A kind of heavy soil of salvia miltiorrhiza rootstock traditional Chinese medicinal material harvesting collection device
The Salvia miltiorrhiza harvesting device, which combines elastic clamping conveying and machine vision recognition, solves the problem of difficult soil removal from the center of Salvia miltiorrhiza roots in heavy clay soil, achieving efficient removal and low-damage harvesting of Salvia miltiorrhiza, thus improving the quality and efficiency of the medicinal material.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SICHUAN ACADEMY OF AGRICULTURAL MACHINERY SCIENCES
- Filing Date
- 2025-06-30
- Publication Date
- 2026-06-09
AI Technical Summary
In heavy clay soils, the soil in the central area of the Salvia miltiorrhiza root system is difficult to remove. Traditional mechanical harvesting methods are prone to damaging the Salvia miltiorrhiza rhizomes and have low cleaning efficiency, which affects the quality of the medicinal material and subsequent processing costs.
The Salvia miltiorrhiza root system is held by an elastic clamping and conveying mechanism, and the center position of the root system is identified by a machine vision module. The soil in the center area of the root system is precisely struck by an elastic hammering mechanism. The combination of elastic clamping and hammering breaks the bond between the soil and the root system, reducing root damage.
It achieved efficient removal of soil from the center of the Salvia miltiorrhiza root system, reduced the root and stem damage rate, improved harvesting efficiency and medicinal quality, and reduced energy consumption.
Smart Images
Figure CN120380923B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of Salvia miltiorrhiza harvesting equipment, specifically to a harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil. Background Technology
[0002] Salvia miltiorrhiza is an important traditional Chinese medicine, and its dried roots and rhizomes can be used medicinally. The upper part of the main root of Salvia miltiorrhiza has a large number of lateral roots growing in a ring, forming "chicken claw" branches. The fibrous roots are fine and dense like a net. Therefore, the lateral roots and fibrous roots intertwine to form a network, which easily forms a "root-soil complex" in heavy clay soil, making it difficult to separate during mechanical harvesting.
[0003] As an important medicinal plant, Salvia miltiorrhiza presents significant technical challenges when using traditional excavators to separate the soil in the central region of its root system due to the complex physicochemical and biological bonding between the soil and the root system. The soil in the central region of the Salvia miltiorrhiza root system (the center of the densely interwoven "root network") forms a "soil-root complex" with the roots through substances such as polysaccharides, mucilage, and organic acids secreted by the roots. Furthermore, extracellular polymers secreted by rhizosphere microorganisms further enhance the bonding strength, making traditional mechanical compaction or vibration methods ineffective for separation. Traditional excavators, relying on rigid compaction or digging principles, easily cause the main root to break and fibrous roots to fall off when forcibly stripping the soil from the central region of the Salvia miltiorrhiza root system, resulting in damage to the integrity of the medicinal material and affecting the subsequent processing quality and the content of medicinal components.
[0004] During the harvesting of Salvia miltiorrhiza in heavy clay soils, the compact texture of the soil forces the roots to penetrate the dense soil particles, embedding them deeply. Therefore, cleaning the soil from the center of the roots is a significant technical challenge. When separating the heavy clay soil through vibration, compaction, or conveying and screening, the roots may pass directly through the roller gaps without being broken down, leaving soil residue in the central area of the roots. This results in low separation efficiency, requiring secondary manual cleaning, which is difficult, increases water and energy consumption, and leads to the loss of active ingredients due to cleaning damage. Furthermore, it increases subsequent processing costs in a chain reaction, hindering the improvement of mechanized harvesting efficiency. Summary of the Invention
[0005] One objective of this invention is to provide a harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil. The device uses an elastic clamping conveyor mechanism to elastically hold the Salvia miltiorrhiza roots, a machine vision module to identify the position of the center of the root system while it is clamped, and a control module to control an elastic hammering mechanism on a sliding table module. This allows the elastic hammering mechanism to precisely hammer the central area of the Salvia miltiorrhiza root system, achieving both precise hammering and flexible soil removal. This solves the problem of difficult soil removal from the central area of the Salvia miltiorrhiza root system. This invention can protect the Salvia miltiorrhiza from damage while separating the soil from the central area of the root system. It has advantages such as low root damage rate, high soil removal efficiency, and strong adaptability, and can significantly improve the harvesting efficiency and quality of Salvia miltiorrhiza.
