An automatic traditional Chinese medicine weighing and dispensing system

Abstract

The application discloses a traditional Chinese medicine automatic weighing and dispensing system and relates to the technical field of production line equipment control. Before the bottom valve of the stock bin is opened, a continuous material covering result is formed first. When the continuous material covering result is not formed, the material surface falling time, the material surface falling distance, the material surface stopping falling times and the local collapse times are not sent to the discharging judgment module. Thus, the discharging judgment module cannot judge that the current batch of materials is difficult to discharge due to no materials, less materials or slow discharging caused by the deviation of the traditional Chinese medicine decoction pieces from the inlet of the bottom valve of the stock bin after the transfer and waiting of the stock bin. Therefore, the opening degree of the bottom valve of the stock bin, the opening speed of the bottom valve of the stock bin and the arch breaking triggering condition used during the formal feeding can be determined according to the effective discharging judgment result of the current batch of materials, the invalid arch breaking and the incorrect valve opening control caused by the misjudgment are reduced, and the feeding stability of the traditional Chinese medicine decoction pieces when entering the extraction tank from the stock bin is improved.

Description

Technical Field

[0001] This invention relates to the field of production line equipment control technology, specifically to an automatic weighing and dispensing system for traditional Chinese medicine. Background Technology

[0002] In the production of Chinese herbal medicine extraction, the decoction pieces usually need to be weighed, prepared, transferred and fed according to the prescription or batch production instructions. With the expansion of production scale and the increasing requirements for batch consistency, feeding accuracy and process traceability, the weighing and preparation process has gradually transitioned from manual weighing and feeding to automated operation completed by the cooperation of material silos, transfer equipment, feeding execution mechanism, vision detection and control system.

[0003] In the existing automatic weighing and feeding process, after the silo is weighed, it is usually transported to the feeding position by the transfer equipment, and then the feeding actuator opens the bottom valve to feed the material. The system usually judges the feeding status after the bottom valve is opened based on whether the material is being fed, whether the material is blocked, or whether the silo is emptied. However, due to the irregular shape of Chinese herbal medicine pieces, the silo is prone to local settlement, displacement, or being suspended during the weighing, transfer, and waiting process, or there may be a temporary lack of continuous material covering the bottom valve inlet. As a result, when there is no material, little material, or slow feeding in the early stage of bottom valve opening, the system has difficulty distinguishing whether it is because the material itself is difficult to feed or because there is no material layer above the bottom valve inlet that can be fed. Summary of the Invention

[0004] This invention provides an automatic weighing and dispensing system for traditional Chinese medicine, which solves the problems mentioned in the background art.

[0005] An automatic weighing and dispensing system for traditional Chinese medicine includes a material surface acquisition module, a material coverage judgment module, an initial valve opening control module, a material dispensing judgment module, and a material feeding execution module; The material surface acquisition module is used to acquire three-dimensional point cloud data of the bottom of the silo through three-dimensional vision after the feeding robot docks the silo containing weighed Chinese herbal medicine pieces to the extraction tank opening, and before the bottom valve of the silo is opened; and to determine the corresponding area of ​​the bottom valve inlet of the silo based on the position and boundary of the bottom valve inlet. The material coverage judgment module is used to generate a continuous material coverage result based on the data in the three-dimensional point cloud data at the bottom of the silo corresponding to the area at the bottom valve inlet of the silo. The continuous material coverage result includes the formation of continuous material coverage and the absence of continuous material coverage. The initial valve opening control module is used to open the bottom valve of the silo to a preset initial opening degree and maintain it for a preset initial opening time when the continuous material coverage result is that continuous material coverage has been formed. Within the preset initial opening time, it collects the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs, and then sends the data to the material discharge judgment module. It is also used to keep the bottom valve of the silo closed and not send the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs to the material discharge judgment module when the continuous material coverage result is that continuous material coverage has not been formed. The material feeding judgment module is used to generate the material feeding judgment result for the current batch of materials based on the received material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of local collapses. The feeding execution module is used to control the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger conditions during formal feeding based on the current batch material feeding judgment result.

[0006] Preferably, the material surface acquisition module includes an inlet region determination subunit; The inlet area determination subunit determines the plane range of the bottom valve inlet of the silo based on the inner edge contour of the bottom valve inlet, and extends the plane range of the bottom valve inlet of the silo upward along the height direction of the silo to the preset collection height; The space formed by the extension of the entrance area determination sub-unit will be used as the corresponding area for the bottom valve inlet of the silo.

