported obliquely upward on the cross section of the transmission chain, and under the action of the vibration cam on the transmission chain, the grid bars realize the reciprocating jump of the Chinese medicinal material complex perpendicular to the working surface of the transmission chain, and the conditions are: Step S222: After the Chinese medicinal material complex is vibrated and jumps, in order to ensure that the Chinese medicinal material complex can be transported normally during the vibration, to prevent the Chinese medicinal material complex from falling downward due to the vibration, and to ensure that the vibration mechanism throws the Chinese medicinal material complex to a suitable position; under the vibration condition, the fence bar is acted upon by the vibration mechanism, and its cross-sectional shape is approximately a broken line state, and the movement direction of the fence bar changes accordingly; as the vibration intensifies, the force of the fence bar on the Chinese medicinal material complex increases, and the movement of the Chinese medicinal material complex intensifies. In order to meet the requirements of vibration soil removal, the conditions are: Where: m 2 represents the mass of the Chinese medicinal material complex under vibration conditions; It indicates the angle between the vibration grid segment and the horizontal plane under vibration conditions; F S2 Indicates the friction between the Chinese medicinal material complex and the bars when the transmission chain is in a broken line state; a x2 It indicates the tangential acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; F N2 Indicates the support force of the working surface on the Chinese medicinal material complex when the transmission chain is in the broken line state; a y2 Indicates the normal acceleration of the Chinese medicinal material complex under the broken line state of the transmission chain; When satisfied When the Chinese medicinal material complex is used, it will not fall and will be thrown to the soil removal position of the jet mechanism along with the vibration mechanism; Step S223: After the Chinese medicinal material complex undergoes normal vibration and jumping, the movement of the Chinese medicinal material complex is monitored by a photoelectric sensor. The photoelectric sensor is installed at a monitoring height. L D for: Right now L D The setting range is: ; Where: L H Indicates the height threshold, that is, when the Chinese medicinal materials are higher than this height, they will be damaged; v represents the speed of the complex when it leaves the bars; h 0 means the maximum jitter height of the grid bar; During the monitoring process of the photoelectric sensor, the PID controller is synchronously regulated: when the Chinese medicinal material complex has not reached the optimal height, the frequency is increased by regulating the vibration mechanism, so that the Chinese medicinal material complex is further thrown up to reach the predetermined height; On the contrary, the vibration mechanism is adjusted to reduce the frequency, thereby reducing the height of the Chinese medicinal material complex, thereby completing PID closed-loop control.

10. A Chinese medicinal material digging and harvesting system according to claim 9, characterized in that: In step S23, the nozzle of the jet mechanism needs to be at a certain angle and peeling force to peel the soil from the Chinese medicinal materials to achieve the best separation effect; wherein the nozzle angle includes the horizontal angle and vertical angle : Where: H D Indicates the distance between the nozzle end and the transmission chain; S d Indicates the distance between the Chinese medicinal material complex and the end of the nozzle; At the same time, the contact force between the gas ejected from the nozzle and the Chinese medicinal material complex F p for: Where: F 0 represents the initial pressure of the gas ejected from the nozzle; is the attenuation coefficient, i.e. the degree to which the ejected gas is attenuated by the environment; t It indicates the time from when the gas is ejected from the nozzle to when it acts on the Chinese medicinal material complex; F f Indicates the adhesion between soil and Chinese medicinal materials; The gas ejected from the nozzle is F 0 initial pressure for soil separation.

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