A harvesting system for rhizomes and other medicinal herbs

Abstract

This invention discloses a harvesting system for rhizomes and stems of traditional Chinese medicinal herbs, relating to the field of medicinal herb harvesting technology. It includes a multimodal soil detection module capable of acquiring soil dielectric constant, porosity, organic matter content, hardness, and moisture content, and performing weighted summation based on a dynamic weight allocation strategy to obtain the digging force; a rhizome and stem identification module capable of identifying rhizomes and the object being dug, obtaining the optimal digging path; an adaptive digging module capable of digging rhizomes and stems based on the digging force and optimal digging path; a soil removal module for removing soil from the rhizomes and stems; and a storage module for storing the rhizomes and stems. This invention solves the problems of low digging efficiency and high damage rate in existing rhizome and stem harvesting methods due to the inability to automatically adjust digging force and depth, making them unsuitable for different soil types. It improves the harvesting efficiency and quality of rhizomes and stems of traditional Chinese medicinal herbs.

Description

Technical Field

[0001] This invention relates to the field of Chinese medicinal material harvesting technology, specifically to a harvesting system for rhizomes and other types of Chinese medicinal materials. Background Technology

[0002] Rhizome-type Chinese medicinal materials refer to Chinese medicinal materials whose main medicinal parts grow underground, including roots, rhizomes, bulbs and other medicinal parts. Different varieties vary in shape, length and growth depth due to factors such as growth environment. Their growth depth is usually between 10 and 60 cm. They have high moisture content and are brittle and tender when harvested, making them easy to be damaged and broken during digging, which requires high performance of harvesting machinery.

[0003] Existing harvesting techniques for rhizomes and other medicinal herbs mainly include manual harvesting, semi-mechanized harvesting, and mechanized harvesting. While manual harvesting can better protect the herbs, it is inefficient, labor-intensive, and, with increasing labor costs and planting areas, struggles to meet the demands of modern cultivation. Semi-mechanized harvesting uses modified plows and other equipment for digging and turning the soil, but still requires manual separation of roots and soil for collection, resulting in lower technical levels and operational efficiency. Mechanized harvesting uses specially designed machinery for digging, root-soil separation, and collection, but its harvesting function is relatively limited, the harvesters are large, and it has poor adaptability to terrain and herb types. For different types of medicinal herbs, manual adjustment of digging depth based on experience is required, and continuously digging different types of herbs results in low efficiency and increased damage during digging.

[0004] Existing harvesting techniques for rhizomes and other medicinal herbs have many problems. The most significant issue is that the digging force and depth are not adjustable, resulting in high damage rates and significant energy waste. Digging with a fixed force can easily damage the root system, while digging with a fixed depth is difficult to adapt to the different growth depths of various herbs, leading to incomplete or excessive digging. Current digging methods often rely on manual experience to determine depth, which is insufficient to meet the needs of modern harvesting. This also reduces the quality and harvesting efficiency of medicinal herbs, increases production costs, and hinders the modernization of the medicinal herb industry. Summary of the Invention

[0005] This invention provides a harvesting system for rhizomes and other medicinal herbs to solve the problems of low harvesting efficiency and high damage rate of existing harvesting methods for rhizomes and other medicinal herbs because the digging force and depth cannot be automatically adjusted and cannot adapt to different soil types. This system improves the harvesting efficiency and quality of rhizomes and other medicinal herbs and meets the needs of diverse medicinal herb planting environments.

[0006] This invention provides a harvesting system for rhizomes and other medicinal herbs, comprising:

[0007] The multimodal soil detection module is used to obtain the dielectric constant, porosity, organic matter content, hardness and moisture of the soil, and to calculate the excavation force by weighting porosity, organic matter content, hardness and moisture according to a dynamic weight allocation strategy.

[0008] The Chinese medicinal herb root and stem recognition module is used to perform three-dimensional spatial recognition of the roots and stems of Chinese medicinal herbs to obtain the three-dimensional structure and spatial distribution of the roots and stems, detect the objects to be excavated to obtain soil discrimination information, and obtain the optimal excavation path based on the three-dimensional structure, spatial distribution and soil discrimination information of the roots and stems.

[0009] An adaptive excavation module is used to excavate the roots and stems of Chinese medicinal herbs based on the excavation intensity and optimal excavation path.

[0010] The soil removal module is used to remove soil from the roots and rhizomes of Chinese medicinal herbs after excavation.

[0011] The storage module is used to store the roots and stems of Chinese medicinal herbs after the soil has been removed.

[0012] In this solution, a multimodal soil detection module acquires soil dielectric constant, porosity, organic matter content, hardness, and moisture content. A dynamic weighting strategy optimizes the digging intensity to ensure it adapts to different soil conditions for various rhizomatous medicinal herbs, preventing damage to the rhizomes and soil environment from excessive digging and reducing efficiency from insufficient digging, thus improving the harvest quality of medicinal herbs. A rhizome identification module acquires the three-dimensional structure and spatial distribution of rhizomes, accurately identifying their location and reducing incomplete harvesting and low-quality rhizomes due to accidental damage or omission, improving the completeness and quality of the harvest. An adaptive digging module adjusts digging intensity and depth to ensure precision and efficiency, reducing over- and under-digging in rhizome medicinal herb planting areas. Finally, a soil removal and storage module removes soil from the dug rhizomes and stores them, improving harvest efficiency and automation of the rhizome medicinal herb harvesting process.

[0013] Furthermore: the multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil moisture unit, and a digging force analysis unit;

[0014] The dual-band dielectric constant detection unit is used to detect the low-frequency and high-frequency dielectric constants of the soil through dual-band signals, and to determine the soil type by the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant.

[0015] The soil porosity unit is used to detect the porosity of the soil and obtain the porosity detection value.

[0016] The soil organic matter content unit is used to detect the organic matter content of the soil and obtain the organic matter content detection value.

[0017] The soil hardness unit is used to detect the hardness of the soil and obtain a hardness test value.

[0018] The soil moisture unit is used to detect the moisture content of the soil and obtain a moisture detection value.

[0019] The excavation strength analysis unit is used to perform weighted analysis based on soil type, porosity detection value, organic matter content detection value, hardness detection value, and moisture detection value to obtain the excavation strength.

[0020] In this solution, the multimodal soil detection module, during operation, can acquire multimodal soil data in real time and accurately through dual-band dielectric constant detection unit, soil porosity unit, soil organic matter content unit, soil hardness unit, and soil moisture unit. This data specifically includes soil type, porosity, organic matter content, hardness, and moisture. Based on the acquired multimodal data, the excavation force analysis unit uses weighted analysis to determine the degree of soil influence on excavation force, thereby adjusting the excavation force. This achieves adaptive optimization of the excavation force for rhizomes and other medicinal herbs, improving harvesting efficiency and quality, reducing damage to the roots and stems, and solving the problem of traditional fixed harvesting methods for rhizomes and other medicinal herbs, which cannot adapt to different soil conditions, resulting in low harvesting efficiency and high damage rates.

