Automatic traditional Chinese medicinal material cleaning control system and control method thereof

Abstract

The invention provides an automatic traditional Chinese medicinal material cleaning control system and a control method thereof. Surface images of traditional Chinese medicinal materials at different angles in the cleaning process are obtained; extracting a plurality of residual characteristics of the surface residues of the traditional Chinese medicinal materials, and further determining the dynamic coordination degree between controlling the water pressure and detecting the surface residues of the traditional Chinese medicinal materials in the cleaning process of the traditional Chinese medicinal material cleaning equipment; determining the interference compensation amount of the cleaning blind area of the traditional Chinese medicinal material cleaning equipment according to the structural characteristics of the cleaning blind area of the traditional Chinese medicinal material cleaning equipment and the cleaning distribution unevenness of the traditional Chinese medicinal material cleaning equipment; determining a water pressure coordination parameter of the industrial control system for performing digital control on the traditional Chinese medicinal material cleaning equipment according to the interference compensation amount of the cleaning blind area and the dynamic coordination degree between the control water pressure and the detection of the residue on the surface of the traditional Chinese medicinal material; according to the method and the device, the water pressure can be accurately controlled in the traditional Chinese medicinal material cleaning process, so that the quality of medicinal materials is not damaged while the cleaning effect is ensured.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and more specifically, to an automated control system and control method for cleaning Chinese medicinal materials. Background Technology

[0002] Automation control utilizes advanced control systems and equipment, relying on preset programs and feedback mechanisms, to achieve automatic adjustment and management of the production process. Through the combination of sensors, actuators, PLCs, embedded systems, and other devices, it monitors and adjusts various operating parameters, such as temperature, pressure, and flow rate, in real time to ensure efficient, accurate, and stable operation of the production process. Automation control technology is widely used in industries such as industry, agriculture, and logistics. It not only improves production efficiency and reduces manual intervention, but also enables intelligent management of the system, enhancing the safety, reliability, and energy-saving effects of the production process.

[0003] In existing technologies, the control methods for cleaning equipment for Chinese medicinal herbs typically involve adjusting the intensity and speed of water flow using simple mechanical valves and pumps. For example, electric pumps or manual valves can regulate the flow rate of the cleaning solution to meet the cleaning needs of different medicinal herbs. However, the cleaning process for Chinese medicinal herbs usually involves the control of water pressure. The intensity, velocity, and duration of the water flow all affect the cleaning effect. Excessive water flow may cause the medicinal herbs to break, while insufficient water flow may not be able to clean them thoroughly. Therefore, how to accurately control the water pressure during the cleaning process of Chinese medicinal herbs, so as to ensure the cleaning effect without damaging the quality of the medicinal herbs, has become a challenge for the industry. Summary of the Invention

[0004] This application provides an automated Chinese medicinal herb cleaning control system and method, which can accurately control water pressure during the cleaning process of Chinese medicinal herbs, thereby ensuring the cleaning effect without damaging the quality of the herbs.

[0005] In a first aspect, this application provides an automated method for controlling the cleaning of Chinese medicinal herbs, the method comprising the following steps: Obtain surface images of Chinese medicinal herbs from different angles during the cleaning process from the industrial control system of the Chinese medicinal herb cleaning equipment; Multiple residual features of the Chinese medicinal materials surface residue are extracted from all surface images. Based on all residual features and the water pressure fluctuation of the Chinese medicinal materials cleaning equipment, the dynamic coordination between the Chinese medicinal materials cleaning equipment in controlling the water pressure and detecting the Chinese medicinal materials surface residue during the cleaning process is determined. The interference compensation amount for the cleaning blind zone of the Chinese herbal medicine cleaning equipment is determined based on the structural characteristics of the cleaning blind zone and the non-uniformity of the cleaning distribution of the Chinese herbal medicine cleaning equipment when the Chinese herbal medicine cleaning equipment is digitally controlled. The water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment are determined by the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs. The water pressure of the herbal medicine cleaning equipment is controlled in a coordinated manner based on the water pressure coordination parameters.

[0006] In this embodiment, the industrial control system is a system for automating the control of the Chinese herbal medicine cleaning equipment.

