Intelligent automatic identifying and sorting method and system for traditional Chinese medicinal materials

Abstract

The invention belongs to the field of traditional Chinese medicinal material identification and sorting, and discloses an intelligent and automatic traditional Chinese medicinal material identification and sorting method and system.The method comprises the steps that images of traditional Chinese medicinal materials to be identified and sorted are collected, and the images of the traditional Chinese medicinal materials are preprocessed to obtain attribute information of the traditional Chinese medicinal materials; according to the obtained attribute information of the traditional Chinese medicinal materials, an optimal grabbing scheme for the current traditional Chinese medicinal materials is generated; the grabbed traditional Chinese medicinal materials are placed on a conveying belt, and the traditional Chinese medicinal materials are conveyed to a storage area; determining an optimal storage path and storage coordinates according to the traditional Chinese medicinal materials in the storage area; a traditional Chinese medicinal material intelligent management platform is established, working state data of a mechanical arm, a conveying belt and storage equipment and information of a storage management database are integrated, and real-time monitoring and optimal management of the whole process of recognizing, sorting, conveying and storing the traditional Chinese medicinal materials are achieved. According to the invention, full-automatic intelligent processing of the traditional Chinese medicinal materials from identification, sorting to storage is realized, the efficiency and accuracy of traditional Chinese medicinal material management are improved, and technical support is provided for standardized management of the traditional Chinese medicinal materials.

Description

Technical Field

[0001] The present invention relates to the technical field of traditional Chinese medicine identification and sorting, and particularly relates to a method and system for intelligent automatic identification and sorting of traditional Chinese medicine. Background Art

[0002] In the intelligent automatic identification and sorting system of traditional Chinese medicine, the design of the robotic arm and the conveyor belt system faces many technical problems. First of all, there are a wide variety of traditional Chinese medicines, with different shapes, sizes, and textures, which pose high requirements for the grasping ability of the robotic arm. The robotic arm needs to have precise visual recognition ability to accurately locate and identify different types of traditional Chinese medicines, and at the same time, it also needs to have flexible motion control ability to adapt to traditional Chinese medicines of different shapes and sizes and achieve stable and reliable grasping. Secondly, the conveyor belt system needs to work in coordination with the robotic arm to quickly and smoothly convey the grasped traditional Chinese medicines to the designated position. The speed, width, and material of the conveyor belt need to be optimized according to the characteristics of traditional Chinese medicines, ensuring both the conveying efficiency and avoiding damage to traditional Chinese medicines. In addition, during the conveying process, it is also necessary to conduct real-time tracking and positioning of traditional Chinese medicines to ensure that they reach the target storage position accurately. Finally, the design of the storage system also faces challenges. It is necessary to reasonably plan the storage space according to the characteristics of traditional Chinese medicines, design suitable storage environments and conditions to ensure the quality and safety of traditional Chinese medicines. At the same time, it also needs to cooperate closely with the robotic arm and the conveyor belt system to achieve precise access and efficient management of traditional Chinese medicines. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a method and system for intelligent automatic identification and sorting of traditional Chinese medicine, realizing the full-automatic intelligent processing of traditional Chinese medicine from identification, sorting to storage, improving the efficiency and accuracy of traditional Chinese medicine management, and providing technical support for the standardized management of traditional Chinese medicine.

[0004] The present invention discloses a method for intelligent automatic identification and sorting of traditional Chinese medicine, and the method includes:

[0005] Collect images of traditional Chinese medicines to be identified and sorted, and preprocess the images of traditional Chinese medicines to obtain the attribute information of traditional Chinese medicines;

[0006] Generate an optimal grasping plan for the current traditional Chinese medicine according to the obtained attribute information of traditional Chinese medicine;

[0007] Place the grasped traditional Chinese medicine on the conveyor belt and convey the traditional Chinese medicine to the storage area;

[0008] Determine the optimal storage path and storage coordinates according to the traditional Chinese medicines in the storage area;

[0009] Build an intelligent management platform for Chinese medicinal materials, integrate the working state data of robotic arms, conveyor belts, and storage devices, and the information in the storage management database, and realize real-time monitoring and optimized management of the whole process of Chinese medicinal material identification, sorting, conveying, and storage.

