Harvesting and collecting device for salvia miltiorrhiza rhizome traditional Chinese medicinal materials in sticky and heavy soil

Abstract

The invention discloses a harvesting and collecting device for traditional Chinese medicinal materials of roots and stems of salvia miltiorrhiza in sticky and heavy soil, and relates to the technical field of salvia miltiorrhiza harvesting devices.The harvesting and collecting device comprises a soil separation module, a machine vision module and a control module, and the soil separation module comprises a first-stage soil separation unit and a second-stage soil separation unit; the second-stage soil separation unit comprises an elastic clamping and conveying mechanism and a sliding table module, the sliding table module is arranged above the clamping and conveying mechanism, an elastic hammering mechanism is arranged on the sliding table module, and the machine vision module identifies the position of the center area of the root system of the radix salviae miltiorrhizae. The control module adjusts the position of an elastic hammering mechanism on the sliding table module according to the recognized position, so that the elastic hammering mechanism hammers soil in the center of the root system of salvia miltiorrhiza, the problem that soil in the center area of the root system of salvia miltiorrhiza is difficult to remove is solved, and the soil in the center area of the root system can be separated while the soil in the center area of the root system is separated. The method has the advantages of low root damage rate, high soil removal efficiency and the like, and can significantly improve the salvia miltiorrhiza harvesting efficiency and medicinal material quality.

Description

Technical Field

[0001] The present invention relates to the technical field of Salvia miltiorrhiza harvesting devices, and particularly to a Salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for sticky soil. Background Art

[0002] As an important Chinese medicinal material, the dried roots and rhizomes of Salvia miltiorrhiza can be used as medicine. A large number of lateral roots are circularly grown in the upper and middle parts of the main root of Salvia miltiorrhiza, forming "chicken claw-shaped" branches, and the fibrous roots are as fine as a net. Therefore, the lateral roots and fibrous roots are intertwined into a net, and it is easy to form a "root-soil complex" in sticky soil, and the separation is difficult during mechanical harvesting.

[0003] As an important medicinal plant, the soil in the central area of the root system of Salvia miltiorrhiza faces significant technical bottlenecks when separating the soil using a traditional excavator due to the complex physical, chemical, and biological bonding effects with the root system. The soil in the central area of the root system of Salvia miltiorrhiza (i.e., the center of the "root net" formed by the dense interweaving of fibrous roots) forms a "soil-root complex" with the root system through substances such as polysaccharides, mucus, and organic acids secreted by the root system. At the same time, the extracellular polymers secreted by rhizosphere microorganisms further enhance the bonding strength, making it difficult to effectively separate by traditional mechanical rolling or vibration methods. Traditional excavators rely on the principle of rigid rolling or shoveling. When forcibly peeling the soil in the center of the Salvia miltiorrhiza root system, it is easy to cause the main root of Salvia miltiorrhiza to break and the fibrous roots to fall off, resulting in damage to the integrity of the medicinal materials, affecting the subsequent processing quality and the content of active ingredients.

[0004] During the harvesting process of Salvia miltiorrhiza in sticky soil, the texture of the sticky soil is firm. During the growth process, the root system of Salvia miltiorrhiza needs to penetrate high-density soil particles, and the soil is embedded deeper. Therefore, when harvesting Salvia miltiorrhiza in sticky soil, cleaning the soil in the center of the root system of Salvia miltiorrhiza is a major technical problem. During harvesting, when separating the sticky soil by vibration separation, rolling separation, or conveying and screening, Salvia miltiorrhiza may directly pass through the roll gap without being broken, resulting in soil remaining in the central area of the root system, low separation efficiency, and relying on manual secondary cleaning, which leads to difficult cleaning, increased water consumption and energy consumption, loss of active ingredients due to cleaning damage, and at the same time, a chain increase in subsequent processing costs, hindering the improvement of mechanized harvesting efficiency. Summary of the Invention

[0005] An object of the present invention is to provide a harvesting and collecting device for Salvia miltiorrhiza rhizome Chinese medicinal materials in heavy clay soil. The elastic clamping and conveying mechanism is used to elastically clamp Salvia miltiorrhiza. The machine vision module identifies the position of the center of the Salvia miltiorrhiza root system in the clamped state, and the control module controls the elastic hammering mechanism on the sliding table module, so that the elastic hammering mechanism can accurately hammer the central area of the Salvia miltiorrhiza root system, realizing accurate hitting and flexible soil removal, solving the problem that it is difficult to remove the soil in the central area of the Salvia miltiorrhiza root system. While separating the soil in the central area of the root system, the present invention protects Salvia miltiorrhiza from damage, has the advantages of low root damage rate, high soil removal efficiency, strong adaptability, etc., and can significantly improve the harvesting efficiency and medicinal material quality of Salvia miltiorrhiza.