[0006] This objective is achieved using the following technical solution:
[0007] A harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil 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 conveying mechanism and a sliding table module. The sliding table module is located above the clamping conveying mechanism and is equipped with an elastic hammering mechanism.
[0008] The soil in the central region of the Salvia miltiorrhiza root system refers to the initial convergence area of the main root cluster, located at the "base of the root ball" where multiple robust 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 "clustered intertwining". The soil in this area has long been symbiotic with the root system, and the rhizosphere microorganisms that grow there will form a biofilm on the root surface, further strengthening the "root-soil" adhesion. Traditional methods are difficult to remove the soil in this area.
[0009] After being processed in the primary soil separation unit, most of the loose soil on the surface of the Salvia miltiorrhiza roots is removed, exposing the roots. The remaining soil is mainly concentrated in the central area of the roots. The processed Salvia miltiorrhiza is then transferred to the secondary soil separation unit. The elastic clamping conveying mechanism of the secondary unit holds the Salvia miltiorrhiza in place. When the Salvia miltiorrhiza is held in this position, a "soil buffer layer" is formed in the central area of the roots due to the thick accumulation of soil (especially when the soil is heavy and sticky). When pressure is applied by the clamping screen, the soil in the central area is first compressed, allowing the clamping force on the main root to be indirectly transmitted through the soil, concentrating the clamping force on the main root while allowing the lateral roots and fibrous roots to relax naturally, reducing damage. The machine vision module identifies the location of the central region of the Salvia miltiorrhiza root system through image recognition. The control module adjusts the position of the elastic hammering mechanism on the slide module according to the identified location of the central region of the Salvia miltiorrhiza root system. This allows the elastic hammering mechanism to hammer the soil at the central region of the Salvia miltiorrhiza root system, concentrating the impact force in the central region of the root system. The shock wave breaks the bonds between soil particles, rather than directly affecting the root system itself. This effectively disrupts the adhesion between the soil and the root surface. Simultaneously, when the hammering strikes the soil in the central region of the Salvia miltiorrhiza root system, the micro-vibration of the elastic clamp can be transmitted to the fibrous roots. The vibration of the spring causes the soil between the fibrous roots to fall off due to resonance. The vibration caused by the hammering is intermittent, and the fibrous roots have a buffer time to recover their deformation after each vibration, avoiding fatigue damage caused by continuous vibration. Compared with simply removing soil by vibration, this significantly reduces damage to the fine roots of Salvia miltiorrhiza and reduces the energy consumption of subsequent cleaning processes, achieving multiple optimizations of efficient soil cleaning, root protection, and low energy consumption.
[0010] Compared to existing devices, current Salvia miltiorrhiza harvesters primarily use vibration separation and sieving / filtration methods to remove soil during Salvia miltiorrhiza harvesting. Vibration separation is ineffective at removing soil tightly adhering to the center of the Salvia miltiorrhiza root system because the soil in the root center is encased and compressed by the surrounding roots, resulting in significant friction between soil particles. Ordinary vibration intensity cannot overcome this friction to dislodge the soil. For the finer rhizomes of Salvia miltiorrhiza, prolonged or frequent vibration can cause breakage or damage. This can lead to significant damage to the Salvia miltiorrhiza during harvesting, especially to the finer rhizomes, which are easily damaged due to vibration transmission issues. The Salvia miltiorrhiza root system is radially distributed, with lateral roots and fibrous roots interwoven into a network that tightly encases the soil in the central area. When removing soil from Salvia miltiorrhiza using sieving / filtration, although the outer loose soil can fall off, the central soil clump is "held" by the root system and cannot directly contact the screen, resulting in insufficient effective sieving area.