[0007] Preferably, the material surface acquisition module includes an acquisition unit division subunit and a material surface basic data acquisition subunit; The acquisition unit divides the area corresponding to the bottom valve inlet of the silo into multiple acquisition units with the same area, and selects points located in the area corresponding to the bottom valve inlet of the silo and higher than the bottom valve inlet plane from the three-dimensional point cloud data of the bottom of the silo as material points. The material surface basic data acquisition subunit obtains the material thickness based on the height of the material point relative to the inlet plane of the silo bottom valve, obtains the material coverage area based on the area of ​​the acquisition unit containing the material point, obtains the area of ​​the area without material based on the area of ​​the acquisition unit without the material point, and obtains the uncovered area of ​​the silo bottom valve inlet edge based on the area of ​​the acquisition unit without the material point within a preset width inward from the boundary of the silo bottom valve inlet.

[0008] Preferably, the material coverage determination module includes a coverage condition setting subunit and a coverage result output subunit; The coverage condition setting subunit saves preset coverage conditions, which include material thickness reaching a preset material thickness, material coverage area reaching a preset material coverage area, no material area not exceeding a preset no material area, and no uncovered area at the bottom valve inlet edge of the silo not exceeding a preset no material inlet edge of the silo. When all the preset coverage conditions are met, the coverage result output subunit outputs the continuous material coverage result as forming a continuous material coverage; When at least one of the preset coverage conditions is not met, the coverage result output subunit outputs the continuous material coverage result as no continuous material coverage is formed.

[0009] Preferably, the initial valve opening control module includes an initial valve opening execution subunit; When the continuous material coverage result is the formation of continuous material coverage, the initial valve opening execution subunit sends an initial valve opening command to the bottom valve of the silo, causing the bottom valve of the silo to open from the closed position to the preset initial opening degree; The initial valve opening execution subunit takes the moment when the bottom valve of the silo reaches the preset initial opening degree as the start time of the preset initial opening duration.

[0010] Preferably, the initial valve opening control module includes a data acquisition period determination subunit and a material feeding data acquisition subunit; The data collection period determination subunit takes the start time of the preset initial opening duration as the data collection start point and the end time of the preset initial opening duration as the data collection end point. Between the start and end points of the data collection, the material feeding data acquisition subunit obtains the material surface height of the collection unit at each collection time through the material surface acquisition module. For collection units containing material points, the average height of the material points relative to the inlet plane of the bottom valve of the silo is taken as the material surface height of the collection unit. For collection units without material points, the material surface height is taken as zero. The material feeding data acquisition subunit obtains the material surface height at each acquisition time based on the material surface height of each acquisition unit, and the material surface height is the average value of the material surface height of each acquisition unit within the same acquisition time. The material feeding data acquisition subunit obtains the material descent time based on the time interval between the moment when the material surface height first falls below the material surface height of the collection starting point and reaches the preset descent height and the collection starting point. If there is no instance between the collection starting point and the collection ending point where the material surface height falls below the material surface height of the collection starting point and reaches the preset descent height, the preset initial opening time is used as the material descent time. The material feeding data acquisition subunit obtains the material surface descent distance based on the height difference between the material surface height at the collection start point and the material surface height at the collection end point. When the material surface height at the collection end point is not lower than the material surface height at the collection start point, the material surface descent distance is set to zero. The material feeding data acquisition subunit obtains the number of times the material surface stops falling based on the number of times the difference between the material surface heights at two adjacent acquisition times within a continuous preset stop time is not greater than the preset stop height difference; The material feeding data acquisition subunit obtains the number of local collapses based on the number of times the value obtained by subtracting the material surface height of the acquisition unit from the material surface height of the acquisition unit at the previous acquisition time exceeds the preset collapse height.

[0011] Preferably, the initial valve opening control module includes an uncovered processing subunit; When the result of continuous material coverage is that no continuous material coverage is formed, the uncovered processing subunit keeps the bottom valve of the silo closed; The uncovered processing subunit does not send the material descent time, material descent distance, number of times the material descent stops, and number of times local collapses to the material descent judgment module.

[0012] Preferably, the material feeding judgment module includes a material feeding condition setting subunit and a material feeding result generation subunit; The material feeding condition setting subunit stores the conditions for successful material feeding and the conditions for obstructed material feeding, and sets the material feeding judgment results for the current batch of materials to include successful material feeding results, normal material feeding results, and obstructed material feeding results; The conditions for successful material feeding include: the material surface descent distance reaching a preset first material surface descent distance, the material surface descent time not exceeding a preset first material surface descent time, the number of times the material surface stops descent not exceeding a preset first number of times the material surface stops descent, and the number of times local collapses do not exceed a preset first number of times local collapses. The obstructed feeding conditions include at least one of the following: the material surface descent distance does not reach the preset second material surface descent distance, the material surface descent time exceeds the preset second material surface descent time, the number of times the material surface stops descent exceeds the preset second number of times the material surface stops descent, and the number of times local collapse exceeds the preset second number of times local collapse occurs. The material feeding result generation subunit generates a successful material feeding result when the successful material feeding condition is met. The material feeding result generation subunit generates a blocked material feeding result when the smooth material feeding condition is not met and the blocked material feeding condition is met. The material feeding result generation subunit generates a general material feeding result when the smooth material feeding condition is not met and the obstructed material feeding condition is not met.