[0007] In this embodiment, the extraction of multiple residual features of medicinal herb surface residues from all surface images specifically includes: All surface images are preprocessed to obtain multiple preprocessed surface images; Image segmentation is performed on each preprocessed surface image to obtain multiple residue edges within each preprocessed surface image; Multiple residual features of the Chinese medicinal material surface residues were determined based on multiple residue edges within all preprocessed surface images.

[0008] In this embodiment, determining the dynamic coordination between controlling water pressure and detecting residues on the surface of the medicinal herbs during the cleaning process, based on all residual characteristics and water pressure fluctuations of the medicinal herb cleaning equipment, specifically includes: Fluctuation analysis was performed on the water pressure data of the Chinese herbal medicine cleaning equipment to obtain the water pressure fluctuation of the Chinese herbal medicine cleaning equipment. Determine the correlation between each residual feature and the water pressure fluctuation; Based on all the correlations, determine the dynamic coordination between controlling water pressure and detecting residues on the surface of Chinese medicinal materials during the cleaning process of the Chinese medicinal material cleaning equipment.

[0009] In this embodiment, determining the interference compensation amount for the cleaning blind zone when the Chinese herbal medicine cleaning equipment is digitally controlled, based on the structural characteristics of the cleaning blind zone and the non-uniformity of the cleaning distribution, specifically includes: The cleaning feedback of the Chinese herbal medicine cleaning equipment is determined based on the unevenness of the cleaning distribution. The interference compensation amount for the cleaning blind zone of the Chinese herbal medicine cleaning equipment is determined based on the cleaning feedback and the structural characteristics of the cleaning blind zone.

[0010] In this embodiment, the water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment are determined by the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs. Specifically, these parameters include: The compensation mapping relationship of the control water pressure of the Chinese herbal medicine cleaning equipment is determined based on the interference compensation amount of the cleaning blind zone; The water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment are determined by the compensation mapping relationship and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs.

[0011] In this embodiment, the coordinated control of the water pressure of the herbal medicine washing equipment based on the water pressure coordination parameters specifically includes: Based on the water pressure coordination parameters, determine the coordinated control command for the water pump inside the Chinese herbal medicine cleaning equipment; The water pressure of the water pump in the Chinese herbal medicine cleaning equipment is adaptively adjusted according to the coordination control command.

[0012] In this embodiment, an industrial camera with a rotating structure is used to acquire images of the surface of Chinese medicinal materials.

[0013] In this embodiment, the different angles refer to the shooting angles that change during the rotation of the industrial camera.

[0014] Secondly, this application provides an automated Chinese medicinal herb cleaning control system for executing an automated Chinese medicinal herb cleaning control method, the automated Chinese medicinal herb cleaning control system comprising: The acquisition module is used to acquire surface images of Chinese medicinal herbs from different angles during the cleaning process from the industrial control system of the Chinese medicinal herb cleaning equipment. The processing module is used to extract multiple residual features of the Chinese medicinal materials surface residue from all surface images, and to determine the dynamic coordination between the Chinese medicinal materials cleaning equipment in controlling the water pressure and detecting the Chinese medicinal materials surface residue during the cleaning process based on all residual features and the water pressure fluctuation of the Chinese medicinal materials cleaning equipment. The processing module is also used to determine the interference compensation amount of the cleaning blind zone when the Chinese herbal medicine cleaning equipment is digitally controlled, based on the structural characteristics of the cleaning blind zone of the Chinese herbal medicine cleaning equipment and the non-uniformity of the cleaning distribution of the Chinese herbal medicine cleaning equipment. The processing module is also used to determine the water pressure coordination parameters for the industrial control system to digitally control the herbal medicine cleaning equipment by means of the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the Chinese herbal medicine. The execution module is used to coordinate and control the water pressure of the Chinese herbal medicine cleaning equipment based on the water pressure coordination parameters.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: The system acquires surface images of Chinese medicinal herbs from different angles during the cleaning process from the industrial control system of the herbal medicine cleaning equipment. Multiple residual features of the herbal medicine surface residue are extracted from all surface images. Based on all residual features and the water pressure fluctuations of the herbal medicine cleaning equipment, the dynamic coordination degree between controlling the water pressure and detecting surface residue is determined. Based on the structural characteristics of the cleaning blind zone and the unevenness of the cleaning distribution, the interference compensation amount for the cleaning blind zone during digital control of the herbal medicine cleaning equipment is determined. The water pressure coordination parameters for digital control of the herbal medicine cleaning equipment by the industrial control system are determined using the interference compensation amount for the cleaning blind zone and the dynamic coordination degree between controlling the water pressure and detecting surface residue. The water pressure of the herbal medicine cleaning equipment is then coordinated and controlled based on these water pressure coordination parameters.

