Acupuncture needle automatic recovery processing system and method

Abstract

The invention discloses an acupuncture needle automatic recovery processing system and method, and relates to the technical field of medical waste intelligent processing, the system comprises a hardware execution layer, a software control layer and an interaction layer, the hardware execution layer is responsible for executing specific actions and collecting state data, and the software control layer is linked with each function module through a collaborative scheduling module; arrangement parameters are dynamically adjusted based on a self-adaptive arrangement algorithm, accurate arrangement of acupuncture needles and triple standard full box judgment are achieved in combination with an infrared sensor and a pressure sensor, and man-machine interaction is achieved through an interaction layer. The processing method comprises the steps of initialization setting, storage guiding, automatic arrangement, full box judgment, automatic capping, automatic disinfection and filing resetting. The acupuncture needle automatic recovery processing system and method can adapt to acupuncture needles of different specifications, full-process automatic processing is achieved, full box judgment precision and disinfection thoroughness are improved, the labor intensity of medical workers is reduced, and acupuncture potential safety hazards are eliminated.

Description

Technical Field

[0001] This invention relates to the field of intelligent medical waste treatment technology, and in particular to an automatic acupuncture needle recycling and treatment system and method. Background Technology

[0002] Acupuncture, as a traditional Chinese medicine therapy, is widely used in clinical treatment. The acupuncture needles used in acupuncture are mostly single-use medical devices, requiring proper recycling, disinfection, and disposal after use to avoid risks such as cross-infection, environmental pollution, and illegal reuse. Currently, the recycling and disposal of acupuncture needles in clinical practice largely relies on manual operation. Medical staff must manually collect used acupuncture needles, then sort, organize, and disinfect them. This process is not only labor-intensive and inefficient, but also poses a safety hazard of needle pricks for medical staff during manual operations.

[0003] Some acupuncture needle recycling devices have emerged in the existing technology, but they generally have the following defects: 1) They cannot be adapted to acupuncture needles of different specifications (diameter, length), and have poor versatility; 2) The acupuncture needles are arranged in a messy manner, resulting in incomplete subsequent disinfection and the existence of disinfection dead corners; 3) The accuracy of full box judgment is low, and it is easy to seal the box prematurely or delayedly; 4) The coordination of each processing step is poor, the degree of automation is low, and manual intervention is still required.

[0004] Therefore, there is an urgent need for an automatic acupuncture needle recycling system and method that can adapt to acupuncture needles of different specifications, achieve precise needle arrangement, accurate full box determination, and fully automated processing to solve the problems existing in the current technology. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic acupuncture needle recycling and processing system and method, which solves the problems of poor versatility, messy arrangement, low accuracy of full box determination, and low degree of automation in existing acupuncture needle recycling and processing devices.

[0006] To achieve the above objectives, this invention provides an automatic acupuncture needle recycling and processing system, comprising a hardware execution layer, a software control layer, and an interaction layer. The software control layer is the core scheduling layer, including a specification identification module, a storage guidance module, an arrangement control module, a full box determination module, a capping control module, a disinfection control module, a collaborative scheduling module, and a data storage module. Each software module achieves sequential linkage through the collaborative scheduling module. The interaction layer is used for parameter input, status display, and early warning prompts. The hardware execution layer includes a feeding solenoid valve, a guide channel drive mechanism, a vibration mechanism, a magnetic suction mechanism, a capping drive mechanism, a disinfection spray mechanism, and an ultraviolet lamp. The specification identification module is used to receive and verify the specification parameters of acupuncture needles and generate a specification parameter package; The storage and guidance module communicates with the feeding solenoid valve and guide channel drive mechanism of the hardware execution layer, and outputs switch and angle adjustment signals to control the precise feeding of acupuncture needles. The arrangement control module communicates with the vibration mechanism and magnetic attraction mechanism of the hardware execution layer, and generates vibration and magnetic attraction control signals based on specification parameters through an adaptive arrangement algorithm to dynamically correct the arrangement state. The full box determination module receives the weight of the hardware execution layer, the length signal and height of the acupuncture needle along the arrangement direction, and generates a full box or abnormal state signal through a triple threshold determination algorithm. The capping control module communicates with the capping drive mechanism of the hardware execution layer and outputs control signals for cap pushing, pressing and resetting. The disinfection control module communicates with the disinfection spray mechanism and ultraviolet lamp in the hardware execution layer, outputs start and stop control signals according to preset parameters, and monitors the disinfection process. The collaborative scheduling module communicates with each software module to achieve timing coordination and data interaction, and dynamically adjusts control commands. The data storage module is used to store specifications, processing data, and equipment operation logs.