[0013] Preferably, the feeding execution module includes a feeding parameter storage subunit and a feeding parameter calling subunit; The feeding parameter storage subunit pre-stores smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters. The smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters all include the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger condition. The feeding parameter calling subunit calls the smooth feeding control parameter when the current batch of material feeding judgment result is smooth feeding result, calls the normal feeding control parameter when the current batch of material feeding judgment result is normal feeding result, and calls the obstructed feeding control parameter when the current batch of material feeding judgment result is obstructed feeding result.

[0014] An automatic weighing and dispensing system for traditional Chinese medicine, wherein the feeding judgment module includes a feeding data receiving subunit and a judgment result control subunit; The material feeding data receiving subunit only receives the material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of times local collapses sent by the initial valve opening control module after the continuous material coverage result is formed and within the same preset initial opening time. If the material feeding judgment module does not simultaneously receive the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapses within the same preset initial start time, the judgment result control subunit will not generate the material feeding judgment result for the current batch of materials.

[0015] This invention provides an automatic weighing and dispensing system for traditional Chinese medicine, which has the following beneficial effects: 1. Reduce the occurrence of situations where there is no material, insufficient material, or slow material feeding due to the deviation of Chinese herbal medicine pieces from the bottom valve inlet of the silo after material transfer and waiting, which may be mistakenly judged as the current batch of material being difficult to feed. Reduce the occurrence of ineffective arch breaking and incorrect valve opening control, so that the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking triggering conditions during formal feeding are more in line with the actual feeding status of the current batch of material, thereby improving the feeding stability of Chinese herbal medicine pieces when entering the extraction tank. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the modular structure of an automatic weighing and dispensing system for traditional Chinese medicine. Figure 2 This is a schematic diagram of the control flow of an automatic weighing and dispensing system for traditional Chinese medicine. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Example 1 This embodiment can be applied to various automatic weighing and feeding scenarios in Chinese medicine extraction workshops, such as the scenario where Chinese medicinal slices are weighed and fed into the extraction tank through a silo, the scenario where multiple silos feed into the same extraction tank in batches, the scenario where sliced ​​medicinal slices, segmented medicinal slices, root and stem medicinal slices and flower and leaf medicinal slices are weighed and fed out through the bottom valve of the silo, and the scenario where the weighed silos are transferred and waited before being connected to the extraction tank opening for feeding. In this embodiment, the scenario described is where the weighed Chinese herbal medicine pieces are transferred from the silo to the extraction tank and then fed into the silo via the bottom valve. In this scenario, after the silo has been transferred, waited for and connected to the feeding robot, the Chinese herbal medicine pieces above the bottom valve inlet may not cover the bottom valve inlet. If the bottom valve is opened directly at this time and the current batch of materials is judged to be difficult to feed based on no material, insufficient material, or slow feeding, the opening degree, opening speed, and arch breaking trigger conditions of the bottom valve will be unsuitable for this batch of materials when the formal feeding is carried out.

[0019] This invention provides an automatic weighing and dispensing system for traditional Chinese medicine. Please refer to [link / reference]. Figure 1 and Figure 2 It includes a material level acquisition module, a material coverage judgment module, an initial valve opening control module, a material feeding judgment module, and a material feeding execution module; The material surface acquisition module is used to acquire three-dimensional point cloud data of the bottom of the silo through three-dimensional vision after the feeding robot docks the silo containing weighed Chinese herbal medicine pieces to the extraction tank opening, and before the bottom valve of the silo is opened; and to determine the corresponding area of ​​the bottom valve inlet of the silo based on the position and boundary of the bottom valve inlet. The material coverage judgment module is used to generate a continuous material coverage result based on the data in the three-dimensional point cloud data at the bottom of the silo corresponding to the area at the bottom valve inlet of the silo. The continuous material coverage result includes the formation of continuous material coverage and the absence of continuous material coverage. The initial valve opening control module is used to open the bottom valve of the silo to a preset initial opening degree and maintain it for a preset initial opening time when the continuous material coverage result is that continuous material coverage has been formed. Within the preset initial opening time, it collects the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs, and then sends the data to the material discharge judgment module. It is also used to keep the bottom valve of the silo closed and not send the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs to the material discharge judgment module when the continuous material coverage result is that continuous material coverage has not been formed. The material feeding judgment module is used to generate the material feeding judgment result for the current batch of materials based on the received material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of local collapses. The feeding execution module is used to control the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger conditions during formal feeding based on the current batch material feeding judgment result.