[0010] Preferably, collect images of Chinese medicinal materials to be identified and sorted, and preprocess the images of Chinese medicinal materials to obtain the attribute information of Chinese medicinal materials, including:

[0011] Collect images of Chinese medicinal materials to be identified and sorted through machine vision technology;

[0012] Preprocess the images of Chinese medicinal materials, including image denoising, enhancement, and segmentation operations, and extract key feature parameters;

[0013] Based on the key feature parameters, construct a feature vector of Chinese medicinal materials;

[0014] Based on the pre-established Chinese medicinal material feature model library, use the pattern matching algorithm to identify and classify the feature vectors of Chinese medicinal materials, and obtain the species, shape, and size attribute information of Chinese medicinal materials.

[0015] Preferably, according to the obtained attribute information of Chinese medicinal materials, generate an optimal grasping plan for the current Chinese medicinal materials, including:

[0016] According to the obtained attribute information of Chinese medicinal materials, combined with the preset grasping strategy knowledge base, use the heuristic search algorithm to generate an optimal grasping plan for the current Chinese medicinal materials, including grasping position, angle, and force parameters;

[0017] Control the robotic arm to perform the grasping operation. If an abnormality occurs during the grasping process, dynamically adjust the grasping strategy according to the feedback signal of the force and touch sensor.

[0018] Preferably, place the grasped Chinese medicinal materials on the conveyor belt and convey the Chinese medicinal materials to the storage area, including:

[0019] Place the grasped Chinese medicinal materials on the conveyor belt, and use the conveyor belt encoder to detect the speed and displacement of the conveyor belt in real time;

[0020] Synchronously track the position coordinates of Chinese medicinal materials on the conveyor belt;

[0021] Combined with the shape and size information of Chinese medicinal materials, dynamically adjust the conveyor belt speed to ensure the stable conveyance of Chinese medicinal materials;

[0022] If it is found that the position of Chinese medicinal materials is offset or toppled, correct it through the robotic arm or pneumatic device.

[0023] Preferably, according to the Chinese medicinal materials in the storage area, determine the optimal storage path and storage coordinates, including:

[0024] The conveyor belt transports Chinese medicinal materials to the storage area, and through radio frequency identification or barcode scanning technology, the unique identification number of the Chinese medicinal materials is obtained;

[0025] Query the corresponding storage location information in the storage management database;

[0026] Combined with the spatial layout of the storage area, a spatial mapping algorithm is adopted to determine the optimal storage path and storage coordinates.

[0027] Preferably, determining the optimal storage path and storage coordinates according to the Chinese medicinal materials in the storage area further includes:

[0028] Control the robotic arm or automated storage equipment to transfer the Chinese medicinal materials to the target storage location according to the optimal storage path;

[0029] At the same time, update the storage management database to record the warehousing time, quantity, and location information of the Chinese medicinal materials;

[0030] If the storage space is insufficient, according to the outbound frequency and shelf life parameters of the Chinese medicinal materials, a dynamic storage optimization algorithm is adopted to re-plan the storage area.

[0031] Preferably, determining the optimal storage path and storage coordinates according to the Chinese medicinal materials in the storage area further includes:

[0032] During the storage process, the storage environment parameters are collected in real time through temperature and humidity sensors;

[0033] If abnormal temperature and humidity are found, trigger the alarm mechanism and at the same time control the constant temperature and humidity equipment for automatic adjustment;

[0034] For Chinese medicinal materials that require special storage conditions, set up independent storage units and equip them with special environmental control devices.