[0007] Preferably, the hardware execution layer also includes a storage box, a pressure sensor, and an infrared sensor; the positional relationship and assembly logic of each structure are as follows: the feeding solenoid valve is installed at the acupuncture needle inlet, and its outlet is connected to the input end of the guide channel drive mechanism; the guide channel drive mechanism is arranged at an angle, with its output end facing the inlet of the storage box, ensuring that the acupuncture needle can accurately fall into the storage box; the storage box is placed on the support platform of the vibration mechanism, and the vibration mechanism drives the storage box to vibrate synchronously through the vibration of the platform; the magnetic attraction mechanism is embedded in the inner bottom of the storage box and evenly distributed along the length of the storage box. The acupuncture needles are positioned by adsorption; a pressure sensor is integrated between the magnetic suction mechanism and the contact surface of the storage box to collect the overall weight of the storage box in real time; an infrared sensor is installed on the bracket above the storage box with the detection end facing the inside of the storage box to simultaneously collect the acupuncture needle arrangement image, the length signal of the acupuncture needles along the arrangement direction, and the stacking height; a capping drive mechanism is installed on one side of the storage box with its pushing end aligned with the edge of the opening of the storage box, and the cap storage slot is set next to the capping drive mechanism; the nozzle of the disinfection spray mechanism and the ultraviolet lamp are both installed in the cap body above the storage box to form a sealed disinfection space.

[0008] Preferably, the specifications include the diameter of the acupuncture needle. ,length and single weight The parameter input methods include manual entry and image recognition import. After verifying the integrity of the parameters, the specification recognition module generates a specification parameter package, which is transmitted to the collaborative scheduling module and synchronously archived to the data storage module.

[0009] Preferably, the adaptive arrangement algorithm of the arrangement control module includes parameter initialization, dynamic adjustment, and state correction, and the calculation expression of its target control parameters is as follows: ; ; ; In the formula, For vibration frequency, For amplitude, Magnetic attraction strength Indicates the initial vibration frequency. Indicates the initial amplitude. Indicates the diameter of a standard acupuncture needle. Indicates the standard acupuncture needle length. , To adjust the coefficient, It represents the acceleration due to gravity.

[0010] Preferably, the triple threshold determination algorithm of the full-box determination module includes three steps: threshold preset, real-time acquisition, and status determination. Specifically, the full-box determination module determines whether the storage box is full based on the real-time weight acquired by the pressure sensor, the length signal of the acupuncture needles along the arrangement direction acquired by the infrared sensor, and the height signal in the vertical direction, combined with preset parameters. The preset parameters include the number of full boxes. Effective length of storage boxes along the arrangement direction Effective vertical height of the storage box Calculate the full box weight threshold Vertical safety threshold Only when the real-time weight Real-time length And real-time altitude When the box is full, it is determined to be in a full state.

[0011] Preferably, the disinfection control module has preset disinfection parameters for different specifications of acupuncture needles, including spray volume and ultraviolet disinfection duration, which can be modified through the interaction layer.

[0012] Preferably, the interaction layer includes a touch screen and an audible and visual alarm unit. The touch screen is used for parameter input, processing status display and command issuance, and the audible and visual alarm unit is used for full box prompts, disinfection completion prompts and abnormal warnings.