[0006] This object is achieved by the following technical solutions:

[0007] A harvesting and collecting device for Salvia miltiorrhiza rhizome Chinese medicinal materials in heavy clay soil, comprising a soil separation module, a machine vision module and a control module. The soil separation module includes a primary soil separation unit and a secondary soil separation unit. The secondary soil separation unit includes an elastic clamping and conveying mechanism and a sliding table module. The sliding table module is arranged above the clamping and conveying mechanism, and an elastic hammering mechanism is arranged on the sliding table module;

[0008] The soil in the central area of the Salvia miltiorrhiza root system refers to the initial confluence area of the main root cluster, which is located at the "base of the root mass" where multiple thick main roots (and lateral roots) with a diameter of 1 - 3 cm converge and intertwine upwards. It is the core area where the main roots transition from "dispersed growth" to "cluster intertwining". The soil in this area has coexisted with the root system for a long time, and the rhizosphere microorganisms growing therein will form a biofilm on the root surface, further strengthening the "root-soil" adhesion. It is difficult to remove the soil in this area by traditional methods.

[0009] After the Salvia miltiorrhiza is processed by the primary soil separation unit, most of the loose soil on the surface of the Salvia miltiorrhiza roots is removed, and the roots are initially exposed. The remaining soil mainly remains in the central area of the Salvia miltiorrhiza roots. The Salvia miltiorrhiza after being processed by the primary soil separation unit is conveyed to the secondary soil separation unit. The elastic clamping and conveying mechanism of the secondary soil separation unit elastically clamps the Salvia miltiorrhiza. When the Salvia miltiorrhiza is in the clamped state, due to the relatively thick accumulation of soil in the central area of the roots (especially when the soil is clayey), a "soil buffer layer" will be formed. When pressure is applied to the clamping screen, the soil in the central area is first squeezed, so that the clamping force on the main root is indirectly transmitted through the soil, making the clamping force concentrated on the main root. At the same time, the lateral roots and fibrous roots can naturally stretch in a relaxed state, reducing damage. The machine vision module identifies the position of the central area of the Salvia miltiorrhiza roots through image recognition. The control module adjusts the position of the elastic hammering mechanism on the sliding table module according to the position of the central area of the Salvia miltiorrhiza roots recognized by the image, so that the elastic hammering mechanism can hammer the soil at the position of the central area of the Salvia miltiorrhiza roots. The impact force is concentrated on the central area of the roots. Through the transmission of shock waves, the bonding bonds between soil particles are broken, rather than directly acting on the roots themselves. It can effectively destroy the adsorption force between the soil and the root surface. At the same time, when the hammering acts on the soil in the central area of the Salvia miltiorrhiza roots, the slight vibration of the elastic clamping can be transmitted to the fibrous root part at the same time. The tremor of the spring will cause the soil between the fibrous roots to fall off due to resonance. The tremor caused by the knocking is intermittent. After each tremor, the fibrous roots have a buffer time to recover from deformation, avoiding fatigue damage caused by continuous vibration. Compared with simply vibrating to remove soil, the damage to the fine roots of Salvia miltiorrhiza is significantly reduced, the energy consumption of the subsequent cleaning process is reduced, and multiple optimizations of efficient soil cleaning, root protection and low energy consumption are achieved.