[0035] The present invention also discloses a Chinese medicinal materials intelligent automatic identification and sorting system, which is used to implement any one of the above methods, including a Chinese medicinal materials identification module, an intelligent grasping module, a conveying and tracking module, an intelligent storage module, and a management platform module;

[0036] The Chinese medicinal materials identification module is used to collect the images of the Chinese medicinal materials to be identified and sorted, and preprocess the Chinese medicinal materials images to obtain the attribute information of the Chinese medicinal materials;

[0037] The intelligent grasping module is used to generate the optimal grasping plan for the current Chinese medicinal materials according to the obtained attribute information of the Chinese medicinal materials;

[0038] The conveying and tracking module is used to place the grasped Chinese medicinal materials on the conveyor belt and transport the Chinese medicinal materials to the storage area;

[0039] The intelligent storage module is used to determine the optimal storage path and storage coordinates according to the Chinese medicinal materials in the storage area;

[0040] The management platform module is used to establish an intelligent management platform for Chinese medicinal materials, integrate the working state data of the robotic arm, conveyor belt, and storage equipment, and the information in the storage management database, and realize the real-time monitoring and optimized management of the whole process of Chinese medicinal materials identification, sorting, conveying, and storage.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] The present invention discloses a method for intelligent identification, sorting, and storage management of Chinese medicinal materials. This method collects and processes Chinese medicinal material images through machine vision technology, extracts characteristic parameters for identification and classification, and obtains the attribute information of Chinese medicinal materials. Combining with a preset grasping strategy, it controls the robotic arm to accurately grasp Chinese medicinal materials and place them on the conveyor belt. During the conveying process, it real-time tracks the position of Chinese medicinal materials and dynamically adjusts the speed to ensure smooth conveying. After reaching the storage area, it uses radio frequency identification technology to obtain the identification of Chinese medicinal materials, combines with the spatial layout to determine the optimal storage path, accurately stores and updates the database. At the same time, it real-time monitors the storage environment and automatically adjusts the temperature and humidity. The present invention also establishes an intelligent management platform to realize the whole-process monitoring and optimized management. This method realizes the full-automatic intelligent processing of Chinese medicinal materials from identification, sorting to storage, improves the efficiency and accuracy of Chinese medicinal material management, and provides technical support for the standardized management of Chinese medicinal materials. Brief Description of the Drawings

[0043] In order to more clearly illustrate the technical solutions of the present invention, the following briefly introduces the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic flow chart of a method for intelligent automatic identification and sorting of Chinese medicinal materials according to an embodiment of the present invention. Detailed Embodiments

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meanings understood by those of ordinary skill in the field to which the present disclosure pertains. The "first", "second" and similar terms used in the embodiments of the present disclosure do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0047] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] Embodiment 1

[0049] The embodiments of the present invention provide and disclose an intelligent automatic recognition and sorting method for traditional Chinese medicinal materials. The method includes:

[0050] Collect images of traditional Chinese medicinal materials to be recognized and sorted, and preprocess the images of traditional Chinese medicinal materials to obtain the attribute information of the traditional Chinese medicinal materials;

[0051] Generate an optimal grasping plan for the current traditional Chinese medicinal material according to the obtained attribute information of the traditional Chinese medicinal material;

[0052] Place the grasped traditional Chinese medicinal materials on the conveyor belt and convey the traditional Chinese medicinal materials to the storage area;

[0053] Determine the optimal storage path and storage coordinates according to the traditional Chinese medicinal materials in the storage area;

[0054] Establish an intelligent management platform for traditional Chinese medicinal materials, integrate the working state data of the robotic arm, conveyor belt, storage equipment and the information of the storage management database, and realize real-time monitoring and optimized management of the whole process of recognition, sorting, transportation and storage of traditional Chinese medicinal materials.

[0055] In this embodiment, through machine vision technology, images of traditional Chinese medicinal materials to be recognized and sorted are collected, and the images are preprocessed, including operations such as image denoising, enhancement, and segmentation, key feature parameters are extracted, a feature vector of traditional Chinese medicinal materials is constructed, and based on a pre-established feature model library of traditional Chinese medicinal materials, a pattern matching algorithm is used for recognition and classification to obtain attribute information such as the type, shape, and size of traditional Chinese medicinal materials.