[0013] The present invention also provides an automatic acupuncture needle recycling method, comprising the following steps: Step 1, Initialization: The system is started through the interaction layer. The specification recognition module completes the input and verification of acupuncture needle specification parameters, generates a specification parameter package, transmits it to the collaborative scheduling module, and archives it to the data storage module. Step 2, Storage Guidance: The collaborative scheduling module sends a feeding instruction to the storage guidance module. The storage guidance module outputs a control signal to open the feeding solenoid valve and adjust the angle of the guide channel to guide the acupuncture needles into the corresponding storage box, and provides real-time feedback on the feeding status. Step 3, Automatic Arrangement: The collaborative scheduling module forwards the specification parameter package and the arrangement start command to the arrangement control module. The arrangement control module generates vibration and magnetic attraction control signals through an adaptive arrangement algorithm to drive the hardware to work. Combined with infrared detection signals, the parameters are dynamically corrected until the acupuncture needles are arranged in parallel and orderly and a completion signal is fed back. Step 4, Full Box Determination: The full box determination module presets three thresholds, simultaneously collects and filters the weight, length and height signals of the acupuncture needles along the arrangement direction, and determines the status of the storage box according to the rule of "three conditions being met simultaneously", and outputs full box, warning or fault signals to the collaborative scheduling module. Step 5, Automatic Capping: After receiving the full box signal, the collaborative scheduling module sends a capping command to the capping control module. The capping control module controls the capping drive mechanism to push, press and reset the cap, and sends back a capping completion signal. Step 6, Automatic Disinfection: After receiving the sealing completion signal, the collaborative scheduling module sends a disinfection command to the disinfection control module. The disinfection control module controls the disinfection mechanism to work according to the preset parameters, completes spray and ultraviolet disinfection, and sends back a disinfection completion signal. Step 7, Archive Reset: After receiving the disinfection completion signal, the collaborative scheduling module controls the interaction layer to issue a completion prompt. The data storage module archives the data processed throughout the process, sends reset commands to each software module, and the system returns to its initial state to wait for the next round of commands.

[0014] Preferably, in step 3, the arrangement control module receives the acupuncture needle arrangement image signal collected by the infrared sensor every 0.1s, and extracts the tilt angle through an edge detection algorithm. If the tilt angle The corrected vibration frequency is then... After continuously correcting for 0.5 seconds, re-detect until... .

[0015] Preferably, in step 4, the pressure sensor and infrared sensor acquire signals every 0.2 seconds. The full-box determination module performs a moving average filtering process on the acquired signals before threshold comparison; if only real-time length is considered... But real-time weight Output a warning signal; if only but Continue to wait for feeding; if the real-time height It outputs a fault signal and initiates vibration correction.

[0016] Therefore, the above-mentioned automatic acupuncture needle recycling system and method of the present invention has the following beneficial effects: (1) Strong versatility: The specification parameters of acupuncture needles are collected by the specification identification module, and the adaptive arrangement algorithm of the arrangement control module dynamically adjusts the vibration frequency, amplitude and magnetic attraction intensity according to the specification parameters to adapt to acupuncture needles of different diameters and lengths, thus solving the problem of poor versatility of existing devices. (2) Neat and orderly arrangement: By working together with the vibration mechanism and the magnetic attraction mechanism, combined with the infrared sensor to detect the tilt angle in real time and dynamically correct the parameters, the acupuncture needles are arranged in a parallel and orderly manner, eliminating dead corners in subsequent disinfection and ensuring thorough disinfection; (3) Accurate full box judgment: The triple judgment standard of "weight + length along the arrangement direction + vertical height" is adopted. The weight confirms the number of acupuncture needles, the length along the arrangement direction confirms whether the space is full, and the vertical height confirms whether it is a single layer. This avoids premature or delayed sealing due to excessive or dense gaps between needles, and also prevents multiple layers from affecting subsequent processing, thus improving the accuracy of full box judgment. (4) High degree of automation: The collaborative scheduling module realizes the time-series coordination of the entire process of feeding, arranging, sealing and disinfection without manual intervention, reducing the labor intensity of medical staff and avoiding the safety hazards of being pricked by acupuncture needles.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an automatic acupuncture needle recycling and processing system according to the present invention; Figure 2 This is an overall flowchart of an automatic acupuncture needle recycling method according to the present invention; Figure 3 This is a schematic diagram of the hardware execution layer structure according to an embodiment of the present invention; Figure Labels 1. Feed solenoid valve; 2. Guide channel drive mechanism; 3. Infrared sensor; 4. Cover drive mechanism; 5. Cover body; 6. Storage box; 7. Magnetic suction mechanism; 8. Vibration mechanism. Detailed Implementation