[0021] Furthermore: the dual-band dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module;

[0022] The soil testing probe is used to detect the dielectric constant of the soil;

[0023] The low-frequency signal source is used to generate low-frequency signals and transmit them to the soil inspection probe to obtain the low-frequency dielectric constant.

[0024] The high-frequency signal source is used to generate high-frequency signals and transmit them to the soil inspection probe to obtain the high-frequency dielectric constant.

[0025] The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, take the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio, and determine the soil type by the dielectric constant ratio. The soil type includes sandy soil, loam, and clay.

[0026] In this scheme, the dual-band dielectric constant detection unit uses a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module to detect the low-frequency and high-frequency dielectric constants of the soil in real time. The low-frequency dielectric constant reflects the moisture content in the soil, while the high-frequency dielectric constant reflects the content of polar substances in the soil. The higher the content of polar substances, the greater the difference between the high-frequency and low-frequency dielectric constants. Among sandy soil, loam, and clay, sandy soil has the lowest moisture content and the lowest content of polar substances, resulting in the smallest difference between the low-frequency and high-frequency dielectric constants. Clay soil has the highest moisture content... Clay soil has the highest content of polar substances, and the difference between its low-frequency and high-frequency dielectric constants is the largest. The difference between the low-frequency and high-frequency dielectric constants of loam soil is between that of sandy soil and clay soil. By comparing the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, soil type can be quickly and accurately determined. This solves the problems of low efficiency and low accuracy of traditional soil type detection methods, improves the accuracy and efficiency of soil type identification, and provides a basis for optimizing the digging intensity during the harvesting of Chinese medicinal materials. This ensures that the digging process is adapted to different soil conditions, reduces damage to the roots and stems of medicinal materials, and improves the quality of medicinal materials.

[0027] Furthermore: the excavation strength analysis unit performs a weighted analysis based on soil type, porosity detection value, organic matter content detection value, hardness detection value, and moisture detection value to obtain the excavation strength, as detailed below:

[0028] Based on soil type, the normal ranges of porosity, organic matter content, hardness and moisture are determined, and normal values ​​of porosity, organic matter content, hardness and moisture are obtained, and a preliminary weighting of porosity, organic matter content, hardness and moisture is obtained.

[0029] The porosity test value, organic matter content test value, hardness test value, and humidity test value are compared with the normal values ​​of porosity, organic matter content, hardness, and humidity, respectively, and the differences are calculated to obtain the porosity difference, organic matter content difference, hardness difference, and humidity difference.

[0030] Based on the differences in porosity, organic matter content, hardness, and humidity, the initial weight allocation of porosity, organic matter content, hardness, and humidity is adjusted to obtain the actual weight allocation of porosity, organic matter content, hardness, and humidity.

[0031] The porosity, organic matter content, hardness, and humidity test values ​​were standardized to obtain standard values ​​for porosity, organic matter content, hardness, and humidity, respectively.

[0032] Based on the actual weight allocation of porosity, organic matter content, hardness, and moisture, the standard values ​​of porosity, organic matter content, hardness, and moisture are weighted and summed to obtain the soil excavation weight value.

[0033] Based on the soil excavation weight value, the excavation force is obtained according to the pre-set mapping relationship between excavation weight and excavation force.

[0034] In this solution, the excavation force analysis unit uses a dynamic weight allocation strategy, combined with multimodal data on soil type, porosity, organic matter content, hardness, and moisture, to obtain the soil excavation weight value and adjust the excavation force in real time. This improves the efficiency and quality of medicinal herb excavation and solves the problem that traditional excavation equipment cannot dynamically adjust the force according to soil conditions, resulting in excessive excavation force that damages the roots and stems of medicinal herbs, or insufficient excavation force that fails to properly excavate the roots and stems of medicinal herbs.

[0035] Furthermore: the medicinal herb root and stem identification module includes a ground-penetrating radar positioning unit, a pressure sensing unit, and a root and stem identification processing unit;

[0036] The ground-penetrating radar positioning unit is used to detect the three-dimensional structure and spatial distribution of the roots and stems of Chinese medicinal materials;

[0037] The pressure sensing unit is used to determine whether the object being excavated is soil by detecting changes in soil pressure during the excavation process, obtain soil identification information, and transmit the soil identification information to the adaptive excavation module.

[0038] The root and stem identification and processing unit is used to obtain the excavation path based on the three-dimensional structure and spatial distribution of the root and stem of the Chinese medicinal material, and to dynamically adjust the excavation path based on soil discrimination information to obtain the optimal excavation path.

[0039] In this solution, the medicinal herb root and stem identification module uses a ground-penetrating radar positioning unit to emit high-frequency electromagnetic waves and receive reflected waves to obtain the three-dimensional structure and spatial distribution of the medicinal herb roots and stems. Based on the three-dimensional structure and spatial distribution of the medicinal herb roots and stems, the root and stem identification processing unit analyzes and processes the data, excavating rootless areas near the root and stem regions, avoiding the medicinal herb roots and stems during excavation, and obtaining the excavation path to ensure the integrity of the medicinal herb roots and stems after excavation. Then, the soil pressure change rate is detected by the pressure sensing unit during the excavation process. Based on the magnitude of the soil pressure change rate, it is determined whether non-soil areas have been excavated, and the excavation path is adjusted to avoid non-soil areas. This solves the problems of inaccurate root and stem identification and lack of real-time feedback in the traditional medicinal herb harvesting process, which leads to excessive damage rate of medicinal herbs, and improves the harvest quality of medicinal herb roots and stems.

[0040] Furthermore: the pressure sensing unit includes a piezoresistive array subunit, a pressure gradient analysis subunit, and a feedback control subunit;

[0041] The piezoresistive array subunit includes several piezoresistive sensors, which are deployed in the adaptive excavation module and used to collect soil pressure distribution data in real time during the excavation process.

[0042] The pressure gradient analysis subunit is used to calculate and process soil pressure distribution data to obtain soil discrimination information;

[0043] The feedback control subunit is used to provide feedback and control to the adaptive excavation module based on soil discrimination information.

[0044] The pressure sensing unit, during operation, collects soil pressure distribution data in real time through the piezoresistive array subunit during excavation. It then calculates the rate of change of soil pressure with excavation depth using the pressure gradient analysis subunit. This allows it to determine whether the excavated object is soil and records this as soil identification information. Based on this information, it directly feeds back to control the adaptive excavation module, enabling rapid control of its operation. When the excavated object is not soil, the module can be stopped promptly, reducing damage to medicinal herbs and improving the accuracy and quality of the excavated herbs. This solves the problem of traditional excavation equipment's inability to monitor soil pressure changes in real time and its lack of dynamic adjustment capabilities.