[0056] Collect the images of traditional Chinese medicinal materials to be identified and sorted through machine vision technology to obtain high-quality digital image information. Perform image enhancement processing on the collected images of traditional Chinese medicinal materials, including contrast enhancement, edge enhancement, etc., to improve the image quality. Use an image segmentation algorithm to segment the preprocessed image, extract the target area of traditional Chinese medicinal materials, and remove background interference information. According to the segmented target area of traditional Chinese medicinal materials, extract key feature parameters such as color, texture, and shape, and construct a feature vector of traditional Chinese medicinal materials. Compare the extracted feature vector of traditional Chinese medicinal materials with the pre-established feature model library of traditional Chinese medicinal materials, and use the support vector machine algorithm for pattern matching and similarity calculation. According to the pattern matching results, obtain the type of traditional Chinese medicinal materials with the highest similarity, and judge the specific type attributes of the traditional Chinese medicinal materials to be identified. By performing shape analysis and size measurement on the segmented target area of traditional Chinese medicinal materials, obtain the shape attributes and size attributes of traditional Chinese medicinal materials, and complete the identification and classification process of traditional Chinese medicinal materials.

[0057] In this embodiment, according to the attribute information of traditional Chinese medicinal materials obtained in the previous step, combined with the preset knowledge base of grasping strategies, use the heuristic search algorithm to generate the optimal grasping plan for the current traditional Chinese medicinal materials, including parameters such as grasping position, angle, and force, and control the robotic arm to perform precise and stable grasping operations. If an abnormality occurs during the grasping process, the grasping strategy is dynamically adjusted according to the feedback signal of the force and touch sensor.

[0058] Obtain the attribute information of traditional Chinese medicinal materials, including the shape, size, texture, etc. of traditional Chinese medicinal materials, and store the attribute information in the knowledge base. According to the grasping strategy in the knowledge base, use the heuristic search algorithm to generate candidate grasping plans for the current traditional Chinese medicinal materials, including parameters such as grasping position, grasping angle, and grasping force. From the candidate grasping plans, select the optimal grasping plan by evaluating the stability and accuracy of each plan. Transmit the parameters in the optimal grasping plan to the robotic arm control module to control the robotic arm to perform the grasping operation. During the grasping process, obtain the feedback signal of the force and touch sensor in real time to judge whether an abnormal situation occurs, such as too large or too small grasping force. If an abnormal situation is detected, trigger the dynamic adjustment of the grasping strategy, and use the reinforcement learning algorithm to optimize the grasping parameters in real time according to the force feedback and the attributes of traditional Chinese medicinal materials. The adjusted grasping parameters are transmitted to the robotic arm control module to guide the robotic arm to complete the precise and stable grasping task of traditional Chinese medicinal materials.

[0059] In this embodiment, place the grasped traditional Chinese medicinal materials on the conveyor belt, and use the conveyor belt encoder to detect the speed and displacement of the conveyor belt in real time, synchronously track the position coordinates of the traditional Chinese medicinal materials on the conveyor belt, and dynamically adjust the conveyor belt speed in combination with the shape and size information of the traditional Chinese medicinal materials to ensure the stable transportation of the traditional Chinese medicinal materials. If it is found that the position of the traditional Chinese medicinal materials is offset or toppled, correct it through the robotic arm or pneumatic device.