[0010] Compared with the existing device, in the existing Salvia miltiorrhiza harvester, the main methods for removing soil during the excavation of Salvia miltiorrhiza are the vibration separation method and the screening and filtering method. The vibration separation method is difficult to effectively shake off the soil tightly attached to the center of the Salvia miltiorrhiza roots. Because the soil in the center of the roots is wrapped and squeezed by the surrounding roots, the friction between soil particles is large, and the ordinary vibration intensity cannot overcome this friction to make the soil fall off. For the thinner rhizomes of Salvia miltiorrhiza, long-term or frequent vibration will cause the fine roots to break and be damaged. For example, during the excavation process, it may cause greater damage to Salvia miltiorrhiza, especially for the thinner rhizomes of Salvia miltiorrhiza, which are easily damaged due to problems such as vibration transmission. The roots of Salvia miltiorrhiza are radially distributed, and the lateral roots and fibrous roots are intertwined into a network, tightly wrapping the soil in the central area. When removing the soil on the Salvia miltiorrhiza by the screening and filtering method, although the outer loose soil can fall off, the central soil mass is "held" by the roots and cannot directly contact the screen, resulting in insufficient effective screening area.

[0011] The present invention uses a primary soil separation unit to separate the soil outside the salvia miltiorrhiza, and the roots of the salvia miltiorrhiza are initially exposed. It cooperates with the precise striking and flexible soil removal of the secondary soil separation unit. The secondary soil separation unit identifies the position at the center of the salvia miltiorrhiza roots in the clamped state through machine vision. The center of the salvia miltiorrhiza roots is the intersection point of 3 or more main roots or lateral roots of the salvia miltiorrhiza. The control module adjusts the position of the elastic hammering mechanism on the sliding table module according to the corresponding position information, so that the elastic hammering mechanism can hammer the soil at the center of the salvia miltiorrhiza roots, realizing the removal of the soil at the center of the salvia miltiorrhiza roots. At the same time, the flexible impact protects the roots and has excellent damage control.

[0012] Further, the machine vision module includes a camera and an image processing unit. The image processing unit generates the position coordinates of the root center according to the image collected by the camera. The control module moves the sliding table module according to the obtained position coordinates, so that the center of the elastic hammering mechanism and the center of the roots on the salvia miltiorrhiza are located on the same vertical line. Then, the electric push rod is adjusted to push the elastic hammering mechanism, so that the elastic hammering mechanism elastically hammers the soil at the center of the roots.

[0013] Further, the elastic clamping and conveying mechanism includes an upper clamping component and a lower elastic clamping and conveying component. There is an adjustment mechanism between the upper clamping component and the lower elastic clamping and conveying component. The adjustment mechanism is used to adjust the distance between the upper clamping component and the lower elastic clamping component during conveying. The upper clamping component includes a frame, an elastic screen and a moving block. The elastic screen is arranged in the frame, and the moving block is connected to the frame. The lower elastic clamping and conveying component includes a screen conveyor belt, a bottom plate, a spring and a sliding block. The sliding block is connected to the screen conveyor belt. The spring is arranged between the bottom plate and the screen conveyor belt. Elastic clamping is convenient for self-adaptively fitting the root morphology, and can absorb the peak value of the hammering force during the knocking process, converting the rigid impact into a flexible extrusion. When the elastic hammer knocks on the central area of the roots, the disintegrated soil particles fall through the sieve holes of the upper and lower layers of screens, realizing the integrated operation of knocking and breaking adhesion and screening and falling soil. The spring between the bottom plate and the screen conveyor belt is compressed and deformed during knocking, absorbing the hammering impact force and reducing the transmission efficiency of vibration to the stem, protecting the fine roots of the salvia miltiorrhiza from damage.

[0014] Further, the adjusting mechanism includes a lead screw, a nut seat and a guide rod. The nut seat is threadedly sleeved on the lead screw. One end of the lead screw is connected to the sliding block. The lead screw can rotate axially around its own axis. The moving block is used to drive the upper clamping assembly to move along the axis of the lead screw. The guide rod is fixed on the bottom plate. The guide rod passes through the upper clamping assembly and the lower clamping assembly. The screen conveyor belts of the upper clamping assembly and the lower clamping assembly can slide axially along the guide rod. The guide rod is parallel to the axis of the lead screw. When the lead screw rotates axially, since the guide rod passes through the upper clamping assembly, the nut seat connected to the upper clamping assembly moves axially along the lead screw with the axial rotation of the lead screw, so that the screen conveyor belts between the upper clamping assembly and the lower elastic clamping and conveying assembly are clamped. Since the guide rod passes through the upper clamping assembly and the lower elastic clamping and conveying assembly, a rigid force conduction path in the vertical direction is constructed during the knocking process, restricting the lateral freedom and rotational movement, improving the structural stability, and thus ensuring accurate knocking.