[0045] Furthermore: the pressure gradient analysis subunit is specifically used for:

[0046] A mapping relationship was established based on soil pressure distribution data and excavation time to obtain the mapping relationship between soil pressure and time;

[0047] Based on the mapping relationship between soil pressure and time, the rate of change of soil pressure over time was calculated.

[0048] Determine whether the soil pressure change rate is less than a preset soil pressure change rate threshold. If so, determine that the excavated object is soil; otherwise, determine that the excavated object is not soil, and obtain soil discrimination information.

[0049] The feedback control subunit is specifically used for:

[0050] When the soil identification information is non-soil, the feedback control subunit sends a message to the adaptive excavation module to stop excavation. When the soil identification information is soil, the feedback control subunit sends a message to the adaptive excavation module.

[0051] The pressure gradient analysis subunit establishes a mapping relationship between excavation depth and soil pressure based on pressure distribution data. Through mathematical calculations, it obtains the rate of change of soil pressure with varying excavation depth. When encountering non-soil objects, such as medicinal herb roots and hard obstacles, the pressure distribution data increases instantaneously, and the rate of change of soil pressure exceeds the preset rate. This change indicates that the object being excavated is not soil. At this point, the feedback control subunit sends feedback to the adaptive excavation module, which can skip the root and stem identification unit, reducing data processing time and allowing for timely and direct control of the adaptive excavation module to stop excavation, preventing further damage to the medicinal herb roots and stems. Furthermore, when encountering hard obstacles, it can promptly stop excavation, protecting the excavation blade and preventing damage. The pressure gradient analysis subunit and feedback control subunit in this solution solve the problem of traditional root and stem medicinal herb excavation processes failing to obtain real-time soil pressure changes, leading to root and stem damage and damage to the excavation blade.

[0052] Furthermore: the rhizome recognition unit is specifically used for:

[0053] The excavation path is obtained based on the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials;

[0054] The excavation path is dynamically adjusted during the excavation process based on the soil discrimination information detected by the pressure sensing unit. When the soil discrimination information is non-soil, the excavation path is adjusted to avoid non-soil. When the soil discrimination information is soil, the initial excavation path is not adjusted, thus obtaining the optimal excavation path.

[0055] In this solution, the root and stem identification unit can analyze the three-dimensional structure and spatial distribution of medicinal herb roots and stems, avoid the roots and stems during excavation, determine the excavation path, and prevent damage to the roots and stems. At the same time, during the excavation process, the soil discrimination information obtained by the pressure sensing unit is used to judge the object being excavated, determining whether it is soil. If it is determined to be non-soil, it means that the object being excavated is a medicinal herb root and stem and a non-soil object, and the excavation path needs to be adjusted to reduce damage to the medicinal herb roots and stems and ensure the integrity and high quality of the medicinal herb roots and stems.

[0056] Furthermore: the adaptive digging module includes a digging shovel unit, an angle adjustment unit, a force adjustment unit, and a digging depth limiting unit;

[0057] The excavating shovel unit is used to excavate the soil;

[0058] The angle adjustment unit is used to adjust the digging angle of the digging shovel unit;

[0059] The force adjustment unit is used to adjust the digging force of the digging shovel unit;

[0060] The digging depth limiting unit is used to limit the maximum digging depth of the digging shovel.

[0061] The adaptive excavation module adjusts the excavation angle through an angle adjustment unit to ensure that the roots and stems of medicinal herbs are not damaged during the excavation process. The force adjustment unit regulates the excavation force to ensure successful excavation of the roots and stems without damaging the soil environment or the herbs themselves. The excavation depth limiting unit restricts the maximum excavation depth, preventing excessive excavation that could damage the soil structure when excavating shallow-planted root-type medicinal herbs. This solves the problems of low excavation efficiency, high damage rate to medicinal herbs, and uncontrollable excavation depth associated with traditional excavation equipment in complex soil conditions. It improves the accuracy and efficiency of excavation, reduces damage to the roots and stems of medicinal herbs, and enhances the quality of the medicinal herbs.

[0062] Furthermore: the soil removal module includes a dual conveyor belt unit, a vibrating screening unit, and a flexible brush roller unit;

[0063] The dual conveyor belt unit includes two parallel conveyor belts arranged one above the other. The excavated Chinese medicinal materials pass between the two conveyor belts to separate large clods of soil from the roots and stems of the Chinese medicinal materials.

[0064] The vibrating screening unit is used to separate the rhizomes and the broken soil clumps on the surface of the rhizomes;

[0065] The flexible brush roller unit is used to rotate and clean the soil residue remaining in the rhizome.

[0066] In this solution, the dual conveyor belt unit of the soil removal module uses two parallel conveyor belts arranged at the top and bottom. The excavated medicinal herbs pass between the two conveyor belts, effectively separating large clods of soil from the roots and stems of the medicinal herbs. The vibrating screening unit uses the principle of vibrating screening to separate the roots and stems from the broken soil clods on their surface, ensuring that the surface of the medicinal herbs is clean. The flexible brush roller unit cleans the residual soil clods in the roots and stems by rotating, further improving the cleanliness of the medicinal herbs. The soil removal process is all done in a flexible manner, which can avoid damage to the roots and stems of the medicinal herbs, and at the same time adapts to the soil removal needs of various root and stem medicinal herbs, improving the efficiency and quality of soil removal.

[0067] The present invention provides a harvesting system for rhizomes and other medicinal herbs, which has at least the following technical effects:

[0068] This invention solves the technical problems of poor soil adaptability, inaccurate root and stem identification, low digging efficiency, high damage rate of medicinal materials, and incomplete soil removal in the traditional harvesting of root and stem medicinal materials by working in synergy with a multimodal soil detection module, a medicinal herb root and stem identification module, an adaptive digging module, a soil removal module, and a storage module. It can dynamically adjust the digging intensity and digging path according to soil conditions, accurately identify the distribution of medicinal herb roots and stems, avoid accidental damage to medicinal materials, and improve the cleanliness of medicinal materials through multi-stage soil removal treatment. It achieves efficient, accurate, and intelligent harvesting of medicinal materials, significantly improves the quality and harvesting efficiency of medicinal materials, and reduces labor costs. Attached Figure Description

[0069] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0070] Figure 1 This is a schematic diagram of the structure of a harvesting system for rhizomes and other medicinal materials according to the present invention. Detailed Implementation

[0071] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0072] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0073] Example 1

[0074] This invention provides a harvesting system for rhizomes and other medicinal herbs, comprising:

[0075] The multimodal soil detection module is used to obtain the dielectric constant, porosity, organic matter content, hardness and moisture of the soil, and to calculate the excavation force by weighting porosity, organic matter content, hardness and moisture according to a dynamic weight allocation strategy.