[0060] Obtain information such as the position coordinates, shape, and size of the Chinese medicinal materials on the conveyor belt, use it as the input of the neural network, and obtain the conveyor belt speed adjustment model through training. According to the conveyor belt speed and displacement values detected by the encoder in real time, combined with the position coordinates, shape, and size information of the Chinese medicinal materials, use the speed adjustment model to dynamically calculate the target speed value of the conveyor belt, and control the conveyor belt motor to adjust to the target speed to ensure the stable transportation of the Chinese medicinal materials. If it is determined that the position coordinates of the Chinese medicinal materials deviate from the preset threshold, trigger the robotic arm or pneumatic device to start and correct the position of the Chinese medicinal materials. Monitor the attitude angle of the Chinese medicinal materials on the conveyor belt in real time through machine vision. If it is determined that the attitude angle exceeds the preset range, it is considered that the Chinese medicinal materials have fallen, and trigger the robotic arm or pneumatic device to right it. Use the conveyor belt speed value, the position coordinates, shape, size, attitude angle, etc. of the Chinese medicinal materials as the state space of reinforcement learning, and obtain the optimal conveyor belt speed adjustment and position correction strategies through continuous exploration and training. Use a convolutional neural network to analyze the image of the Chinese medicinal materials, extract its contour features, calculate the shape and size parameters, and use it as one of the bases for adjusting the conveyor belt speed and position correction. By establishing a mathematical model between the conveyor belt speed, displacement, and the position coordinates of the Chinese medicinal materials, use the Kalman filter algorithm to predict and estimate the position of the Chinese medicinal materials, and improve the accuracy and robustness of position tracking.

[0061] In this embodiment, the conveyor belt transports the Chinese medicinal materials to the storage area. Through radio frequency identification or barcode scanning technology, obtain the unique identification number of the Chinese medicinal materials, query the corresponding storage location information in the storage management database, and combine the spatial layout of the storage area to use the spatial mapping algorithm to determine the optimal storage path and storage coordinates.

[0062] Transport the Chinese medicinal materials to the designated storage area through the conveyor belt. During the transportation process, use radio frequency identification or barcode scanning technology to obtain the unique identification number of each Chinese medicinal material. According to the obtained unique identification number, query in the pre-established storage management database to obtain the storage location information corresponding to the Chinese medicinal material. Obtain the spatial layout data of the storage area, including information such as the size, shape, and partition of the storage area. Match the storage location information queried in the storage management database with the spatial layout data of the storage area, and use the spatial mapping algorithm to calculate the optimal storage path of the Chinese medicinal materials in the storage area. According to the calculated optimal storage path, control the conveyor belt to transport the Chinese medicinal materials to the target storage location. After the Chinese medicinal materials reach the target storage location, use radio frequency identification or barcode scanning technology to read its unique identification number again, compare it with the information in the storage management database, and confirm that the Chinese medicinal materials have been accurately stored. Update the actual storage position coordinates of the Chinese medicinal materials to the storage management database to complete the warehousing storage operation of the Chinese medicinal materials.

[0063] In this embodiment, the robotic arm or the automated storage device is controlled to accurately transfer the Chinese medicinal materials to the target storage location according to the optimal storage path. Meanwhile, the storage management database is updated to record information such as the warehousing time, quantity, and location of the Chinese medicinal materials. If the storage space is insufficient, a dynamic storage optimization algorithm is adopted according to parameters such as the outbound frequency and shelf life of the Chinese medicinal materials to re-plan the storage area.

[0064] Obtain the attribute information of the Chinese medicinal materials, including name, quantity, shelf life, etc., and determine the optimal storage path and target storage location for each type of Chinese medicinal material according to the preset storage strategy. Control the robotic arm or the automated storage device to transfer the Chinese medicinal materials from the temporary storage area to the target storage location according to the determined storage path. During the transfer process, the location information of the Chinese medicinal materials is tracked in real time through methods such as radio frequency identification or barcode scanning. After the transfer of the Chinese medicinal materials is completed, information such as the warehousing time, quantity, and storage location is written into the storage management database. The database is updated to ensure the accuracy and real-time nature of the information. Regularly monitor the space occupancy of the storage area. When the available space is lower than the preset threshold, trigger the storage optimization process. Obtain parameters such as the outbound frequency and shelf life of the Chinese medicinal materials from the storage management database as the input of the optimization algorithm. Adopt dynamic storage optimization algorithms such as heuristic search or genetic algorithm, comprehensively consider factors such as the outbound frequency, shelf life, and mutual exclusion constraints of the Chinese medicinal materials, and re-plan the storage area. Generate an optimized storage layout plan. According to the optimized storage layout plan, control the robotic arm or the automated storage device to adjust and re-arrange the storage locations of the Chinese medicinal materials. During the adjustment process, the storage management database is updated in real time to maintain the consistency between the data and the actual storage state. Continuously monitor the environmental parameters of the storage area, such as temperature and humidity, and dynamically adjust the working parameters of the storage device in combination with the storage requirements of the Chinese medicinal materials. At the same time, monitor the operating status of the storage device, promptly detect and handle abnormal situations, and ensure the safety and reliability of the storage of Chinese medicinal materials.