[0019] The following detailed description of embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0020] Please see Figure 1An automatic acupuncture needle recycling and processing system includes a hardware execution layer, a software control layer and an interaction layer, wherein the software control layer is electrically connected to the hardware execution layer and the interaction layer respectively. Please see Figure 3 The hardware execution layer includes a feeding solenoid valve 1, a guide channel drive mechanism 2, a storage box 6, a vibration mechanism 8, a magnetic attraction mechanism 7, a pressure sensor, an infrared sensor 3, a capping drive mechanism 4, a disinfection spray mechanism, and an ultraviolet lamp. The positional relationship and assembly logic of each structure are as follows: The feeding solenoid valve 1 (model: 2W-160-15) is installed at the acupuncture needle inlet, and its outlet is connected to the input end of the guide channel drive mechanism 2 (model: SG90). The guide channel drive mechanism 2 is arranged at an angle, with its output end facing the inlet of the storage box 6 to ensure that the acupuncture needles can fall accurately into the storage box 6. The storage box 6 is a cuboid structure (length 100mm, width 50mm, height 80mm), placed on the support platform of the vibration mechanism 8 (model: XW-P20). The vibration mechanism 8 drives the storage box 6 to vibrate synchronously through the vibration of the platform. The magnetic attraction mechanism 7 uses neodymium iron boron magnets (adsorption strength adjustable), embedded in the inner bottom of the storage box 6, and evenly distributed along the length of the storage box 6 to achieve acupuncture needle adsorption and positioning; the pressure sensor (model: CZL635) is integrated between the contact surface between the magnetic attraction mechanism 7 and the storage box 6, used to collect the overall weight of the storage box 6 in real time; the infrared sensor 3 (model: GP2Y0A21YK0F) is installed on the bracket above the storage box 6, with the detection end facing the inside of the storage box 6, and can simultaneously collect the acupuncture needle arrangement image and stacking height; the capping drive mechanism 4 (model: DS3218) is installed on one side of the storage box 6, with its pushing end aligned with the opening edge of the storage box 6, and the cap storage slot is set next to the capping drive mechanism 4; the disinfection spray mechanism (model: YT-803) nozzle and the ultraviolet lamp (model: UV-C) The 254nm) are all installed inside the cover 5 above the storage box 6 to form a sealed disinfection space; it should be noted that straight guide grooves are set on both sides of the opening of the storage box 6, and the depth of the grooves matches the thickness of the cover 5; guide sliders are set on both sides of the cover.

[0021] Software control layer: The STM32F407ZGT6 microcontroller is used as the core controller, integrating a specification recognition module, a storage guidance module, an arrangement control module, a full box determination module, a capping control module, a disinfection control module, a collaborative scheduling module, and a data storage module; the data storage module uses an SD card to store data.

[0022] Interaction layer: includes a 7-inch touch screen (model: TFT-LCD), an audible and visual alarm unit (model: LTE-1101), and a button-type command input unit.

[0023] Please see Figure 2 An automatic acupuncture needle recycling method includes the following steps: Step 1: Initialization settings: The user inputs the specifications of the acupuncture needle to be processed via buttons: diameter d=0.35mm, length L=60mm, and single needle weight m0=0.01g. The specification recognition module receives the parameters and verifies them, then transmits the parameters to the collaborative scheduling module and archives them to the SD card. The collaborative scheduling module initializes the working parameters of each module.

[0024] Step 2: Organizing Guide: The collaborative scheduling module sends a feeding instruction to the storage and guidance module. The storage and guidance module controls the feeding solenoid valve to open and simultaneously controls the guide channel drive mechanism to adjust the feeding channel guide angle to 30°, guiding the acupuncture needles to accurately enter the storage box through the feeding channel.