[0076] The Chinese medicinal herb root and stem recognition module is used to perform three-dimensional spatial recognition of the roots and stems of Chinese medicinal herbs to obtain the three-dimensional structure and spatial distribution of the roots and stems, detect the objects to be excavated to obtain soil discrimination information, and obtain the optimal excavation path based on the three-dimensional structure, spatial distribution and soil discrimination information of the roots and stems.

[0077] An adaptive excavation module is used to excavate the roots and stems of Chinese medicinal herbs based on the excavation intensity and optimal excavation path.

[0078] The soil removal module is used to remove soil from the roots and rhizomes of Chinese medicinal herbs after excavation.

[0079] The storage module is used to store the roots and stems of Chinese medicinal herbs after the soil has been removed.

[0080] The multimodal soil detection module of this technical solution acquires soil information data through multiple sensors, including dielectric constant, porosity, organic matter content, hardness, and moisture. A weighted summation calculation is performed using a dynamic weight allocation strategy, and the final weighted value is used as a reference for digging intensity to determine the digging intensity of medicinal herb roots and stems. The medicinal herb root and stem identification module acquires the three-dimensional structure and spatial distribution of root and stem medicinal herbs. Based on this structure and distribution, it adjusts the digging angle, prioritizing digging in areas without roots and stems while avoiding those areas, and adjusting the digging angle according to the spatial distribution of roots and stems. The system adjusts the digging depth accordingly to ensure that the roots and stems are completely excavated, thus obtaining the digging path. During digging, it determines whether the object being excavated is soil, avoiding non-soil roots and stems, and obtaining the optimal digging path. Through a multimodal soil detection module and a medicinal herb root and stem recognition module, it can specifically distinguish between soil types and medicinal herb roots and stems, and adaptively adjust the digging strategy according to soil characteristics and root and stem distribution, improving harvesting efficiency, reducing damage to medicinal materials, and ensuring the quality of medicinal materials. This solves the problem of adaptability of existing root and stem medicinal herb harvesting methods under different soil types, as well as the problem of not being able to accurately identify the specific spatial distribution of medicinal herb roots and stems.

[0081] In this solution, a multimodal soil detection module acquires soil dielectric constant, porosity, organic matter content, hardness, and moisture content. A dynamic weighting strategy optimizes the digging intensity to ensure it adapts to different soil conditions for various rhizomatous medicinal herbs, preventing damage to the rhizomes and soil environment from excessive digging and reducing efficiency from insufficient digging, thus improving the harvest quality of medicinal herbs. A rhizome identification module identifies the distribution of rhizomes, accurately pinpointing their location and minimizing damage, thus reducing incomplete harvesting and low-quality harvests, improving the integrity and quality of the rhizome harvest. An adaptive digging module adjusts digging intensity and depth to ensure precision and efficiency, avoiding over- or under-digging of rhizome planting areas. Finally, a soil removal and storage module removes soil from the excavated rhizomes, improving harvest efficiency and automation of the rhizome harvesting process.

[0082] In a specific embodiment of the present invention, a rhizome-type Chinese medicinal material harvesting system further includes a Chinese medicinal material efficacy detection module, which is used to detect the efficacy components of the rhizomes of Chinese medicinal materials after soil removal. The Chinese medicinal material efficacy detection module includes a near-infrared spectroscopy unit and an efficacy component identification unit.

[0083] Near-infrared spectroscopy units were used to irradiate the roots and rhizomes of medicinal herbs after soil removal to obtain near-infrared reflectance spectra. Because different substances have different absorption and reflection characteristics of near-infrared light, when near-infrared light irradiates the roots and rhizomes of medicinal herbs, different medicinal components, such as saponins, flavonoids, and polysaccharides, will absorb near-infrared light of specific wavelengths, resulting in characteristic absorption peaks in the reflected near-infrared light spectrum, which are then reflected in the near-infrared reflectance spectrum. In a specific embodiment, root and rhizome medicinal herbs whose medicinal components are volatile oils were damaged during excavation, and their cell structure was destroyed, affecting their internal structure. When volatile oils are exposed to air, such as in ginger, the volatile oils inside the plant are gradually lost as cells rupture, leading to a reduction in the medicinal components. The phenolic hydroxyl groups of flavonoids are highly reactive, and the collisions and friction generated during excavation provide the conditions for them to react with oxygen in the air, resulting in a reduction in the medicinal components, such as puerarin and daidzein. At the same time, microorganisms and water in the soil can enter rhizomes from the excavation wounds, reacting chemically with the medicinal components therein, reducing the content of the medicinal components, contaminating the medicinal materials, and increasing the difficulty of subsequent purification processing.

[0084] When the medicinal herb efficacy detection module is working, it uses a near-infrared spectroscopy unit to irradiate the roots and stems of the medicinal herbs after soil removal, obtaining near-infrared reflectance spectra. Based on the different absorption and reflection characteristics of near-infrared light by different medicinal components, the efficacy component identification unit analyzes the obtained near-infrared reflectance spectra to determine the content of the main efficacy components in the medicinal herb roots and stems. Specifically, a near-infrared spectroscopy sensor is placed at fixed intervals between the soil removal module and the storage module to perform multi-point detection on the roots and stems of the medicinal herbs after soil removal. Data fusion algorithms are used to integrate the data, reducing random errors and local differences in the detection results, ensuring that the roots and stems of the medicinal herbs after soil removal are detected, and improving the accuracy of near-infrared spectroscopy detection results. The efficacy component identification unit can first use a trained neural network model to analyze the near-infrared reflectance spectra. Infrared spectroscopy analysis, such as using a backpropagation neural network and combined with a genetic algorithm, is employed to accurately identify the active ingredients. Simultaneously, a pre-established database of active ingredients, adaptable to several types of rhizomes and other medicinal herbs, is used. Through this database and the trained neural network model, the content of the main active ingredients in the rhizomes and other medicinal herbs is quickly obtained. Damage to the rhizomes and other medicinal herbs during the excavation process will reduce the detected content of active ingredients; adverse growth environments for rhizomes and other medicinal herbs will also reduce the detected content of active ingredients. When the detected content of active ingredients falls below a preset threshold, the medicinal herb efficacy detection module immediately feeds back to the adaptive excavation module, stopping the current excavation work, adjusting the excavation intensity and path, minimizing damage to the rhizomes and ensuring maximum preservation of active ingredients. Simultaneously, the detection results of the active ingredients in the active ingredient identification unit are compared and analyzed with the pre-established active ingredient database. If the content of active ingredients continues to be lower than the preset threshold, the digging angle is adjusted by combining soil data from the multimodal soil detection module, the three-dimensional structure of the rhizome, and the spatial distribution of the rhizome. This adjusts the digging direction away from the three-dimensional structure and spatial distribution of the rhizome, reducing digging force and speed, minimizing damage to the rhizome, and increasing digging depth to ensure that the rhizome can be completely dug out. This sacrifices the digging efficiency of rhizome-type medicinal materials but improves the quality of the medicinal materials. By adjusting the digging angle and depth, the digging path is optimized to adapt to different growth environments and medicinal material characteristics. The detection results of the active ingredient content are also saved and sent to the terminal. The terminal further analyzes the growth environment of rhizome-type medicinal materials based on the detection results to determine the reasons for the decline in the content of active ingredients. This achieves high efficiency, precision, and intelligence in the harvesting process of medicinal materials, improving the quality and harvesting efficiency of medicinal rhizomes.