[0065] In this embodiment, during the storage process, the storage environmental parameters are collected in real time through temperature and humidity sensors. If abnormal temperature and humidity are detected, the alarm mechanism is triggered, and at the same time, the constant temperature and humidity equipment is controlled for automatic adjustment. For Chinese medicinal materials that require special storage conditions, independent storage units are set up and equipped with dedicated environmental control devices.

[0066] By deploying temperature and humidity sensors in the storage environment, the temperature and humidity parameters of the storage environment are collected in real time, and the collected temperature and humidity data are transmitted to the central control system. After receiving the temperature and humidity data, the central control system compares it with the preset temperature and humidity thresholds to determine whether the temperature and humidity of the current storage environment are within the normal range. If the temperature and humidity data exceed the preset threshold range, the central control system triggers an alarm mechanism, sends temperature and humidity anomaly alerts to the management personnel via text messages, emails, etc., and at the same time writes the abnormal data into the log file. When the alarm is triggered, the central control system sends control commands to the temperature and humidity control equipment, and automatically adjusts the working parameters of the temperature and humidity control equipment according to the actual deviation of the temperature and humidity, so as to adjust the temperature and humidity of the storage environment to the normal range. For Chinese medicinal materials that require special storage conditions, the system divides them into independent storage units, and equips each storage unit with an independent temperature and humidity sensor and an environmental control device to achieve refined management. The environmental control device of the independent storage unit presets appropriate temperature and humidity thresholds according to the specific storage requirements of this type of Chinese medicinal materials, and uses the PID control algorithm to adjust the temperature and humidity of the storage unit in real time to ensure that it is always in the best storage environment. The system regularly conducts statistical analysis on the temperature and humidity data of each storage unit and the overall storage environment, uses time series analysis algorithms to predict the temperature and humidity change trends in the future for a period of time, and adjusts the working parameters of the temperature and humidity control equipment in advance, so as to achieve predictive maintenance of the storage environment and reduce the occurrence frequency of temperature and humidity anomalies.

[0067] In this embodiment, an intelligent management platform for Chinese medicinal materials is established, integrating the working status data of hardware such as robotic arms, conveyor belts, and storage equipment and the information in the storage management database, to achieve real-time monitoring and optimized management of the entire process of Chinese medicinal materials identification, sorting, transportation, and storage. If an abnormal situation occurs, the platform automatically analyzes the cause, generates a processing plan, and guides the on-site personnel to handle it.

[0068] Obtain the real-time working status data of the hardware devices such as Chinese herbal medicine identification, sorting, conveying and storage, and transmit it to the database of the intelligent management platform for storage. Analyze the obtained working status data of the hardware devices in real time to judge whether there are abnormal situations in each link. If there are abnormalities, trigger an alarm. According to the alarm information, the intelligent management platform automatically analyzes the cause of the abnormality, calls the preset abnormal handling knowledge base, and matches the optimal handling solution. Send the generated abnormal handling solution to the on-site personnel in the form of an instruction, and at the same time push the instruction content to the hardware device to guide the device to automatically execute the handling operation. During the abnormal handling process, continuously obtain the working status change data of the hardware device to judge whether the abnormality is eliminated. If the abnormality is eliminated, update the status information. Train the historical abnormal situations and their handling solutions through machine learning algorithms, continuously improve the abnormal handling knowledge base, and improve the accuracy of the handling solution. Statistically analyze the operation data of the whole process of Chinese herbal medicine, identify the weak links in management, and give a recommended solution for optimizing management to continuously improve the performance of the intelligent management platform.