[0025] Step 3: Automatic Arrangement: Based on the physical characteristics of standard acupuncture needles, the adsorption strength of the magnetic attraction mechanism, and actual conditions, the initial vibration frequency is set to 50Hz, the initial amplitude to 2mm, and the adjustment coefficient is set accordingly. , The values ​​are 20Hz / mm and 0.02, respectively; based on the arrangement start command issued by the cooperative scheduling module to the arrangement control module, the arrangement control module calls the adaptive arrangement algorithm to calculate the target control parameters: ; ; ; The arrangement control module transmits control signals to the vibration mechanism and the magnetic attraction mechanism. The vibration mechanism vibrates at a frequency of 51Hz and an amplitude of 2.2mm, while the magnetic attraction mechanism generates an attraction force of 0.0001176N. Every 0.1s, the arrangement control module receives the acupuncture needle arrangement image signal collected by the infrared sensor, extracts the tilt angle θ, and if θ=8°>5°, the vibration frequency is corrected to 51Hz+5Hz=56Hz. After continuous correction for 0.5s, the module is re-detected. If θ=3°≤5°, the arrangement is completed.

[0026] Step 4: Full box determination: The full box determination module obtains preset parameters: the number of full boxes n=100, and the effective length of the storage boxes along the arrangement direction. (0.35mm / piece × 100 pieces), effective vertical height H of the storage box = 80mm, calculated full-box weight threshold M = 100 × 0.01g = 1g, vertical safety threshold h = 80mm - 5mm = 75mm. The pressure sensor collects real-time weight data every 0.2s. The infrared sensor synchronously collects the real-time length along the arrangement direction every 0.2 seconds. and real-time vertical height ;when When all three conditions are met, the box is determined to be full, and a full box signal is output to the collaborative scheduling module.

[0027] Step 5: Automatic capping: The collaborative scheduling module controls the feeding solenoid valve to close, sends a sealing command to the sealing control module, and the sealing drive mechanism pushes the cover to the opening of the storage box. After compaction for 3 seconds, the sealing is completed, and a sealing completion signal is output.

[0028] Step 6: Automatic disinfection: The collaborative scheduling module controls the closure of the cover, the disinfection spray component starts spraying disinfectant and then shuts off after 3 seconds; the ultraviolet disinfection component starts disinfecting for 10 minutes and then shuts off; and outputs a disinfection completion signal.

[0029] Step 7: Archive Reset: The touch screen displays the processing completion information, and the audible and visual alarm unit issues a completion prompt; the SD card archives the processed data; the system resets and awaits the next round of processing.