[0085] Example 2

[0086] The present invention provides a harvesting system for rhizomes and other medicinal herbs. Based on Example 1, the multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil moisture unit, and a digging force analysis unit.

[0087] The dual-band dielectric constant detection unit is used to detect the low-frequency and high-frequency dielectric constants of soil through dual-band signals, and to determine the soil type by the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant.

[0088] Soil porosity unit, used to detect soil porosity and obtain porosity test values;

[0089] The soil organic matter content unit is used to detect the organic matter content of the soil and obtain the organic matter content test value;

[0090] The soil hardness unit is used to detect the hardness of the soil and obtain the hardness test value.

[0091] The soil moisture unit is used to detect the moisture content of the soil and obtain the moisture detection value.

[0092] The excavation strength analysis unit is used to perform weighted analysis based on soil type, porosity test value, organic matter content test value, hardness test value, and moisture test value to obtain the excavation strength.

[0093] In a specific embodiment of the present invention, before harvesting and excavating rhizomes and medicinal materials, a porosity meter is used to detect soil porosity, a soil organic matter meter is used to detect soil organic matter content, a soil hardness meter is used to detect soil hardness, and a soil moisture meter is used to detect soil moisture.

[0094] The dual-band dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module.

[0095] Soil testing probe, used to detect the dielectric constant of soil;

[0096] A low-frequency signal source is used to generate low-frequency signals and transmit them to a soil inspection probe to obtain the low-frequency dielectric constant.

[0097] A high-frequency signal source is used to generate high-frequency signals and transmit them to a soil inspection probe to obtain the high-frequency dielectric constant.

[0098] The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, and to use the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio. The soil type is determined by the dielectric constant ratio, which includes sandy soil, loam, and clay.

[0099] In this technical solution, the dual-band dielectric constant detection unit uses a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module to detect the low-frequency and high-frequency dielectric constants of the soil in real time. The low-frequency dielectric constant reflects the soil moisture content; the higher the soil moisture content, the larger the low-frequency dielectric constant. The high-frequency dielectric constant reflects the content of polar substances in the soil; the higher the content of polar substances, the smaller the high-frequency dielectric constant. When measuring the dielectric constant of the soil, the dielectric constant gradually decreases with increasing signal frequency, and the greater the content of polar substances, the greater the decrease. Among sandy soil, loam, and clay, sandy soil has larger particles, more pores, and is less prone to moisture retention, and has weak adsorption capacity. Therefore, sandy soil has the lowest moisture content and the lowest content of polar substances. Clay has finer particles, smaller pores, and can retain more moisture, and its adsorption capacity is also lower. The soil properties of clay soil are between those of sandy soil and clay soil. At low frequencies, the polar substances and water in the soil can be fully polarized, resulting in a larger low-frequency dielectric constant, which mainly reflects the water content. At high frequencies, the polarization process is restricted, and the polar substances cannot be fully polarized, resulting in a lower high-frequency dielectric constant than the low-frequency dielectric constant. The higher the content of polar substances, the greater the difference. Therefore, the difference in dielectric constant between low and high frequencies varies for different soil types. Sandy soil has the smallest difference between low and high frequency dielectric constants due to its low water and polar substance content, while clay soil has the largest difference due to its high water and polar substance content. Loam soil falls between sandy soil and clay soil, and the difference between its low and high frequency dielectric constants is also between those of sandy soil and clay soil. By measuring the low-frequency and high-frequency dielectric constants of the soil and calculating the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, the soil type can be quickly and accurately determined, improving the detection efficiency and accuracy of soil type. This method can be carried out without damaging the soil structure, protecting the soil growth environment of rhizomatous medicinal herbs. It also solves the problems of traditional rhizomatous medicinal herb harvesting, which cannot identify different soil growth environments and makes it difficult to adjust the digging force for different rhizomatous medicinal herbs.

[0100] In a specific embodiment of the present invention, soil A, soil B, and soil C were obtained, and the low-frequency dielectric constant and high-frequency dielectric constant of the soil were obtained at a low frequency of 1 MHz and a high frequency of 1 GHz, resulting in the results shown in Table 1:

[0101] Table 1

[0102] soil Low-frequency dielectric constant (1MHz) High-frequency dielectric constant (1 GHz) Ratio (low frequency / high frequency) A 10 8 1.25 B 28 15 1.87 C 40 15 2.67

[0103] The data in Table 1 are for illustrative purposes only. The ratio of the low-frequency dielectric constant to the high-frequency dielectric constant indicates the extent to which the dielectric constant of the soil decreases with increasing frequency. This ratio can be determined using a pre-set threshold. For example, a ratio between 1 and 1.7 indicates sandy soil, between 1.7 and 2.3 indicates loam, and greater than 2.3 indicates clay. The specific threshold can be precisely adjusted through experimental measurement, or it can be adjusted to a higher frequency dielectric constant. The ratio of the low-frequency dielectric constant to the high-frequency dielectric constant, or simply comparing the difference, can be used to set a threshold value to determine the soil type. Therefore, as shown in Table 1, soil A is sandy soil, suitable for planting rhizomatous medicinal herbs such as Platycodon grandiflorus, Saposhnikovia divaricata, Belamcanda chinensis, Anemarrhena asphodeloides, Scutellaria baicalensis, Astragalus membranaceus, and Isatis indigotica; soil B is loam, suitable for planting rhizomatous medicinal herbs such as Codonopsis pilosula, Atractylodes macrocephala, Ligusticum chuanxiong, Paeonia lactiflora, Rehmannia glutinosa, Polygonatum sibiricum, Polygonatum odoratum, Salvia miltiorrhiza, Achyranthes bidentata, and Astragalus membranaceus; and soil C is clay, suitable for planting rhizomatous medicinal herbs such as Schizonepeta tenuifolia, Trichosanthes kirilowii, Mentha haplocalyx, Pogostemon cablin, Perilla frutescens, and Cassia tora. By comparing the low-frequency dielectric constant to the high-frequency dielectric constant, the basic soil type can be quickly determined, providing a basis for optimizing the digging intensity during the harvesting of medicinal herbs. This ensures that the digging process adapts to different soil conditions, reduces damage to the roots and stems of medicinal herbs, and improves the quality of the herbs.