[0011] This invention employs a primary soil separation unit to separate the outer soil of Salvia miltiorrhiza, initially exposing the root system. This is combined with the precise impact and flexible soil removal of the secondary soil separation unit. The secondary soil separation unit uses machine vision to identify the position of the center of the Salvia miltiorrhiza root system in a clamped state. The center of the Salvia miltiorrhiza root system is the intersection of three or more main roots or lateral roots. The control module adjusts the position of the elastic hammering mechanism on the slide module according to the corresponding position information, enabling the elastic hammering mechanism to hammer the soil at the center of the Salvia miltiorrhiza root system, thus achieving the removal of the soil at the center of the Salvia miltiorrhiza root system. At the same time, the flexible impact protects the root system, resulting in excellent damage control.
[0012] Furthermore, the machine vision module includes a camera and an image processing unit. The image processing unit generates position coordinates of the root center based on the image acquired by the camera. The control module moves the slide module according to the acquired position coordinates so that the center of the elastic hammering mechanism is on the same vertical line as the center of the root system of Salvia miltiorrhiza. 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 root system.
[0013] Furthermore, the elastic clamping conveying mechanism includes an upper clamping assembly and a lower elastic clamping conveying assembly, and an adjustment mechanism is provided between the upper clamping assembly and the lower elastic clamping conveying assembly. The adjustment mechanism is used to adjust the distance between the upper clamping assembly and the lower elastic clamping assembly. The upper clamping assembly includes a frame, an elastic screen, and a moving block. The elastic screen is located within the frame, and the moving block is connected to the frame. The lower elastic clamping conveyor assembly includes a screen conveyor belt, a base plate, a spring, and a sliding block. The sliding block is connected to the screen conveyor belt, and the spring is located between the base plate and the screen conveyor belt. The elastic clamping facilitates adaptive conformation to the root system morphology and absorbs the peak value of the hammering force during the striking process, transforming rigid impact into flexible compression. When the elastic hammer strikes the central area of the root system, the disintegrated soil particles fall through the sieve holes of the upper and lower screens, realizing the integrated operation of striking to break up the sticky soil and screening the soil. The spring between the base plate and the screen conveyor belt is compressed and deformed during the striking process, absorbing the hammering impact force, reducing the efficiency of vibration transmission to the stem, and protecting the fine roots of Salvia miltiorrhiza from damage.
[0014] Furthermore, the adjusting mechanism includes a lead screw, a nut seat, and a guide rod. The nut seat is threaded onto the lead screw, and one end of the lead screw is connected to a 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 base plate and passes through the upper and lower clamping assemblies. The screen conveyor belts of the upper and lower clamping assemblies can slide along the axial direction of the guide rod. The guide rod is parallel to the axis of the lead screw. When the lead screw rotates axially, the nut seat connected to the upper clamping assembly moves axially along the lead screw as the lead screw rotates, thereby clamping the screen conveyor belts of the upper and lower elastic clamping conveyor assemblies. Because the guide rod passes through the upper and lower elastic clamping conveyor assemblies, it creates a vertical rigid force transmission path during the striking process, restricting lateral freedom and rotational movement, improving the stability of the structure, and thus ensuring accurate striking.
[0015] Furthermore, the slide module includes a horizontal moving component and a vertical moving component. The vertical moving component is located above the horizontal moving component. The horizontal moving component realizes the horizontal lateral movement of the elastic hammering mechanism, and the vertical moving component realizes the horizontal vertical movement of the elastic hammering mechanism. The horizontal moving component causes the vertical moving component to move horizontally. Through the combined motion of the horizontal and vertical moving components, the elastic hammering mechanism can move in all directions. The vertical moving component is equipped with an electric push rod, which is connected to the elastic hammering mechanism. The extension and retraction direction of the electric push rod is perpendicular to the horizontal plane, enabling the elastic hammering mechanism to achieve three-dimensional movement and achieve precise striking.