[0030] Therefore, this invention adopts the aforementioned automatic acupuncture needle recycling system and method. Through a three-layer architecture of "hardware execution layer + software control layer + interaction layer," it achieves fully automated recycling of acupuncture needles of different specifications. The hardware execution layer uses an infrared sensor to synchronously collect the length signal along the arrangement direction and the arrangement image signal of the acupuncture needles, while a pressure sensor collects real-time weight. The core of the software control layer is a collaborative scheduling module that links modules such as specification recognition, arrangement control, and full-box determination. An adaptive arrangement algorithm dynamically adjusts the vibration frequency, amplitude, and magnetic attraction strength according to the acupuncture needle specifications, and dynamically corrects parameters based on the tilt angle detected by the infrared sensor, achieving parallel and orderly arrangement of the acupuncture needles. Full-box determination uses a triple standard of "weight + length along the arrangement direction + vertical height" to ensure accurate judgment. The interaction layer enables human-computer interaction and status display. The processing flow consists of initialization settings, storage guidance, automatic arrangement, full-box determination, automatic sealing, automatic disinfection, and archiving reset. The entire process requires no manual intervention, is compatible with different specifications of acupuncture needles, and solves the problems of poor versatility, disordered arrangement, and low accuracy in full-box determination found in existing devices.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An automatic acupuncture needle recycling and processing system, characterized in that: It comprises a hardware execution layer, a software control layer, and an interaction layer. The software control layer is the core scheduling layer, including a specification recognition module, a storage guidance module, an arrangement control module, a full box determination module, a capping control module, a disinfection control module, a collaborative scheduling module, and a data storage module. The software modules achieve time-series linkage through the collaborative scheduling module. The interaction layer is used for parameter input, status display, and early warning prompts. The hardware execution layer includes a feeding solenoid valve, a guide channel drive mechanism, a vibration mechanism, a magnetic suction mechanism, a capping drive mechanism, a disinfection spray mechanism, and an ultraviolet lamp. The specification identification module is used to receive and verify the specification parameters of acupuncture needles and generate a specification parameter package; The storage and guidance module communicates with the feeding solenoid valve and guide channel drive mechanism of the hardware execution layer, and outputs switch and angle adjustment signals to control the precise feeding of acupuncture needles. The arrangement control module communicates with the vibration mechanism and magnetic attraction mechanism of the hardware execution layer, and generates vibration and magnetic attraction control signals based on specification parameters through an adaptive arrangement algorithm to dynamically correct the arrangement state. The full box determination module receives the weight of the hardware execution layer, the length signal and height of the acupuncture needle along the arrangement direction, and generates a full box or abnormal state signal through a triple threshold determination algorithm. The capping control module communicates with the capping drive mechanism of the hardware execution layer and outputs control signals for cap pushing, pressing and resetting. The disinfection control module communicates with the disinfection spray mechanism and ultraviolet lamp in the hardware execution layer, outputs start and stop control signals according to preset parameters, and monitors the disinfection process. The collaborative scheduling module communicates with each software module to achieve timing coordination and data interaction, and dynamically adjusts control commands. The data storage module is used to store specifications, processing data, and equipment operation logs.

2. The automatic acupuncture needle recycling and processing system according to claim 1, characterized in that: The hardware execution layer also includes a storage box, a pressure sensor, and an infrared sensor. The positional relationship and assembly logic of each structure are as follows: The feeding solenoid valve is installed at the acupuncture needle inlet, and its outlet is connected to the input end of the guide channel drive mechanism; the guide channel drive mechanism is inclined, with its output end facing the inlet of the storage box to ensure that the acupuncture needles can accurately fall into the storage box; the storage box is placed on the support platform of the vibration mechanism, and the vibration mechanism drives the storage box to vibrate synchronously through the vibration of the platform; the magnetic attraction mechanism is embedded in the inner bottom of the storage box and evenly distributed along the length of the storage box to realize the needle... The acupuncture needles are positioned by adsorption; a pressure sensor is integrated between the magnetic suction mechanism and the contact surface of the storage box to collect the overall weight of the storage box in real time; an infrared sensor is installed on the bracket above the storage box with the detection end facing the inside of the storage box to simultaneously collect images of the acupuncture needle arrangement, the length signal of the acupuncture needles along the arrangement direction, and the stacking height; a lid-sealing drive mechanism is installed on one side of the storage box with its pushing end aligned with the edge of the opening of the storage box, and the lid storage slot is set next to the lid-sealing drive mechanism; the nozzle of the disinfection spray mechanism and the ultraviolet lamp are both installed in the lid above the storage box to form a sealed disinfection space.

3. The automatic acupuncture needle recycling system according to claim 2, characterized in that: Specifications include the diameter of the acupuncture needles. ,length and single weight The parameter input methods include manual entry and image recognition import. After verifying the integrity of the parameters, the specification recognition module generates a specification parameter package, which is transmitted to the collaborative scheduling module and synchronously archived to the data storage module.

4. The automatic acupuncture needle recycling and processing system according to claim 3, characterized in that: The adaptive arrangement algorithm of the arrangement control module includes parameter initialization, dynamic adjustment, and state correction. The calculation expression of its target control parameters is as follows: ； ； ； In the formula, For vibration frequency, For amplitude, Magnetic attraction strength Indicates the initial vibration frequency. Indicates the initial amplitude. Indicates the diameter of a standard acupuncture needle. Indicates the standard acupuncture needle length. , To adjust the coefficient, It represents the acceleration due to gravity.