[0104] In this scheme, a dual-band dielectric constant detection unit can identify soil types, including sandy soil, loam, and clay. Based on the soil type, the normal ranges for porosity, organic matter content, hardness, and moisture are determined, and the median value of the normal range is taken as the normal value. Normal values ​​for porosity, organic matter content, hardness, and moisture are obtained, and a preliminary weight allocation for porosity, organic matter content, hardness, and moisture is established based on these values. Then, the detection values ​​for porosity, organic matter content, hardness, and moisture are obtained through soil porosity, soil organic matter content, soil hardness, and soil moisture units. The preliminary weight allocation is adjusted based on the difference between the detection values ​​and the normal values ​​to obtain the actual weight allocation. Simultaneously, the detection values ​​are standardized to obtain standard values ​​between 0 and 1. A weighted sum is performed based on the actual weight allocation and the detection values ​​to obtain the soil excavation weight value. Finally, the excavation force is obtained according to a pre-set mapping relationship between the excavation weight and the excavation force.

[0105] In a specific embodiment of the present invention, the smaller the soil porosity, the more difficult it is to excavate; the higher the organic matter content, the more difficult it is to excavate; the higher the hardness, the more difficult it is to excavate; and the higher the water content, the more difficult it is to excavate. When the soil type is detected as sandy soil, the normal range for porosity is 30%-40%, the normal range for organic matter content is 1.5%-3.5%, and the normal range for sandy soil hardness is 1-1.5 g / cm³. 3The moisture content of sandy soil ranges from 15% to 25%. Therefore, based on the properties of sandy soil, a preliminary weighting is performed: porosity: organic matter content: hardness: moisture content = 0.25:0.2:0.3:0.25. The normal values ​​for porosity are taken as 35%, organic matter content as 2.5%, and hardness as 1.25 g / cm³. 3 The normal humidity level is 20%. Using soil porosity, organic matter content, hardness, and moisture units, the measured values ​​were: porosity 35%, organic matter content 2.0%, and hardness 1.2 g / cm³. 3 The humidity reading was 18%, resulting in a porosity difference of 0, an organic matter content difference of -0.5%, and a hardness difference of -0.1 g / cm³. 3 The humidity difference was -2%, and further calculations showed that the porosity difference ratio was 0, while the organic matter content difference ratio was... The hardness difference ratio is The humidity difference ratio is The expression for obtaining the actual weight allocation is as follows:

[0106]

[0107] a1=a×(1+δ×A1)=0.25×(1+0.2×0)=0.25

[0108] b1=b×(1+δ×B1)=0.2×(1-0.2×0.25)=0.19

[0109] c1=c×(1+δ×C1)=0.3×(1-0.2×0.2)=0.288

[0110] d1=d×(1+δ×D1)=0.25×(1-0.2×0.2)=0.24

[0111] Where a2 is the actual weight of porosity, b2 is the actual weight of organic matter content, c2 is the actual weight of hardness, d2 is the actual weight of humidity, a1 is the porosity adjustment weight, b1 is the organic matter content adjustment weight, c1 is the hardness adjustment weight, d1 is the humidity adjustment weight, a is the initial weight of porosity, b is the initial weight of organic matter content, c is the initial weight of hardness, d is the initial weight of humidity, and δ is the adjustment coefficient, which can be adjusted in magnitude. In this embodiment, the value is taken as 0.2. a2, b2, c2, and d2 are all normalized weight values. The actual weight allocation a2:b2:c2:d2 = 0.258:0.196:0.298:0.248 is calculated by the above expression. The detected values ​​are standardized to obtain the standard porosity value. The standard value for organic matter content is The standard value of hardness is The standard humidity value is Based on the actual weight allocation and detection values, a weighted sum is performed to obtain a soil excavation weight value of 0.3716. Based on this, the excavation force is obtained according to the pre-set mapping relationship between the excavation weight value and the excavation force. The data in this embodiment is for the convenience of calculation demonstration and does not represent the actual data. At the same time, mathematical function modeling can be performed in the laboratory based on the measured excavation weight value and excavation force to obtain the mapping relationship between the excavation weight value and the excavation force.

[0112] Example 3

[0113] The present invention provides a harvesting system for rhizomes and other medicinal materials. Based on Embodiment 1, the rhizome and root identification module of the medicinal materials includes a ground-penetrating radar positioning unit, a pressure sensing unit, and a rhizome and root identification processing unit.

[0114] Ground-penetrating radar positioning unit is used to detect the three-dimensional structure and spatial distribution of the roots and stems of Chinese medicinal materials;

[0115] The pressure sensing unit is used to determine whether the object being excavated is soil by detecting changes in soil pressure during the excavation process, obtain soil identification information, and transmit the soil identification information to the adaptive excavation module.

[0116] The root and stem identification and processing unit is used to obtain the excavation path based on the three-dimensional structure and spatial distribution of the root and stem of Chinese medicinal materials, and to dynamically adjust the excavation path based on soil discrimination information to obtain the optimal excavation path.

[0117] In this technical solution, the medicinal herb root and stem identification module, during operation, uses a ground-penetrating radar positioning unit to emit high-frequency electromagnetic waves and receive reflected waves. These waves penetrate the soil, detecting the three-dimensional structure and spatial distribution of the medicinal herb roots and stems. Based on this structure and distribution, the root and stem identification processing unit performs data analysis to determine the digging path. This path avoids the roots and stems, ensuring their integrity after excavation. It also avoids hard obstacles such as gravel and tree roots. Subsequently, the soil discrimination information from the pressure sensing unit determines whether non-soil has been excavated, adjusting the digging path accordingly. This solution addresses the problems of inaccurate root and stem identification and lack of real-time feedback during traditional medicinal herb harvesting, which lead to excessive damage rates and improves the harvest quality of medicinal herb roots and stems.

[0118] The pressure sensing unit includes a piezoresistive array subunit, a pressure gradient analysis subunit, and a feedback control subunit.

[0119] The piezoresistive array subunit includes several piezoresistive sensors, which can be deployed in a matrix at the front end of the blade of the adaptive digging module. Each piezoresistive sensor has a micron-sized pressure-sensing surface, which can capture soil pressure distribution data in real time during the digging process. At the same time, the array density of the piezoresistive sensors can be optimized according to the size of the blade of the adaptive digging module and the expected soil resolution to ensure that detailed soil pressure information can be obtained during the digging process.