[0015] Further, the sliding table module includes a horizontal moving component and a vertical moving component. The vertical moving component is arranged above the horizontal moving component. The horizontal moving component realizes the horizontal lateral movement of the elastic hammering mechanism. The vertical moving component realizes the horizontal vertical movement of the elastic hammering mechanism. The horizontal moving component enables the vertical moving component to move laterally. The combined movement of the horizontal moving component and the vertical moving component realizes the movement of the elastic hammering mechanism in all directions. An electric push rod is arranged on the vertical moving component. The electric push rod is connected to the elastic hammering mechanism. The telescopic direction of the electric push rod is perpendicular to the horizontal plane, enabling the elastic hammering mechanism to realize three-dimensional movement and achieve accurate knocking.

[0016] Further, the elastic hammering mechanism includes a driving component and an elastic hammering component. The driving component includes a crank and a connecting rod. One end of the crank is connected to the connecting rod. The other end of the crank can rotate around the axis. The elastic hammering component includes a first spring, a second spring, a hammer rod and a hammer head. The connecting rod drives the first spring to move. The first spring drives the hammer rod to move. The first spring receives the driving force of the connecting rod, compresses and stores energy, and then pushes the hammer rod to move. The hammer rod is connected to the hammer head. A second spring is sleeved outside the hammer head. The second spring compresses when the hammer head strikes, absorbing the impact energy and reducing the reaction force. The combined structure of the crank, connecting rod and spring realizes the elastic hammering function through the synergistic action of mechanical vibration energy conversion, elastic energy storage release and buffer protection design. Through the energy buffering and adaptive adjustment of the elastic medium, the balance between efficient adhesion breaking and low-loss operation is achieved.

[0017] Furthermore, the primary soil separation unit includes a primary rolling roller, a secondary rolling roller, and a screen conveyor belt. The machine vision module is used to identify the thickness of the Danshen rhizomes. The machine vision module transmits information to the control module, and the control module adjusts the distance between the primary rolling roller or the secondary rolling roller and the screen conveyor belt. The distance between the primary rolling roller and the screen conveyor belt is greater than that between the secondary rolling roller and the screen conveyor belt, and the diameter of the primary rolling roller is greater than that of the secondary rolling roller. The primary rolling roller performs primary treatment to quickly separate large impurities and loose soil, and the secondary rolling roller performs fine treatment to deeply clean the soil on the rhizomes after the primary separation. Through precise force control, it achieves excellent dual effects of material protection and crushing, and also realizes compatibility with multiple scenarios and multiple materials.

[0018] Compared with the prior art, the Danshen harvesting and collecting device for sticky soil provided by the present invention has the following beneficial effects:

[0019] 1. The Danshen rhizome Chinese medicinal material harvesting and collecting device for sticky soil of the present invention uses elastic clamping. The machine vision module identifies the central area of the Danshen root system in the clamped state, and the control module controls the elastic hammering mechanism on the sliding table module, enabling the elastic hammering mechanism to accurately hammer the central area of the Danshen root system, solving the problems of difficult soil removal in the central area of the root system, easy damage to the Danshen rhizomes, and high mechanical energy consumption, achieving efficient soil cleaning and significantly improving the Danshen harvesting efficiency and medicinal material quality.

[0020] 2. The Danshen rhizome Chinese medicinal material harvesting and collecting device for sticky soil of the present invention hammers the soil in the center of the Danshen root system through the elastic hammering mechanism, and the double-spring buffer system realizes low-damage soil cleaning, suppressing impact damage while ensuring the soil cleaning efficiency, and significantly optimizing the quality of the harvested Danshen medicinal materials.

[0021] 3. The Danshen rhizome Chinese medicinal material harvesting and collecting device for sticky soil of the present invention uses the machine vision module to identify the thickness of the Danshen rhizomes, and the control module adjusts the distance between the primary rolling roller or the secondary rolling roller and the screen conveyor belt, achieving intelligent and precise adjustment, adapting to different rhizomes and soils, and at the same time, multi-stage rolling cooperation improves the soil cleaning efficiency and medicinal material quality. Description of the Drawings

[0022] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of the present invention, and do not limit the embodiments of the present invention;

[0023] Figure 1 It is the front view of the overall structure of the present invention;

[0024] Figure 2 It is the schematic diagram of the structure of the upper clamping assembly in the present invention;