[0016] Therefore, this application determines the water pressure coordination parameters for digital control of the medicinal herb cleaning equipment by the industrial control system through the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs. Firstly, multiple residual features of the medicinal herb surface residue are extracted from surface images from different angles. Secondly, the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs is obtained through all residual features and the water pressure fluctuations of the medicinal herb cleaning equipment. This dynamic coordination degree reflects the matching degree between the water pressure control system and the cleaning effect, and avoids the adverse consequences of excessively high or low water pressure in traditional methods. Secondly, to compensate for the cleaning blind spots and unevenness of the cleaning distribution in the cleaning equipment, the interference compensation amount for the cleaning blind spots of the Chinese herbal medicine cleaning equipment is quantified. The interference compensation amount ensures the thorough cleaning of the herbal medicine surface. Then, water pressure coordination parameters for dynamically adjusting the water pressure of the cleaning equipment are extracted from the interference compensation amount of the cleaning blind spots and the dynamic coordination between controlling the water pressure and detecting residues on the surface of the Chinese herbal medicine. The water pressure coordination parameters can accurately adjust the water pressure, respond to changes in the cleaning process in real time, and ensure that the water pressure is always kept within the optimal range, thereby ensuring the cleaning effect while minimizing damage to the quality of the herbal medicine. Finally, the water pressure of the Chinese herbal medicine cleaning equipment is coordinated and controlled based on the water pressure coordination parameters.

[0017] In summary, the proposed solution enables precise control of water pressure during the cleaning process of Chinese medicinal materials, thereby ensuring the cleaning effect without damaging the quality of the medicinal materials. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for this embodiment of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of the control method for the Chinese medicinal herb cleaning equipment provided in this application.

[0020] Figure 2 This is an exemplary flowchart for determining the amount of interference compensation provided in this application.

[0021] Figure 3 This is an exemplary flowchart for determining water pressure coordination parameters according to the present application.

[0022] Figure 4 This is a module structure diagram of the automated Chinese medicinal herb cleaning control system provided in this application. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] This application provides an automated Chinese medicinal herb cleaning control system and method. The core of this system involves acquiring surface images of the Chinese medicinal herbs from different angles during the cleaning process from the industrial control system of the cleaning equipment; extracting multiple residual features of the residue on the surface of the herbs from all surface images; determining the dynamic coordination degree between controlling the water pressure and detecting the residue on the surface of the herbs during the cleaning process based on all residual features and the water pressure fluctuations of the cleaning equipment; determining the interference compensation amount for the cleaning blind zone when the cleaning equipment is digitally controlled based on the structural characteristics of the cleaning blind zone and the unevenness of the cleaning distribution; determining the water pressure coordination parameters for digital control of the cleaning equipment by the industrial control system based on the interference compensation amount for the cleaning blind zone and the dynamic coordination degree between controlling the water pressure and detecting the residue on the surface of the herbs; and coordinating the water pressure control of the cleaning equipment based on the water pressure coordination parameters. This application can achieve precise water pressure control during the cleaning process of Chinese medicinal herbs, thereby ensuring the cleaning effect without damaging the quality of the herbs.

[0025] Example 1: To better understand the above technical solution, the following will provide a detailed description of the technical solution in conjunction with the accompanying drawings and specific implementation methods. (Refer to...) Figure 1 As shown in the figure, this is an exemplary flowchart of an automated Chinese medicinal herb cleaning control method according to this embodiment of the application. The control method includes the following steps: In step S1, surface images of Chinese medicinal materials from different angles are obtained from the industrial control system of the Chinese medicinal material cleaning equipment during the cleaning process.

[0026] It should be noted that the industrial control system is a system for automating the cleaning equipment for Chinese medicinal materials. When acquiring surface images of Chinese medicinal materials, an industrial camera with a rotating structure is used, and the different angles are the shooting angles that change during the rotation of the industrial camera.

[0027] In practice, the surface images of Chinese medicinal materials at different angles are obtained from the database of the industrial control system of the Chinese medicinal material cleaning equipment.