[0069] It should be noted that the method of the embodiment of the present disclosure can be executed by a single device, such as a computer or a server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In this case of a distributed scenario, one of the multiple devices can only execute one or more steps of the method of the embodiment of the present disclosure, and these multiple devices will interact with each other to complete the described method.

[0070] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, it should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention. The actions or steps recited in the claims can be executed in a different order than in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0071] Embodiment 2

[0072] Based on the same inventive concept, corresponding to the method of any of the above embodiments, the present invention also discloses a Chinese herbal medicine intelligent automatic identification and sorting system, which is used to implement the method of any one of the above, including a Chinese herbal medicine identification module, an intelligent grasping module, a conveying and tracking module, an intelligent storage module, and a management platform module;

[0073] The Chinese herbal medicine recognition module is used to collect the images of Chinese herbal medicines to be recognized and sorted, and preprocess the images of Chinese herbal medicines to obtain the attribute information of Chinese herbal medicines;

[0074] The intelligent grasping module is used to generate an optimal grasping scheme for the current Chinese herbal medicine according to the obtained attribute information of the Chinese herbal medicine;

[0075] The conveying and tracking module is used to place the grasped Chinese herbal medicine on the conveyor belt and convey the Chinese herbal medicine to the storage area;

[0076] The intelligent storage module is used to determine the optimal storage path and storage coordinates according to the Chinese herbal medicines in the storage area;

[0077] The management platform module is used to establish an intelligent management platform for Chinese herbal medicines, integrate the working state data of the robotic arm, conveyor belt, and storage equipment and the information of the storage management database, and realize the real-time monitoring and optimized management of the whole process of Chinese herbal medicine recognition, sorting, conveying, and storage.

[0078] The system of the above embodiment is used to implement the corresponding intelligent automatic recognition and sorting method of Chinese herbal medicines in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be elaborated here.

[0079] It should be noted that the above intelligent automatic recognition and sorting system of Chinese herbal medicines is embodied in the form of functional units. The term "module" here can be implemented in the form of software and / or hardware, and no specific limitation is made thereto.

[0080] For example, the "module" can be a software program, a hardware circuit, or a combination of the two that implements the above functions. The hardware circuit may include an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a combined logic circuit, and / or other suitable components that support the described functions.

[0081] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A method for intelligent automatic identification and sorting of Chinese medicinal materials, characterized in that: The method comprises: Collect images of Chinese medicinal materials to be identified and sorted, and pre-process the images of Chinese medicinal materials to obtain attribute information of the Chinese medicinal materials; Generate the optimal grabbing plan for the current Chinese medicinal materials based on the acquired Chinese medicinal materials property information; Place the grabbed Chinese medicinal materials on the conveyor belt and transport them to the storage area; Determine the optimal storage path and storage coordinates based on the Chinese medicinal materials in the storage area; Establish an intelligent management platform for Chinese medicinal materials, integrate the working status data of robotic arms, conveyor belts, and storage equipment, and storage management database information, to achieve real-time monitoring and optimized management of the entire process of Chinese medicinal materials identification, sorting, transportation, and storage.

2. The method according to claim 1, characterized in that Collect the images of Chinese medicinal materials to be identified and sorted, and pre-process the images to obtain the attribute information of the Chinese medicinal materials, including: Through machine vision technology, images of Chinese medicinal materials to be identified and sorted are collected; Preprocess the images of Chinese medicinal materials, including image denoising, enhancement, segmentation, and extraction of key feature parameters; Based on key feature parameters, construct the feature vector of Chinese medicinal materials; Based on the pre-established Chinese medicinal materials feature model library, a pattern matching algorithm is used to identify and classify Chinese medicinal materials feature vectors to obtain the type, shape, and size attribute information of Chinese medicinal materials.