[0016] Furthermore, the elastic hammering mechanism includes a drive assembly and an elastic hammering assembly. The drive assembly includes a crank and a connecting rod. One end of the crank is connected to the connecting rod, and the other end of the crank can rotate around an axis. The elastic hammering assembly includes a first spring, a second spring, a hammer rod, and a hammer head. The connecting rod drives the first spring to move, and the first spring drives the hammer rod to move. The first spring receives the driving force from the connecting rod, compresses and stores energy, and then pushes the hammer rod to move. The hammer rod and the hammer head are connected. A second spring is sleeved on the outside of the hammer head. The second spring is compressed when the hammer head strikes, absorbing impact energy and reducing reaction force. The crank, connecting rod, and spring combination structure achieves the elastic hammering function through the synergistic effect of mechanical vibration energy conversion, elastic energy storage and release, and buffer protection design. Through the energy buffering and adaptive adjustment of the elastic medium, a balance between efficient breaking of adhesives and low-damage operation is achieved.
[0017] Furthermore, the primary soil separation unit includes a primary compaction roller, a secondary compaction roller, and a screen conveyor belt. The machine vision module is used to identify the thickness of the Salvia miltiorrhiza rhizomes. The machine vision module transmits information to the control module, which adjusts the distance between the primary or secondary compaction roller and the screen conveyor belt. The distance between the primary compaction roller and the screen conveyor belt is greater than that between the secondary compaction roller and the screen conveyor belt. The diameter of the primary compaction roller is greater than that of the secondary compaction roller. The primary compaction roller performs initial processing to quickly separate large impurities from loose soil, while the secondary compaction roller performs fine processing to deeply clean the soil from the rhizomes after primary separation. Precise force control achieves both excellent material protection and crushing effect, and also enables compatibility with multiple scenarios and multiple materials.
[0018] Compared with the prior art, the Salvia miltiorrhiza harvesting and collection device for heavy clay soil provided by the present invention has the following beneficial effects:
[0019] This invention provides a harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil. Through elastic clamping, a machine vision module identifies the central area of the Salvia miltiorrhiza root system under clamping conditions, and a control module controls the elastic hammering mechanism on the sliding table module to accurately hammer the central area of the Salvia miltiorrhiza root system. This solves the problems of difficult soil removal in the central area of the root system, easy damage to Salvia miltiorrhiza rhizomes, and high mechanical energy consumption, achieving efficient soil removal and significantly improving the harvesting efficiency and quality of Salvia miltiorrhiza.
[0020] This invention provides a harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil. The device uses an elastic hammer mechanism to strike the soil in the center of the Salvia miltiorrhiza root system. The double spring buffer system achieves low-damage soil clearing, ensuring soil clearing efficiency while suppressing impact damage, and significantly optimizing the quality of harvested Salvia miltiorrhiza.
[0021] This invention provides a harvesting and collection device for Salvia miltiorrhiza rhizomes in heavy clay soil. The device uses a machine vision module to identify the thickness of the Salvia miltiorrhiza rhizomes and a control module to adjust the distance between the primary or secondary roller and the screen conveyor belt. This intelligent and precise adjustment adapts to different rhizomes and soils. At the same time, the multi-stage compaction works together to improve soil cleaning efficiency and the quality of the medicinal materials. Attached Figure Description
[0022] 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.
[0023] Figure 1 This is a front view of the overall structure of the present invention;
[0024] Figure 2 This is a schematic diagram of the upper clamping assembly structure in this invention;
[0025] Figure 3 This is a schematic diagram of the lower elastic clamping and conveying assembly structure in this invention;
[0026] Figure 4 This is a front view of the clamping and conveying device in the present invention in the released state;
[0027] Figure 5 This is a front view of the clamping and conveying mechanism in the present invention in the clamping state;
[0028] Figure 6 This is a side view of the clamping and conveying mechanism in the present invention in the clamping state;
[0029] Figure 7 This is a top view of the clamping and conveying mechanism in the present invention in the clamping state;
[0030] Figure 8 This is a schematic diagram of the elastic hammering mechanism in this invention;
[0031] Figure 9 This 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-base plate, 9-screen conveyor belt, 10-lateral moving assembly, 11-vertical moving assembly, 12-electric push rod, 13-elastic hammering mechanism, 14-frame, 15-elastic screen, 16-camera, 17-first-stage rolling roller, 18-second-stage rolling roller, 19-screen conveyor belt, 20-drive 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. Detailed Implementation
[0033] 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.