[0028] In step S2, multiple residual features of the Chinese medicinal materials surface residue are extracted from all surface images. Based on all residual features and the water pressure fluctuation of the Chinese medicinal materials cleaning equipment, the dynamic coordination between the Chinese medicinal materials cleaning equipment in controlling the water pressure and detecting the Chinese medicinal materials surface residue during the cleaning process is determined.

[0029] In this embodiment, extracting multiple residual features of the surface residue of Chinese medicinal materials from all surface images can be achieved using the following steps: All surface images are preprocessed to obtain multiple preprocessed surface images; Image segmentation is performed on each preprocessed surface image to obtain multiple residue edges within each preprocessed surface image; Multiple residual features of the Chinese medicinal material surface residues were determined based on multiple residue edges within all preprocessed surface images.

[0030] In specific implementation, firstly, existing techniques such as filtering (e.g., Gaussian filtering) and enhancement techniques (e.g., local contrast enhancement) can be used to preprocess all surface images to obtain multiple preprocessed surface images. Secondly, edge detection algorithms (e.g., Canny edge detection) are used to extract the edge information of multiple residues in each surface image, and the obtained edge information is used as multiple residue edges in each preprocessed surface image. Then, the area, perimeter, roundness, and aspect ratio of multiple residue edges in each preprocessed surface image are calculated using the findContours method in the OpenCV library. Thus, the set of area, perimeter, roundness, and aspect ratio of multiple residue edges in each preprocessed surface image is used as a residual feature of the Chinese medicinal material surface residue, thereby obtaining multiple residual features of the Chinese medicinal material surface residue.

[0031] It should be noted that, in this application, residual features refer to the geometric and morphological features of the residues on the surface of Chinese medicinal materials in the image.

[0032] In this embodiment, the dynamic coordination between controlling the water pressure and detecting residues on the surface of the medicinal herbs during the cleaning process can be determined by the following steps, based on all residual characteristics and water pressure fluctuations of the medicinal herb cleaning equipment: Fluctuation analysis was performed on the water pressure data of the Chinese herbal medicine cleaning equipment to obtain the water pressure fluctuation of the Chinese herbal medicine cleaning equipment. Determine the correlation between each residual feature and the water pressure fluctuation; Based on all the correlations, determine the dynamic coordination between controlling water pressure and detecting residues on the surface of Chinese medicinal materials during the cleaning process of the Chinese medicinal material cleaning equipment.

[0033] It should be noted that in this application, the water pressure data refers to the water pressure values ​​during the cleaning process of the herbal medicine cleaning equipment.

[0034] In specific implementation, firstly, a moving average smoothing method is used to smooth the water pressure data using a sliding window technique. The difference between the sum of multiple maximum water pressure values ​​obtained during the sliding window process and the sum of multiple minimum water pressure values ​​is taken as the water pressure fluctuation of the medicinal herb cleaning equipment. Secondly, Euclidean distance is used to calculate the difference between each residual feature and the water pressure fluctuation, and the calculated value is taken as the correlation between each residual feature and the water pressure fluctuation. Then, each residual feature is used as a weight, multiplied by the correlation between each residual feature and the water pressure fluctuation, and all the obtained values ​​are summed. The summed value is taken as the dynamic coordination degree between controlling the water pressure and detecting the residue on the surface of the medicinal herbs during the cleaning process.

[0035] It should be noted that, in this application, the dynamic coordination degree represents a parameter value that reflects the degree of matching between the water pressure control system and the cleaning effect.

[0036] In step S3, the interference compensation amount for the cleaning blind zone of the Chinese herbal medicine cleaning equipment is determined based on the structural characteristics of the cleaning blind zone and the non-uniformity of the cleaning distribution of the Chinese herbal medicine cleaning equipment when the Chinese herbal medicine cleaning equipment is digitally controlled.

[0037] In this embodiment, reference Figure 2 As shown, this figure is an exemplary flowchart for determining the interference compensation amount in an embodiment of this application. In this embodiment, the interference compensation amount for the cleaning blind area of ​​the Chinese herbal medicine cleaning equipment during digital control can be determined based on the structural characteristics of the cleaning blind area and the non-uniformity of the cleaning distribution of the Chinese herbal medicine cleaning equipment. This can be achieved through the following steps: In step S31, the cleaning feedback of the Chinese herbal medicine cleaning equipment is determined based on the unevenness of the cleaning distribution. In step S32, the interference compensation amount of the cleaning blind zone of the Chinese herbal medicine cleaning equipment is determined by the cleaning feedback and the structural characteristics of the cleaning blind zone of the Chinese herbal medicine cleaning equipment.