[0025] Figure 3It is a schematic structural diagram of the lower elastic clamping and conveying component in the present invention;

[0026] Figure 4 It is a front view of the structure of the clamping and conveying device in the present invention in the loosened state;

[0027] Figure 5 It is a front view of the structure of the clamping and conveying mechanism in the present invention in the clamped state;

[0028] Figure 6 It is a side view of the structure of the clamping and conveying mechanism in the present invention in the clamped state;

[0029] Figure 7 It is a top view of the structure of the clamping and conveying mechanism in the present invention in the clamped state;

[0030] Figure 8 It is a schematic structural diagram of the elastic hammering mechanism in the present invention;

[0031] Figure 9 It is a top view of the overall structure of the present invention;

[0032] Among them, 1 - motor, 2 - lead screw, 3 - guide rod, 4 - nut seat, 5 - moving block, 6 - sliding block, 7 - spring, 8 - bottom plate, 9 - screen conveyor belt, 10 - lateral moving component, 11 - vertical moving component, 12 - electric push rod, 13 - elastic hammering mechanism, 14 - frame, 15 - elastic screen, 16 - camera, 17 - primary rolling roller, 18 - secondary rolling roller, 19 - screen conveyor belt, 20 - driving wheel, 21 - driven wheel, 22 - synchronous belt, 23 - first servo motor, 24 - second servo motor, 25 - lead screw, 131 - motor, 132 - crank, 133 - connecting rod, 134 - pull rod, 135 - first spring, 136 - second spring, 137 - hammer rod, 138 - hammer head. Specific Embodiments

[0033] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0034] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described within the scope here. Therefore, the protection scope of the present invention is not limited by the specific embodiments disclosed below.

[0035] Embodiment 1

[0036] As Figure 1 and Figure 9A Salvia miltiorrhiza root and rhizome Chinese medicinal material harvesting and collecting device for sticky soil as shown, comprising a soil separation module, a machine vision module and a control module. The soil separation module includes a primary soil separation unit and a secondary soil separation unit. The secondary soil separation unit includes an elastic clamping and conveying mechanism and a sliding table module. The sliding table module is arranged above the elastic clamping and conveying mechanism, and an elastic hammering mechanism 13 is arranged on the sliding table module;

[0037] When the elastic clamping mechanism is in the loosened state, as Figure 4 and Figure 9 shown, the screen conveyor belt 19 of the primary soil separation unit conveys at a speed of 0.5 m / s. The screen aperture is 10 mm (matched with the main root diameter of Salvia miltiorrhiza to avoid the leakage of Salvia miltiorrhiza). The primary rolling roller 17 is a large-diameter rigid roller. When the screen conveyor belt 19 conveys Salvia miltiorrhiza and soil clods, the large-volume and low-hardness soil clods are crushed by the primary rolling roller 17, while the main roots of Salvia miltiorrhiza pass through smoothly without being damaged. The secondary rolling roller 18 is a small-diameter elastic roller with a diameter of. After secondary rolling, most of the loose soil on the surface of the Salvia miltiorrhiza roots is removed. The Salvia miltiorrhiza preliminarily treated by the primary soil separation unit is conveyed to the elastic clamping and conveying mechanism at a speed of 0.5 m / s. When there is one Salvia miltiorrhiza on the elastic clamping and conveying mechanism, the conveying stops. The distance between the upper clamping assembly and the lower elastic clamping and conveying assembly is adjusted through the adjusting mechanism. Since the soil accumulates thickly in the center of the root system (especially when the soil is sticky), a "soil buffer layer" will be formed, so that the clamping force mainly acts on the center of the root system, and the clamping force on the lateral roots and fibrous roots is relatively weak, reducing damage.