[0034] 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.
[0035] Example 1
[0036] like Figure 1 and Figure 9The device for harvesting and collecting Salvia miltiorrhiza rhizomes in heavy clay soil 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 conveying mechanism and a sliding table module. The sliding table module is located above the elastic clamping conveying mechanism and is equipped with an elastic hammering mechanism 13.
[0037] When the elastic clamping mechanism is in the released state, such as Figure 4 and Figure 9 As shown, the screen conveyor belt 19 of the primary soil separation unit conveys at a speed of 0.5 m / s, with a screen aperture of 10 mm (to match the diameter of the main root of Salvia miltiorrhiza and prevent Salvia miltiorrhiza from falling out). 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, low-hardness soil clods are crushed by the primary rolling roller 17, while the main root of Salvia miltiorrhiza passes through smoothly without being damaged. The secondary rolling roller 18 is a small-diameter elastic roller with a diameter of [missing information]. After secondary rolling, most of the loose soil on the surface of the Salvia miltiorrhiza root system is removed. After preliminary treatment in the primary soil separation unit, the Salvia miltiorrhiza is conveyed to the elastic clamping conveyor at a speed of 0.5 m / s. When there is one Salvia miltiorrhiza on the elastic clamping conveyor, the conveying stops. The distance between the upper clamping component and the lower elastic clamping conveyor is adjusted by the adjusting mechanism. Because the soil accumulation in the center of the root system is relatively thick (especially when the soil is heavy), a "soil buffer layer" is 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 clamping state, such as Figure 5As shown, the machine vision module includes a camera 21 and an image processing unit. Based on the sieve image of the ginseng without ginseng 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 outline; automatically calculates the grayscale threshold using the Otsu algorithm (considering the uneven illumination caused by sieve occlusion) to segment the root system from the background; performs morphological skeletonization on the binarized root image to generate single-pixel center lines (preserving the root topology); even if some skeletons are occluded by the sieve, missing connections are inferred through topological rules, for example, the main root skeleton must point towards the rootstock, and the lateral root skeleton branches from the main root with decreasing diameters; the intersection points of 3 or more skeleton lines are identified, the weighted centroids of these points are calculated, and the 2D coordinates (X,Y) at the root center are obtained; the image processing unit packages the coordinates (X,Y) and confidence of the root center and transmits them to the control module via bus; PLC After the coordinates are resolved, the servo motor of the drive slide module moves towards the target position. Once the target position is reached, the camera is triggered to perform a second verification shot, and the deviation (ΔX, ΔY) between the actual center and the target center is calculated. If the deviation is >0.5mm, the image processing unit sends the correction coordinates, and the PLC fine-tunes the motor pulses through PID control until the deviation is <0.3mm, ensuring that the center of the elastic hammering mechanism coincides with the center of the root system, and ensuring that the hammering force is accurately applied to the key parts 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, with an adjustment mechanism between the upper clamping assembly and the lower elastic clamping and conveying assembly. The adjustment mechanism adjusts the distance between the upper clamping assembly and the lower elastic clamping and conveying assembly. The upper clamping assembly, as shown... Figure 2 The diagram shows a frame 14, an elastic screen 15, and a movable block 5. The elastic screen 15 is disposed within the frame 14, and the movable block 5 is connected to the frame 14. The lower elastic clamping conveyor assembly is as follows: Figure 3 The device includes a screen conveyor belt 9, a base plate 8, a spring 7, and a sliding block 6. The spring 7 is located between the base plate 8 and the screen conveyor belt 9.