[0038] It should be noted that in this application, non-uniformity refers to the degree of deviation in the cleaning distribution during the cleaning process of the Chinese herbal medicine cleaning equipment, and structural features refer to the geometric shape characteristics of the cleaning blind area of ​​the Chinese herbal medicine cleaning equipment. The structural features can be obtained by calculating the area of ​​the cleaning blind area using CAD (computer-aided design) tools.

[0039] In practice, firstly, cleaning effect data of different areas of the herbal medicine cleaning equipment are collected in real time during the herbal medicine cleaning process. The cleaning effect data includes the residue removal rate and the area of ​​residue covering the surface. The standard deviation of the residue removal rate and the area of ​​residue covering the surface of different areas are calculated separately. The two standard deviations are then summed, and the sum is used as the non-uniformity of the cleaning distribution of the herbal medicine cleaning equipment. The non-uniformity is then divided by the residue removal rate of different areas of the herbal medicine cleaning equipment, and the sum of the division results is used as the cleaning feedback of the herbal medicine cleaning equipment. Secondly, the cleaning feedback is multiplied by the structural characteristics of the cleaning blind area of ​​the herbal medicine cleaning equipment, and the multiplied value is used as the interference compensation amount of the cleaning blind area of ​​the herbal medicine cleaning equipment.

[0040] It should be noted that in this application, the interference compensation amount refers to the parameter used to compensate for the impact of external factors on the Chinese herbal medicine cleaning equipment.

[0041] In step S4, the water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment are determined by the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs.

[0042] In this embodiment, reference Figure 3 As shown in the figure, this is an exemplary flowchart for determining water pressure coordination parameters in an embodiment of this application. In this embodiment, the water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment can be determined by the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detected residue on the surface of the medicinal herbs through the following steps: In step S41, the compensation mapping relationship of the control water pressure of the Chinese herbal medicine cleaning equipment is determined according to the interference compensation amount of the cleaning blind zone; In step S42, the water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment are determined by the compensation mapping relationship and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs.

[0043] In practice, firstly, the water pressure data of the herbal medicine cleaning equipment is acquired, and a clustering algorithm (such as DBSCAN) is used to cluster the water pressure data to obtain multiple clusters. Then, the cluster center of each cluster is divided by the interference compensation amount of the cleaning blind zone, and all the values ​​obtained by division are summed. The summed value is used as the compensation mapping relationship for controlling the water pressure of the herbal medicine cleaning equipment. Secondly, the compensation mapping relationship is multiplied by the dynamic coordination degree, and the multiplied value is used as the water pressure coordination parameter for the industrial control system to digitally control the herbal medicine cleaning equipment.

[0044] It should be noted that the water pressure coordination parameter in this application represents the control quantity for dynamically adjusting the water pressure of the cleaning equipment.

[0045] In step S4, the water pressure of the Chinese herbal medicine cleaning equipment is controlled in a coordinated manner based on the water pressure coordination parameters.

[0046] In this embodiment, the coordinated control of the water pressure of the herbal medicine washing equipment based on the water pressure coordination parameters can be achieved through the following steps: Based on the water pressure coordination parameters, determine the coordinated control command for the water pump inside the Chinese herbal medicine cleaning equipment; The water pressure of the water pump in the Chinese herbal medicine cleaning equipment is adaptively adjusted according to the coordination control command.

[0047] In practice, firstly, the water pressure coordination parameter is used as the adjustment value for the operating speed of the water pump in the herbal medicine cleaning equipment. The adjustment value is used to generate the control command for the water pump through PID control, and the obtained control command is used as the coordination control command. Secondly, the water pressure of the water pump in the herbal medicine cleaning equipment is acquired in real time. If the gradient change of water pressure increases three times in a row, the water pressure of the water pump in the herbal medicine cleaning equipment is increased through the coordination control command. If the gradient change of water pressure does not increase three times in a row, no action is taken.