[0038] When the elastic clamping mechanism is in the clamped state, as Figure 5As shown, the machine vision module includes a camera 21 and an image processing unit. Based on the mesh image of the unclamped salvia miltiorrhiza captured by the camera, the image processing unit extracts the periodic spectrum of the grid through Fourier transform; performs band-stop filtering on the real-time image to remove grid noise and improve the clarity of the root system contour; automatically calculates the gray threshold using the Otsu algorithm (considering the uneven illumination caused by the mesh occlusion), segments the root system from the background, performs morphological skeletonization on the binary root system image to generate a single-pixel center line (retaining the topological structure of the root system). Even if part of the skeleton is occluded by the mesh, missing connections are inferred through topological rules. For example, the main root skeleton must point in the direction of the rhizome, the lateral root skeleton branches from the main root and the diameter decreases. Identify the intersection points of three or more skeleton lines, calculate the weighted centroid of these points to obtain the 2D coordinates (X, Y) at the center of the root system. The image processing unit packs the coordinates (X, Y) and the confidence level at the center of the root system and transmits them to the control module via the bus; after the PLC analyzes the coordinates, it drives the servo motor of the slide table module to move to the target position; after reaching the target position, triggers the camera to take a secondary verification shot, calculates the deviation (ΔX, ΔY) between the actual center and the target center. If the deviation > 0.5 mm, the image processing unit sends the corrected coordinates, and the PLC fine-tunes the motor pulses through PID control until the deviation < 0.3 mm, ensuring that the center of the elastic hammering mechanism coincides with the center of the root system and ensuring that the hammering force accurately acts on the key part of the salvia miltiorrhiza root system.

[0039] In some embodiments, the elastic clamping and conveying mechanism includes an upper clamping assembly and a lower elastic clamping and conveying assembly. An adjusting mechanism is provided between the upper clamping assembly and the lower elastic clamping and conveying assembly. The adjusting mechanism adjusts the distance between the upper clamping assembly and the lower elastic clamping and conveying assembly. The upper clamping assembly is as Figure 2 shown and includes a frame 14, an elastic mesh 15, and a moving block 5. The elastic mesh 15 is arranged inside the frame 14, and the moving block 5 is connected to the frame 14. The lower elastic clamping and conveying assembly is as Figure 3 shown and includes a mesh conveyor belt 9, a bottom plate 8, a spring 7, and a sliding block 6. The spring 7 is arranged between the bottom plate 8 and the mesh conveyor belt 9.

[0040] In some embodiments, the adjusting mechanism is as Figure 6As shown, it includes a lead screw 2, a nut seat 4 and a guide rod 3. The nut seat 4 is threadedly sleeved on the lead screw 2. The lead screw 2 can rotate axially around its own axis. The nut seat 4 is connected to a moving block 5, and the moving block 5 is connected to the frame 14 of the upper clamping assembly. The guide rod 3 is fixed on the bottom plate 8. The guide rod 3 passes through the upper clamping assembly and the lower elastic clamping and conveying assembly. The guide rod 3 is axially parallel to the lead screw 2. When the motor 1 drives the lead screw 2 to rotate, since the guide rod 3 is fixed on the bottom plate 8 and forms a sliding fit with the screen conveyor belt 9 of the upper clamping assembly and the lower elastic clamping and conveying assembly, the guide holes on the upper clamping assembly and the lower elastic clamping and conveying assembly limit the degree of freedom of movement of the moving block 5, making it only able to move in the axial direction of the guide rod 3 and unable to rotate with the rotation of the lead screw 2. Finally, it drives the upper clamping assembly to move along the direction of the guide rod 3. One end of the lead screw 2 is connected to a sliding block 6, and the sliding block 6 is connected to the screen conveyor belt 9. When the salvia miltiorrhiza is in a clamped state, it slides along the guide rod 3 with the sliding block 6, causing the spring to compress and realizing elastic clamping.

[0041] In some embodiments, as Figure 6 and Figure 7 shown, the sliding table module includes a horizontal moving component 10 and a vertical moving component 11. The horizontal moving component 10 and the vertical moving component 11 can be in various forms such as lead screw drive, belt drive or chain drive, etc. In this embodiment, a horizontal moving component 10 is preferably selected. The horizontal moving component uses belt drive and includes a driving wheel 20, a driven wheel 21, a synchronous belt 22, and a first servo motor 23. By sending an instruction to the first servo motor 23 through the control module, the first servo motor 23 makes the driving wheel 21 rotate around its own axis, driving the synchronous belt 22 sleeved on the driving wheel 21 and the driven wheel 20 to move. The synchronous belt 22 drives the horizontal moving component 10 to move horizontally. In this embodiment, a vertical moving component 11 is also preferably selected. The vertical moving component 11 uses lead screw drive. By sending an instruction to the second servo motor 24 through the control module, the second servo motor 24 makes the lead screw 25 rotate around its own axis, driving the vertical moving component 11 threadedly sleeved on the lead screw 25 to move. The vertical moving component 11 is arranged above the horizontal moving component 10. The horizontal moving component 10 makes the vertical moving component 11 move horizontally. By adjusting the X-axis coordinate of the elastic hammering mechanism 13 through the horizontal moving component 10 and adjusting the Y-axis coordinate of the elastic hammering mechanism through the vertical moving component 10, the center coordinate of the elastic hammering mechanism 13 and the coordinate at the root center are on the same vertical line. An electric push rod 12 is arranged on the vertical moving component 11, and the electric push rod 12 is connected to the elastic hammering mechanism 13. The telescopic direction of the electric push rod 12 is perpendicular to the horizontal plane, enabling the elastic hammering mechanism 13 to achieve three-dimensional movement and realizing precise hammering.