[0040] In some embodiments, the adjustment mechanism is as follows: Figure 6As shown, it includes a lead screw 2, a nut seat 4, and a guide rod 3. The nut seat 4 is threaded onto the lead screw 2, and 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 base plate 8, and the guide rod 3 passes through the upper clamping assembly and the lower elastic clamping conveying assembly. The guide rod 3 is axially parallel to the lead screw 2. When motor 1 drives lead screw 2 to rotate, since guide rod 3 is fixed on base plate 8, it forms a sliding fit with screen conveyor belt 9 of upper clamping assembly and lower elastic clamping conveyor assembly. The guide holes on upper clamping assembly and lower elastic clamping conveyor assembly restrict the movement freedom of moving block 5, so that it can only move along the axial direction of guide rod 3 and cannot rotate with lead screw 2. Finally, it drives upper clamping assembly to move along guide rod 3. One end of lead screw 2 is connected to sliding block 6. Sliding block 6 is connected to screen conveyor belt 9. When Danshen is in the clamping state, it slides along guide rod 3 with sliding block 6, so that spring is compressed and elastic clamping is achieved.
[0041] In some embodiments, such as Figure 6 and Figure 7 As shown, the slide 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 various forms such as screw drive, belt drive, or chain drive. This embodiment preferably uses a horizontal moving component 10, which employs belt drive and includes a driving wheel 20, a driven wheel 21, a synchronous belt 22, and a first servo motor 23. A control module sends commands to the first servo motor 23, causing the driving wheel 21 to rotate around its own axis, thus moving the synchronous belt 22 sleeved on the driving wheel 21 and the driven wheel 20. The synchronous belt 22 drives the horizontal moving component 10 to move horizontally. This embodiment also preferably uses a vertical moving component 11, which employs screw drive. A control module sends commands to... The second servo motor 24 causes the lead screw 25 to rotate around its own axis, driving the vertical moving component 11 threaded onto the lead screw 25 to move. The vertical moving component 11 is located above the horizontal moving component 10. The horizontal moving component 10 causes the vertical moving component 11 to move horizontally. The X-axis coordinate of the elastic hammering mechanism 13 is adjusted by the horizontal moving component 10, and the Y-axis coordinate of the elastic hammering mechanism is adjusted by the vertical moving component 10, so that the center coordinate of the elastic hammering mechanism 13 and the coordinate of the root center are on the same vertical line. An electric push rod 12 is provided on the vertical moving component 11. The electric push rod 12 is connected to the elastic hammering mechanism 13. The extension and retraction direction of the electric push rod 12 is perpendicular to the horizontal plane, so that the elastic hammering mechanism 13 can achieve three-dimensional movement and achieve precise striking.
[0042] Example 2
[0043] Based on Example 1, such as Figure 8 As shown, the elastic hammering mechanism 13 includes a drive assembly and an elastic hammering assembly. The drive assembly 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 assembly 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 from the connecting rod 133 and compresses and stores energy. The hammer rod 137 is pushed to move, and 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 on the outside of the hammer head 138. The second spring 136 is compressed when the hammer head 138 strikes, absorbing the impact energy and reducing the reaction force. The hammer head 138's striking process exhibits pulse characteristics of contact, deformation, and rebound. The instantaneous peak force can break through the adhesion threshold of stubborn soils such as clay, while the duration of action is short, avoiding excessive striking that could damage the root system.
[0044] Example 3
[0045] Based on Examples 1 and 2, such as Figure 9 As shown, the primary soil separation unit includes a primary compaction roller 17, a secondary compaction roller 18, and a screen conveyor belt 19. Soil clods and Salvia miltiorrhiza are conveyed to the compaction area via the screen conveyor belt 19. The primary compaction roller 18 breaks large soil clods into smaller ones through elastic extrusion and rolling kneading. The screen conveyor belt has a conveying speed of 0.5 m / s. After the Salvia miltiorrhiza rhizome image is captured by the camera 16, it is first denoised and contrast enhanced, and then Otsu threshold binarization and filtering are used to obtain a binarized root image. The image is then used to obtain the contour through Canny edge detection. The contour is fitted with the minimum circumcircle or the maximum incircle to calculate the average thickness, and then transmitted to the control module. The control module adjusts the distance between the primary compaction roller 17 or the secondary compaction roller 18 and the screen conveyor belt 19 according to the thickness of the Salvia miltiorrhiza rhizome.