[0120] The pressure gradient analysis subunit is used to calculate and process soil pressure distribution data. Based on the soil pressure distribution data, a mapping relationship is established between soil pressure and excavation time. With time as the x-axis and soil pressure as the y-axis, the mapping relationship between soil pressure and time is obtained, enabling the plotting of a curve showing soil pressure changing over time. As excavation time increases, the excavation depth gradually increases, and the required excavation force also increases. Therefore, soil pressure increases steadily over time, and the calculated rate of change of soil pressure tends to a stable value. When encountering hard obstacles during excavation, the collision causes a sudden increase in soil pressure, at which point the rate of change of soil pressure increases. In the curve of soil pressure changing over time, the soil pressure exhibits a steep peak, and this is further analyzed using a preset soil pressure change... The soil pressure change rate is judged based on a threshold value. If the rate of change is less than a preset threshold, the object being excavated is determined to be soil; otherwise, it is determined to be non-soil, thus obtaining soil identification information. Simultaneously, this embodiment uses the excavation depth as the abscissa to obtain a curve showing the change in soil pressure with excavation depth. When the object being excavated is non-soil, the excavation depth is obtained through the steep peak of the soil pressure, indirectly determining the depth of the non-soil object. When a cavity is encountered during excavation, the soil pressure decreases instantly. In the curve showing the change in soil pressure with excavation depth, the curve exhibits a steep slope, and the rate of change in soil pressure also increases, indicating the presence of soil cavities at the rootstock of the medicinal herb. This necessitates optimizing the soil structure to improve the quality of rootstock-type medicinal herbs.

[0121] The feedback control subunit is used to provide feedback and control to the adaptive digging module based on soil discrimination information. It receives soil discrimination information from the pressure gradient analysis subunit and provides real-time feedback and control to the adaptive digging module, skipping the intermediate data processing stage and directly communicating with the module to ensure timely stopping of digging and prevent damage to the shovel blade from hard obstacles. The root and stem identification processing unit adjusts the digging force, depth, and speed of the adaptive digging module to dynamically optimize the digging path, ensuring efficiency and accuracy, reducing damage to medicinal herb roots and stems, and guaranteeing harvest quality. This technical solution, through the piezoresistive array subunit, feedback control subunit, and root and stem identification processing unit, effectively solves the problems of inaccurate root and stem identification and the lack of real-time feedback during the traditional medicinal herb harvesting process.

[0122] Example 4

[0123] The present invention provides a harvesting system for rhizomes and other medicinal materials. Based on Embodiment 1, the adaptive digging module includes a digging shovel unit, an angle adjustment unit, a force adjustment unit, and a digging depth limiting unit.

[0124] The excavation shovel unit is used to excavate the soil;

[0125] The angle adjustment unit is used to adjust the digging angle of the digging shovel unit to ensure that the roots and stems of Chinese medicinal materials are not damaged during the digging process, while avoiding hard obstacles. By adjusting the digging angle, the digging path of root and stem Chinese medicinal materials can be changed.

[0126] The force adjustment unit is used to adjust the digging force of the digging shovel unit, ensuring that the roots and stems of Chinese medicinal materials are dug out smoothly without damaging the soil environment and the roots and stems.

[0127] The digging depth limiting unit is used to limit the maximum digging depth of the digging shovel. It can limit the maximum digging depth, such as when digging up rhizomes of Chinese medicinal herbs planted at a depth of 10cm to 20cm, the maximum digging depth can be limited to 25cm. This ensures that the rhizomes are completely dug out while preventing excessive digging depth from damaging the soil structure and reducing the growth quality of the next round of planted rhizomes of Chinese medicinal herbs. The optimal setting data for the maximum digging depth can be obtained through experiments.

[0128] This invention effectively solves the problems of low efficiency, high damage rate to medicinal materials, and uncontrollable digging depth of traditional digging equipment under complex soil conditions through the dynamic adjustment function of the adaptive digging module. The synergistic cooperation of the angle adjustment unit and the depth limiting unit ensures the accuracy of the digging path. The force adjustment unit adapts to different soil conditions, improves digging efficiency, and reduces damage to the soil and medicinal rootstocks, significantly improving the harvest quality of Chinese medicinal materials and the ecological environment protection effect.

[0129] The present invention provides a harvesting system for rhizomes and other medicinal materials. Based on the first embodiment, the soil removal module includes a dual conveyor belt unit, a vibrating screening unit, and a flexible brush roller unit.

[0130] The dual conveyor belt unit includes two parallel conveyor belts arranged one above the other. The excavated Chinese medicinal materials pass between the two conveyor belts. The relative movement of the two conveyor belts effectively separates large clods of soil from the roots and stems of the Chinese medicinal materials. At the same time, additional devices such as rubber strips and flexible brushes can be added to the surface of the conveyor belts to enhance the separation effect of large clods of soil from the roots and stems.

[0131] The vibrating screening unit is used to separate the rhizomes and the soil clods on the surface of the rhizomes. It can adopt a multi-layer vibrating screening structure and clean the surface of the rhizomes of Chinese medicinal materials through high-frequency vibration and screen screening.

[0132] The flexible brush roller unit is used to rotate and clean the soil residue in the rhizomes, further improving the cleanliness of the medicinal materials.

[0133] In this solution, the harvested medicinal herb rhizomes first enter a dual conveyor belt unit, which effectively separates large clods of soil from the rhizomes. Then, they enter a vibrating screening unit, which separates residual small clods of soil from the rhizomes. Finally, they enter a flexible brush roller unit, which separates the soil clods attached to the rhizomes. This invention, through the dual conveyor belt unit, vibrating screening unit, and flexible brush roller unit, can perform soil removal operations on different types of rhizomes of medicinal herbs. While not damaging the rhizomes, it adapts to the soil removal needs of various types of rhizomes of medicinal herbs, improves the efficiency and quality of soil removal operations, and ensures the cleanliness and integrity of rhizomes of medicinal herbs.