[0042] Embodiment 2

[0043] Based on the first embodiment, as Figure 8 shown, the elastic hammering mechanism 13 includes a driving component and an elastic hammering component. The driving component includes a crank 132 and a connecting rod 133. One end of the crank 132 is connected to the connecting rod 133, and the other end of the crank 132 can rotate around an axis. The elastic hammering component includes a first spring 135, a second spring 136, a hammer rod 137, and a hammer head 138. The connecting rod 133 drives the first spring 135 to move. The first spring 135 receives the driving force of the connecting rod 133, compresses and stores energy, and then pushes the hammer rod 137 to move. The first spring 135 drives the hammer rod 137 to move. The hammer rod 137 is connected to the hammer head 138. A second spring 136 is sleeved outside the hammer head 138. The second spring 136 compresses when the hammer head 138 strikes, absorbs the impact energy, and reduces the reaction force. The knocking process of the hammer head 138 presents the pulse characteristics of contact, deformation, and rebound. The instantaneous peak force can break through the adhesion threshold of stubborn soils such as clay, and the continuous action time is short, avoiding root damage caused by excessive knocking.

[0044] Embodiment Three

[0045] Based on the first and second embodiments, as Figure 9 shown, the primary soil separation unit includes a primary rolling roller 17, a secondary rolling roller 18, and a screen conveyor belt 19. The soil clods and Salvia miltiorrhiza are conveyed to the rolling area along with the screen conveyor belt 19. The primary rolling roller 18 breaks the large soil clods into small soil clods through elastic extrusion + rolling and rubbing. The conveying speed of the screen conveyor belt is 0.5 m / s. After the images of the Salvia miltiorrhiza rhizomes are taken by the camera 16, they are first denoised, the contrast is enhanced, then Otsu threshold binarization and filtering are performed to obtain the binarized root images. The above images are used to obtain the contours through Canny edge detection, and the average thickness is calculated by fitting the minimum circumscribed circle or the maximum inscribed circle of the contours, and then transmitted to the control module. The control module adjusts the distance between the primary rolling roller 17 or the secondary rolling roller 18 and the screen conveyor belt 19 according to the thickness of the Salvia miltiorrhiza rhizomes.

[0046] In some embodiments, the distance between the primary rolling roller 17 and the screen conveyor belt 19 is greater than that between the secondary rolling roller 18 and the screen conveyor belt 19.

[0047] In some embodiments, the diameter of the primary rolling roller 17 is greater than that of the secondary rolling roller 18.

[0048] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0049] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A harvesting and collecting device for the rhizomes of Salvia miltiorrhiza in heavy clay soil, characterized in that, It includes a soil separation module, a machine vision module and a control module. The soil separation module includes a primary soil separation unit and a secondary soil separation unit. The secondary soil separation unit includes an elastic clamping and conveying mechanism and a sliding table module. The sliding table module is arranged above the elastic clamping and conveying mechanism, and an elastic hammering mechanism (13) is provided on the sliding table module; The elastic clamping and conveying mechanism enables the Salvia miltiorrhiza to be in a clamped state or a released state. When the Salvia miltiorrhiza is in the clamped state, the machine vision module is used to identify the position of the central area of the Salvia miltiorrhiza root system. The machine vision module transmits information to the control module, and the control module is used to adjust the position of the elastic hammering mechanism (13) on the sliding table module so that the elastic hammering mechanism (13) can hammer the soil at the position of the central area of the Salvia miltiorrhiza root system.