5. The automatic acupuncture needle recycling system according to claim 4, characterized in that: The triple threshold determination algorithm of the full box determination module includes three steps: threshold preset, real-time acquisition and status determination. Specifically, the full box determination module determines whether the storage box is full based on the real-time weight collected by the pressure sensor, the length signal of the acupuncture needle along the arrangement direction collected by the infrared sensor and the height signal in the vertical direction, combined with preset parameters. Preset parameters include the number of boxes full. Effective length of storage boxes along the arrangement direction Effective vertical height of the storage box Calculate the full box weight threshold Vertical safety threshold Only when the real-time weight Real-time length And real-time altitude When the box is full, it is determined to be in a full state.

6. The automatic acupuncture needle recycling system according to claim 5, characterized in that: The disinfection control module has preset disinfection parameters for different specifications of acupuncture needles, including spray volume and ultraviolet disinfection duration. These preset parameters can be modified through the interaction layer.

7. An automatic acupuncture needle recycling and processing system according to claim 6, characterized in that: The interaction layer includes a touch screen and an audible and visual alarm unit. The touch screen is used for parameter input, processing status display and command issuance, while the audible and visual alarm unit is used for full box prompts, disinfection completion prompts and abnormal warnings.

8. An automatic acupuncture needle recycling and processing method, using an automatic acupuncture needle recycling and processing system as described in any one of claims 1-7, characterized in that, Includes the following steps: Step 1, Initialization: The system is started through the interaction layer. The specification recognition module completes the input and verification of acupuncture needle specification parameters, generates a specification parameter package, transmits it to the collaborative scheduling module, and archives it to the data storage module. Step 2, Storage Guidance: The collaborative scheduling module sends a feeding instruction to the storage guidance module. The storage guidance module outputs a control signal to open the feeding solenoid valve and adjust the angle of the guide channel to guide the acupuncture needles into the corresponding storage box, and provides real-time feedback on the feeding status. Step 3, Automatic Arrangement: The collaborative scheduling module forwards the specification parameter package and the arrangement start command to the arrangement control module. The arrangement control module generates vibration and magnetic attraction control signals through an adaptive arrangement algorithm to drive the hardware to work. Combined with infrared detection signals, the parameters are dynamically corrected until the acupuncture needles are arranged in parallel and orderly and a completion signal is fed back. Step 4, Full Box Determination: The full box determination module presets three thresholds, simultaneously collects and filters the weight, length and height signals of the acupuncture needles along the arrangement direction, and determines the status of the storage box according to the rule of "three conditions being met simultaneously", and outputs full box, warning or fault signals to the collaborative scheduling module. Step 5, Automatic Capping: After receiving the full box signal, the collaborative scheduling module sends a capping command to the capping control module. The capping control module controls the capping drive mechanism to push, press and reset the cap, and sends back a capping completion signal. Step 6, Automatic Disinfection: After receiving the sealing completion signal, the collaborative scheduling module sends a disinfection command to the disinfection control module. The disinfection control module controls the disinfection mechanism to work according to the preset parameters, completes spray and ultraviolet disinfection, and sends back a disinfection completion signal. Step 7, Archive Reset: After receiving the disinfection completion signal, the collaborative scheduling module controls the interaction layer to issue a completion prompt. The data storage module archives the data processed throughout the process, sends reset commands to each software module, and the system returns to its initial state to wait for the next round of commands.

9. The automatic acupuncture needle recycling method according to claim 8, characterized in that: In step 3, the arrangement control module receives the acupuncture needle arrangement image signal collected by the infrared sensor every 0.1 seconds, and extracts the tilt angle through the edge detection algorithm. If the tilt angle The corrected vibration frequency is then... After continuously correcting for 0.5 seconds, re-detect until... .

10. The automatic acupuncture needle recycling method according to claim 9, characterized in that: In step 4, the pressure sensor and infrared sensor acquire signals every 0.2 seconds. The full-box determination module performs a moving average filtering process on the acquired signals before threshold comparison. If only real-time length is considered... But real-time weight Output early warning signals; If only but Continue to wait for feeding; if the real-time height It outputs a fault signal and initiates vibration correction.

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