[0134] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0135] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A harvesting system for rhizomes and other medicinal herbs, characterized in that, include: The multimodal soil detection module is used to obtain the dielectric constant, porosity, organic matter content, hardness and moisture of the soil, and to calculate the excavation force by weighting porosity, organic matter content, hardness and moisture according to a dynamic weight allocation strategy. The Chinese medicinal herb root and stem recognition module is used to perform three-dimensional spatial recognition of the roots and stems of Chinese medicinal herbs to obtain the three-dimensional structure and spatial distribution of the roots and stems, detect the objects to be excavated to obtain soil discrimination information, and obtain the optimal excavation path based on the three-dimensional structure, spatial distribution and soil discrimination information of the roots and stems. An adaptive excavation module is used to excavate the roots and stems of Chinese medicinal herbs based on the excavation intensity and optimal excavation path. The soil removal module is used to remove soil from the roots and rhizomes of Chinese medicinal herbs after excavation. Storage module for storing the roots and stems of Chinese medicinal herbs after soil removal; The multimodal soil detection module includes a dual-band dielectric constant detection unit, a soil porosity unit, a soil organic matter content unit, a soil hardness unit, a soil moisture unit, and a digging force analysis unit. The dual-band dielectric constant detection unit is used to detect the low-frequency and high-frequency dielectric constants of the soil through dual-band signals, and to determine the soil type by the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant. The soil porosity unit is used to detect the porosity of the soil and obtain the porosity detection value. The soil organic matter content unit is used to detect the organic matter content of the soil and obtain the organic matter content detection value. The soil hardness unit is used to detect the hardness of the soil and obtain a hardness test value. The soil moisture unit is used to detect the moisture content of the soil and obtain a moisture detection value. The excavation force analysis unit is used to perform weighted analysis based on soil type, porosity detection value, organic matter content detection value, hardness detection value and moisture detection value to obtain the excavation force. The excavation strength analysis unit performs a weighted analysis based on soil type, porosity detection value, organic matter content detection value, hardness detection value, and moisture detection value to obtain the excavation strength, as detailed below: Based on soil type, determine the normal range of porosity, organic matter content, hardness and moisture, obtain normal values ​​for porosity, organic matter content, hardness and moisture, and complete the preliminary weight allocation of porosity, organic matter content, hardness and moisture. The porosity test value, organic matter content test value, hardness test value, and humidity test value are compared with the normal values ​​of porosity, organic matter content, hardness, and humidity, respectively, and the differences are calculated to obtain the porosity difference, organic matter content difference, hardness difference, and humidity difference. Based on the differences in porosity, organic matter content, hardness, and humidity, the initial weight allocation of porosity, organic matter content, hardness, and humidity is adjusted to obtain the actual weight allocation of porosity, organic matter content, hardness, and humidity. The porosity, organic matter content, hardness, and humidity test values ​​were standardized to obtain standard values ​​for porosity, organic matter content, hardness, and humidity, respectively. Based on the actual weight allocation of porosity, organic matter content, hardness, and moisture, the standard values ​​of porosity, organic matter content, hardness, and moisture are weighted and summed to obtain the soil excavation weight value. Based on the soil excavation weight value, the excavation force is obtained according to the pre-set mapping relationship between excavation weight and excavation force; The dual-band dielectric constant detection unit includes a soil detection probe, a low-frequency signal source, a high-frequency signal source, and a data processing module; The soil testing probe is used to detect the dielectric constant of the soil; The low-frequency signal source is used to generate low-frequency signals and transmit them to the soil inspection probe to obtain the low-frequency dielectric constant. The high-frequency signal source is used to generate high-frequency signals and transmit them to the soil inspection probe to obtain the high-frequency dielectric constant. The data processing module is used to process the low-frequency dielectric constant and the high-frequency dielectric constant, take the ratio of the low-frequency dielectric constant to the high-frequency dielectric constant as the dielectric constant ratio, and determine the soil type by the dielectric constant ratio. The soil type includes sandy soil, loam, and clay.

2. The harvesting system for rhizomes and other medicinal herbs according to claim 1, characterized in that, The medicinal herb root and stem identification module includes a ground-penetrating radar positioning unit, a pressure sensing unit, and a root and stem identification processing unit. The ground-penetrating radar positioning unit is used to detect the three-dimensional structure and spatial distribution of the roots and stems of Chinese medicinal materials; The pressure sensing unit is used to determine whether the object being excavated is soil by detecting changes in soil pressure during the excavation process, obtain soil identification information, and transmit the soil identification information to the adaptive excavation module. The root and stem identification and processing unit is used to obtain the excavation path based on the three-dimensional structure and spatial distribution of the root and stem of the Chinese medicinal material, and to dynamically adjust the excavation path based on soil discrimination information to obtain the optimal excavation path.

3. The harvesting system for rhizomes and other medicinal herbs according to claim 2, characterized in that, The pressure sensing unit includes a piezoresistive array subunit, a pressure gradient analysis subunit, and a feedback control subunit; The piezoresistive array subunit includes several piezoresistive sensors, which are deployed in the adaptive excavation module and used to collect soil pressure distribution data in real time during the excavation process. The pressure gradient analysis subunit is used to calculate and process soil pressure distribution data to obtain soil discrimination information; The feedback control subunit is used to provide feedback and control to the adaptive excavation module based on soil discrimination information.

4. The harvesting system for rhizomes and other medicinal herbs according to claim 3, characterized in that, The pressure gradient analysis subunit is specifically used for: A mapping relationship was established based on soil pressure distribution data and excavation time to obtain the mapping relationship between soil pressure and time; Based on the mapping relationship between soil pressure and time, the rate of change of soil pressure over time was calculated. Determine whether the soil pressure change rate is less than a preset soil pressure change rate threshold. If so, determine that the excavated object is soil; otherwise, determine that the excavated object is not soil, and obtain soil discrimination information. The feedback control subunit is specifically used for: When the soil identification information is non-soil, the feedback control subunit sends a message to the adaptive excavation module to stop excavation. When the soil identification information is soil, the feedback control subunit sends a message to the adaptive excavation module.

5. A harvesting system for rhizomes and other medicinal herbs according to claim 4, characterized in that, The root and stem identification unit is specifically used for: The excavation path is obtained based on the three-dimensional structure and spatial distribution of the roots and rhizomes of Chinese medicinal materials; The excavation path is dynamically adjusted during the excavation process based on the soil discrimination information detected by the pressure sensing unit. When the soil discrimination information is non-soil, the excavation path is adjusted to avoid non-soil. When the soil discrimination information is soil, the initial excavation path is not adjusted, thus obtaining the optimal excavation path.

6. The harvesting system for rhizomes and other medicinal herbs according to claim 1, characterized in that, The adaptive digging module includes a digging shovel unit, an angle adjustment unit, a force adjustment unit, and a digging depth limiting unit; The excavating shovel unit is used to excavate the soil; The angle adjustment unit is used to adjust the digging angle of the digging shovel unit; The force adjustment unit is used to adjust the digging force of the digging shovel unit; The digging depth limiting unit is used to limit the maximum digging depth of the digging shovel.

7. The harvesting system for rhizomes and other medicinal herbs according to claim 1, characterized in that, The soil removal module includes a dual conveyor belt unit, a vibrating screening unit, and a flexible brush roller unit. The dual conveyor belt unit includes two parallel conveyor belts arranged one above the other. The excavated Chinese medicinal materials pass between the two conveyor belts to separate large clods of soil from the roots and stems of the Chinese medicinal materials. The vibrating screening unit is used to separate the rhizomes and the broken soil clumps on the surface of the rhizomes; The flexible brush roller unit is used to rotate and clean the soil residue remaining in the rhizome.

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