2. The Salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for sticky heavy soil according to claim 1, wherein, The machine vision module includes a camera (16) and an image processing unit. The image processing unit generates the position coordinates at the root center according to the image collected by the camera (16). The control module moves the sliding table module according to the obtained position coordinates so that the center of the elastic hammering mechanism (13) and the root center on the Salvia miltiorrhiza are on the same vertical line.

3. The Salvia miltiorrhiza root and rhizome Chinese medicinal material harvesting and collecting device for heavy clay soil according to claim 1, wherein, The elastic clamping and conveying mechanism includes an upper clamping component and a lower elastic clamping and conveying component. An adjusting mechanism is provided between the upper clamping component and the lower elastic clamping and conveying component, and the adjusting mechanism is used to adjust the distance between the upper clamping component and the lower elastic clamping and conveying component.

4. The Salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for heavy clay soil according to claim 3, characterized in that, The upper clamping component includes a frame (14), an elastic screen (15) and a moving block (5). The elastic screen (15) is arranged inside the frame (14), and the moving block (5) is connected to the frame (14). The lower elastic clamping and conveying component includes a screen conveyor belt (9), a bottom plate (8), a spring (7) and a sliding block (6). The sliding block (6) is connected to the screen conveyor belt (9), and the spring (7) is arranged between the bottom plate (8) and the screen conveyor belt (9).

5. The salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for sticky heavy soil according to claim 3, characterized in that, The adjusting mechanism includes a lead screw (2), a nut seat (4) and a guide rod (3). One end of the lead screw (2) is connected to the sliding block (6). The nut seat (4) is threadedly sleeved on the lead screw (2). The lead screw (2) can rotate axially around its own axis. The nut seat (4) is used to drive the moving block (5) to move along the direction of the lead screw (2). The moving block (5) is used to drive the upper clamping component to move along the axis of the lead screw (2). The guide rod (3) is fixed on the bottom plate (8). The guide rod (3) passes through the upper clamping component and the lower elastic clamping and conveying component. The screen conveyor belt (9) of the upper clamping component and the lower elastic clamping and conveying component can slide axially along the guide rod (3). The guide rod (3) is axially parallel to the lead screw (2).

6. The Salvia miltiorrhiza root and rhizome Chinese medicinal material harvesting and collecting device for sticky heavy soil according to claim 1, characterized in that, The sliding table module includes a lateral movement component (10) and a vertical movement component (11). The vertical movement component (11) is arranged above the lateral movement component (10). The lateral movement component (10) enables the vertical movement component (11) to move laterally. An electric push rod (12) is provided on the vertical movement component (11). The electric push rod (12) is connected to an elastic hammering mechanism (13). The telescopic direction of the electric push rod (12) is perpendicular to the horizontal plane.

7. A harvesting and collecting device for Salvia miltiorrhiza rhizome Chinese herbal medicine in heavy clay soil according to claim 1, characterized in that, The elastic hammering mechanism (13) includes a driving component and an elastic hammering component. The driving component includes a crank (132) and a connecting rod (133). One end of the crank (132) is connected to the connecting rod (133). The other end of the crank (132) can rotate around an axis. The elastic hammering component includes a first spring (135), a second spring (136), a hammer rod (137), and a hammer head (138). The connecting rod (133) drives the first spring (135) to move. The first spring (135) drives the hammer rod (137) to move. The hammer rod (137) is connected to the hammer head (138). A second spring (136) is sleeved outside the hammer head (138).

8. The salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for sticky heavy soil according to claim 1, characterized in that, The primary soil separation unit includes a primary rolling roller (17), a secondary rolling roller (18), and a screen conveyor belt (19). The machine vision module is used to identify the thickness of the Salvia miltiorrhiza rhizome. The machine vision module transmits information to the control module. The control module adjusts the distance between the primary rolling roller (17) or the secondary rolling roller (18) and the screen conveyor belt (19).

9. A harvesting and collecting device for Salvia miltiorrhiza rhizome Chinese medicinal materials in heavy clay soil according to claim 8, characterized in that, The distance between the primary rolling roller (17) and the screen conveyor belt (19) is greater than that between the secondary rolling roller (18) and the screen conveyor belt (19).

10. The Salvia miltiorrhiza rhizome Chinese medicinal material harvesting and collecting device for heavy clay soil according to claim 8, characterized in that, The diameter of the primary rolling roller (17) is greater than that of the secondary rolling roller (18).

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