[0046] In some embodiments, the distance between the primary roller 17 and the screen conveyor belt 19 is greater than that between the secondary roller 18 and the screen conveyor belt 19.
[0047] In some embodiments, the diameter of the primary rolling roller 17 is larger than the diameter of the secondary rolling roller 18.
[0048] 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 the preferred embodiments as well as all changes and modifications falling within the scope of the invention.
[0049] 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 device for harvesting and collecting Salvia miltiorrhiza rhizomes 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 conveying mechanism and a slide module. The slide module is located above the elastic clamping conveying mechanism and is equipped with an elastic hammering mechanism (13). The elastic clamping and conveying mechanism includes an upper clamping assembly and a lower elastic clamping and conveying assembly. An adjustment mechanism is provided between the upper clamping assembly and the lower elastic clamping and conveying assembly. The adjustment mechanism is used to adjust the distance between the upper clamping assembly and the lower elastic clamping and conveying assembly. The upper clamping assembly includes a frame (14), an elastic screen (15), and a moving block (5). The elastic screen (15) is located inside the frame (14), and the moving block (5) is connected to the frame (14). The lower elastic clamping conveyor assembly includes a screen conveyor belt (9), a base 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 located between the base plate (8) and the screen conveyor belt (9). The elastic hammering mechanism (13) includes a drive assembly and an elastic hammering assembly. The drive assembly 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 assembly 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, and the first spring (135) drives the hammer rod (137) to move. The hammer rod (137) and the hammer head (138) are connected, and the second spring (136) is sleeved on the outside of the hammer head (138). The elastic clamping and conveying mechanism allows the Salvia miltiorrhiza to be in a clamped or released state. When the Salvia miltiorrhiza is in a 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. The control module is used to adjust the position of the elastic hammering mechanism (13) on the slide 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 harvesting and collecting device for Salvia miltiorrhiza rhizomes in heavy clay soil according to claim 1, characterized in that, The machine vision module includes a camera (16) and an image processing unit. The image processing unit generates the position coordinates of the root center based on the image acquired by the camera (16). The control module moves the slide module according to the acquired position coordinates so that the center of the elastic hammer mechanism (13) is on the same vertical line as the center of the root system of Salvia miltiorrhiza.
3. The device for harvesting and collecting Salvia miltiorrhiza rhizomes in heavy clay soil according to claim 1, 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 a sliding block (6). The nut seat (4) is threaded onto 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 assembly to move along the axis of the lead screw (2). The guide rod (3) is fixed on the base plate (8). The guide rod (3) passes through the upper clamping assembly and the lower elastic clamping conveying assembly. The screen conveyor belt (9) of the upper clamping assembly and the lower elastic clamping conveying assembly can slide axially along the guide rod (3). The guide rod (3) is parallel to the axis of the lead screw (2).
4. The device for harvesting and collecting Salvia miltiorrhiza rhizomes in heavy clay soil according to claim 1, characterized in that, The slide module includes a horizontal moving component (10) and a vertical moving component (11). The vertical moving component (11) is located above the horizontal moving component (10). The horizontal moving component (10) causes the vertical moving component (11) to move horizontally. The vertical moving component (11) is provided with an electric push rod (12). The electric push rod (12) is connected to an elastic hammering mechanism (13). The extension and retraction direction of the electric push rod (12) is perpendicular to the horizontal plane.
5. The device for harvesting and collecting Salvia miltiorrhiza rhizomes in heavy clay 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, and the control module adjusts the distance between the primary rolling roller (17) or the secondary rolling roller (18) and the screen conveyor belt (19).
6. The device for harvesting and collecting Salvia miltiorrhiza rhizomes in heavy clay soil according to claim 5, characterized in that, The distance between the primary roller (17) and the screen conveyor belt (19) is greater than that between the secondary roller (18) and the screen conveyor belt (19).
7. A harvesting and collecting device for Salvia miltiorrhiza rhizomes in heavy clay soil according to claim 5, characterized in that, The diameter of the primary roller (17) is larger than the diameter of the secondary roller (18).