3. The method according to claim 1, characterized in that Based on the acquired Chinese medicinal material attribute information, the optimal grabbing solution for the current Chinese medicinal materials is generated, including: According to the acquired Chinese medicinal material attribute information, combined with the preset grasping strategy knowledge base, a heuristic search algorithm is used to generate the optimal grasping solution for the current Chinese medicinal material, including grasping position, angle, and force parameters; Control the robotic arm to perform the grasping operation. If any abnormality occurs during the grasping process, the grasping strategy is dynamically adjusted based on the feedback signal from the force tactile sensor.

4. The method according to claim 1, characterized in that: Placing the grabbed Chinese medicinal materials on the conveyor belt and transporting them to the storage area includes: Place the grabbed Chinese medicinal materials on the conveyor belt, and use the conveyor belt encoder to detect the speed and displacement of the conveyor belt in real time; Synchronously track the position coordinates of Chinese medicinal materials on the conveyor belt; Combined with the shape and size information of Chinese medicinal materials, the conveyor belt speed is dynamically adjusted to ensure smooth transportation of Chinese medicinal materials; If the Chinese medicinal materials are found to be shifted or tilted, they will be corrected using a robotic arm or pneumatic device.

5. The method according to claim 1, characterized in that According to the Chinese medicinal materials in the storage area, the optimal storage path and storage coordinates are determined including: The conveyor belt transports the Chinese medicinal materials to the storage area, and obtains the unique identification number of the Chinese medicinal materials through radio frequency identification or barcode scanning technology; Query the corresponding storage location information in the storage management database; Combined with the spatial layout of the storage area, a spatial mapping algorithm is used to determine the optimal storage path and storage coordinates.

6. The method according to claim 5, characterized in that According to the Chinese medicinal materials in the storage area, determining the optimal storage path and storage coordinates also includes: Control the robotic arm or automated storage equipment to transfer the Chinese medicinal materials to the target storage location according to the optimal storage path; At the same time, the storage management database is updated to record the storage time, quantity, and location information of Chinese medicinal materials; If the storage space is insufficient, a dynamic storage optimization algorithm will be used to re-plan the storage area based on the outbound frequency and shelf life parameters of the Chinese medicinal materials.

7. The method according to claim 5, characterized in that According to the Chinese medicinal materials in the storage area, determining the optimal storage path and storage coordinates also includes: During the storage process, the storage environment parameters are collected in real time through temperature and humidity sensors; If abnormal temperature and humidity are found, the alarm mechanism will be triggered and the constant temperature and humidity equipment will be controlled to automatically adjust; For Chinese medicinal materials that require special storage conditions, independent storage units are set up and equipped with special environmental control devices.

8. An intelligent automatic identification and sorting system for Chinese medicinal materials, the system being used to implement the method described in any one of claims 1 to 7, characterized in that: Chinese medicinal materials identification module, intelligent grabbing module, transportation tracking module, intelligent storage module and management platform module; The Chinese medicinal material identification module is used to collect images of Chinese medicinal materials to be identified and sorted, and pre-process the images of Chinese medicinal materials to obtain attribute information of the Chinese medicinal materials; The intelligent grabbing module is used to generate an optimal grabbing solution for the current Chinese medicinal materials according to the acquired Chinese medicinal materials property information; The conveying tracking module is used to place the grabbed Chinese medicinal materials on the conveyor belt and transport the Chinese medicinal materials to the storage area; The intelligent storage module is used to determine the optimal storage path and storage coordinates according to the Chinese medicinal materials in the storage area; The management platform module is used to establish an intelligent management platform for Chinese medicinal materials, integrating the working status data of robotic arms, conveyor belts, and storage devices and storage management database information, to achieve real-time monitoring and optimized management of the entire process of Chinese medicinal materials identification, sorting, transportation, and storage.

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