[0048] Therefore, this application determines the water pressure coordination parameters for digital control of the medicinal herb cleaning equipment by the industrial control system through the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs. Firstly, multiple residual features of the medicinal herb surface residue are extracted from surface images from different angles. Secondly, the dynamic coordination degree between the control water pressure and the detection of residues on the surface of the medicinal herbs is obtained through all residual features and the water pressure fluctuations of the medicinal herb cleaning equipment. This dynamic coordination degree reflects the matching degree between the water pressure control system and the cleaning effect, and avoids the adverse consequences of excessively high or low water pressure in traditional methods. Secondly, to compensate for the cleaning blind spots and unevenness of the cleaning distribution in the cleaning equipment, the interference compensation amount for the cleaning blind spots of the Chinese herbal medicine cleaning equipment is quantified. The interference compensation amount ensures the thorough cleaning of the herbal medicine surface. Then, water pressure coordination parameters for dynamically adjusting the water pressure of the cleaning equipment are extracted from the interference compensation amount of the cleaning blind spots and the dynamic coordination between controlling the water pressure and detecting residues on the surface of the Chinese herbal medicine. The water pressure coordination parameters can accurately adjust the water pressure, respond to changes in the cleaning process in real time, and ensure that the water pressure is always kept within the optimal range, thereby ensuring the cleaning effect while minimizing damage to the quality of the herbal medicine. Finally, the water pressure of the Chinese herbal medicine cleaning equipment is coordinated and controlled based on the water pressure coordination parameters.

[0049] In summary, the proposed solution enables precise control of water pressure during the cleaning process of Chinese medicinal materials, thereby ensuring the cleaning effect without damaging the quality of the medicinal materials.

[0050] Example 2: This application provides an automated Chinese medicinal herb cleaning control system, referencing... Figure 4 As shown in the figure, this is a schematic diagram of an automated Chinese medicinal herb cleaning control system according to this embodiment of the present application. The control system includes: The acquisition module 100 is used to acquire surface images of Chinese medicinal materials from different angles during the cleaning process from the industrial control system of the Chinese medicinal material cleaning equipment. The processing module 200 is used to extract multiple residual features of the Chinese medicinal materials surface residue from all surface images, and to determine the dynamic coordination degree between the Chinese medicinal materials cleaning equipment controlling the water pressure and detecting the Chinese medicinal materials surface residue during the cleaning process based on all residual features and the water pressure fluctuation of the Chinese medicinal materials cleaning equipment. The processing module 200 is also used to determine the interference compensation amount of the cleaning blind zone when the Chinese herbal medicine cleaning equipment is digitally controlled, based on the structural characteristics of the cleaning blind zone of the Chinese herbal medicine cleaning equipment and the non-uniformity of the cleaning distribution of the Chinese herbal medicine cleaning equipment. The processing module 200 is also used to determine the water pressure coordination parameters for the industrial control system to digitally control the medicinal herb cleaning equipment by means of the interference compensation amount of the cleaning blind zone and the dynamic coordination degree between the control water pressure and the detected residue on the surface of the medicinal herbs; The execution module 300 is used to coordinate and control the water pressure of the Chinese herbal medicine cleaning equipment based on the water pressure coordination parameters.

[0051] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0052] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compactdisc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0053] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

Claims

1. An automatic Chinese herbal medicine cleaning control method, characterized in that, The control method comprises the following steps: Obtain surface images of Chinese herbal medicine at different angles in the cleaning process from an industrial control system of a Chinese herbal medicine cleaning device; Extract a plurality of residual characteristics of surface residues of the Chinese herbal medicine from all the surface images, and determine a dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine in the cleaning process of the Chinese herbal medicine cleaning device according to all the residual characteristics and water pressure fluctuation of the Chinese herbal medicine cleaning device; Determine an interference compensation amount of a cleaning blind area of the Chinese herbal medicine cleaning device when the Chinese herbal medicine cleaning device is digitally controlled according to structural features of the cleaning blind area of the Chinese herbal medicine cleaning device and unevenness of cleaning distribution of the Chinese herbal medicine cleaning device; Determine water pressure coordination parameters of digital control of the industrial control system on the Chinese herbal medicine cleaning device according to the interference compensation amount of the cleaning blind area and the dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine; Coordinate control water pressure of the Chinese herbal medicine cleaning device based on the water pressure coordination parameters.

2. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The industrial control system is a system for automatically controlling the Chinese herbal medicine cleaning device.

3. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The extraction of the plurality of residual characteristics of the surface residues of the Chinese herbal medicine from all the surface images specifically comprises: Preprocess all the surface images to obtain a plurality of surface images after preprocessing; Perform image segmentation on each surface image after preprocessing to obtain a plurality of residue edges in each surface image after preprocessing; Determine the plurality of residual characteristics of the surface residues of the Chinese herbal medicine according to the plurality of residue edges in all the surface images after preprocessing.

4. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The determination of the dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine in the cleaning process of the Chinese herbal medicine cleaning device according to all the residual characteristics and water pressure fluctuation of the Chinese herbal medicine cleaning device specifically comprises: Perform fluctuation analysis on water pressure data of the Chinese herbal medicine cleaning device to obtain water pressure fluctuation of the Chinese herbal medicine cleaning device; Determine a correlation between each residual characteristic and the water pressure fluctuation; Determine the dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine in the cleaning process of the Chinese herbal medicine cleaning device according to all the correlations.

5. The method of claim 1, wherein the method comprises: The determination of the interference compensation amount of the cleaning blind area of the Chinese herbal medicine cleaning device when the Chinese herbal medicine cleaning device is digitally controlled according to the structural features of the cleaning blind area of the Chinese herbal medicine cleaning device and the unevenness of cleaning distribution of the Chinese herbal medicine cleaning device specifically comprises: ​ Determine cleaning feedback of the Chinese herbal medicine cleaning device according to the unevenness of cleaning distribution of the Chinese herbal medicine cleaning device; Determine the interference compensation amount of the cleaning blind area of the Chinese herbal medicine cleaning device through the cleaning feedback and the structural features of the cleaning blind area of the Chinese herbal medicine cleaning device.

6. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The determination of the water pressure coordination parameters of digital control of the industrial control system on the Chinese herbal medicine cleaning device through the interference compensation amount of the cleaning blind area and the dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine specifically comprises: Determine a compensation mapping relationship of control of water pressure of the Chinese herbal medicine cleaning device according to the interference compensation amount of the cleaning blind area; Determine the water pressure coordination parameters of digital control of the industrial control system on the Chinese herbal medicine cleaning device through the compensation mapping relationship and the dynamic coordination degree between control of water pressure and detection of the surface residues of the Chinese herbal medicine.

7. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The water pressure of the Chinese herbal medicine cleaning equipment is coordinately controlled based on the water pressure coordination parameter, and the water pressure coordination parameter is determined based on the water pump in the Chinese herbal medicine cleaning equipment. The water pressure of the water pump in the Chinese herbal medicine cleaning equipment is adaptively adjusted according to the coordination control instruction. An industrial camera with a rotating frame structure is used to capture the surface image of the Chinese herbal medicine.

8. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The different angles are the changing shooting angles in the rotating process of the industrial camera.

9. The automatic Chinese herbal medicine cleaning control method of claim 1, wherein, The automatic Chinese herbal medicine cleaning control system comprises:

10. An automatic Chinese herbal medicine cleaning control system for performing an automatic Chinese herbal medicine cleaning control method according to any one of claims 1 to 9, characterized in that, An acquisition module is configured to acquire the surface images of the Chinese herbal medicine at different angles in the cleaning process from an industrial control system of the Chinese herbal medicine cleaning equipment. A processing module is configured to extract a plurality of residual features of the surface residues of the Chinese herbal medicine from all the surface images, and determine a dynamic coordination degree between the control of the water pressure and the detection of the surface residues of the Chinese herbal medicine in the cleaning process of the Chinese herbal medicine cleaning equipment according to all the residual features and the water pressure fluctuation of the Chinese herbal medicine cleaning equipment. The processing module is further configured to determine an interference compensation amount of a cleaning blind area of the Chinese herbal medicine cleaning equipment according to the structural features of the cleaning blind area and the unevenness of the cleaning distribution of the Chinese herbal medicine cleaning equipment when the Chinese herbal medicine cleaning equipment is digitally controlled. The processing module is further configured to determine a water pressure coordination parameter of the digital control of the Chinese herbal medicine cleaning equipment by the industrial control system according to the interference compensation amount of the cleaning blind area and the dynamic coordination degree between the control of the water pressure and the detection of the surface residues of the Chinese herbal medicine. An execution module is configured to coordinately control the water pressure of the Chinese herbal medicine cleaning equipment based on the water pressure coordination parameter. ​

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