[0020] In this embodiment, by first forming a continuous material coverage result before opening the bottom valve of the silo, and when the continuous material coverage result is not formed, the material level descent time, material level descent distance, number of times the material level stops descent, and number of times local collapse are not sent to the material judgment module, the material level descent time, material level descent distance, number of times the material level stops descent, and number of times local collapse are sent. This prevents the material judgment module from judging the lack of material, insufficient material, or slow material discharge caused by the deviation of the Chinese herbal medicine pieces from the bottom valve inlet of the silo after the silo has been transferred and waited as the current batch of material being difficult to discharge. As a result, the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking triggering conditions used during formal feeding can be determined based on the effective material discharge judgment result of the current batch of material, reducing invalid arch breaking and incorrect valve opening control caused by misjudgment, and improving the feeding stability of Chinese herbal medicine pieces when they enter the extraction tank from the silo.

[0021] Example 2 Please see Figure 2 Specifically: the material surface acquisition module includes an inlet area determination subunit; The inlet area determination subunit determines the plane range of the bottom valve inlet of the silo based on the inner edge contour of the bottom valve inlet, and extends the plane range of the bottom valve inlet of the silo upward along the height direction of the silo to the preset collection height; The space formed by the extension of the inlet area determination subunit will be used as the corresponding area for the bottom valve inlet of the silo. Specifically: In the scenario set in Example 1, the inner edge contour of the silo bottom valve inlet is pre-entered into the control system. The control system uses the inlet edge of the silo bottom valve when it is in the closed position as the inner edge contour of the silo bottom valve inlet, and uses the plane where the silo bottom valve inlet is located as the silo bottom valve inlet plane. The planar area enclosed by the inner edge contour of the silo bottom valve inlet is the silo bottom valve inlet plane range.

[0022] It should be noted that when the silo structure drawing already includes the size and location of the silo bottom valve inlet, the inner edge contour of the silo bottom valve inlet is obtained from the silo structure drawing. When the silo structure drawing does not include the size and location of the silo bottom valve inlet, the edge points of the silo bottom valve inlet are collected by 3D vision when the silo is empty and the silo bottom valve is closed, and the inner edge contour of the silo bottom valve inlet is formed by the edge points of the silo bottom valve inlet.

[0023] In this embodiment: The preset acquisition height is set during the equipment debugging phase. When the bottom valve of the silo is closed, the debugging personnel put the weighed Chinese herbal medicine pieces above the inlet of the bottom valve of the silo and make the Chinese herbal medicine pieces cover the plane range of the bottom valve inlet of the silo. Then, the material point cloud above the bottom valve inlet of the silo is acquired by three-dimensional vision. The preset acquisition height is the height that does not exceed the effective acquisition height of three-dimensional vision and can include the material point cloud above the bottom valve inlet of the silo.

[0024] The material surface acquisition module includes an acquisition unit division sub-unit and a material surface basic data acquisition sub-unit; The acquisition unit divides the area corresponding to the bottom valve inlet of the silo into multiple acquisition units with the same area, and selects points located in the area corresponding to the bottom valve inlet of the silo and higher than the bottom valve inlet plane from the three-dimensional point cloud data of the bottom of the silo as material points. The material surface basic data acquisition subunit obtains the material thickness based on the height of the material point relative to the inlet plane of the silo bottom valve, obtains the material coverage area based on the area of ​​the acquisition unit containing the material point, obtains the area of ​​the area without material based on the area of ​​the acquisition unit without the material point, and obtains the uncovered area of ​​the silo bottom valve inlet edge based on the area of ​​the acquisition unit without the material point within a preset width inward from the boundary of the silo bottom valve inlet. Specifically: The acquisition unit is divided into sub-units. A planar grid is established based on the plane range of the bottom valve inlet of the silo, and the planar grid is extended along the height direction of the silo to the preset acquisition height. Each planar grid forms a corresponding acquisition unit. The area of ​​each acquisition unit is the same. The area of ​​the acquisition unit is set according to the point cloud resolution of the 3D vision at the bottom valve inlet of the silo, so that a single acquisition unit can receive material points when there are Chinese herbal medicine pieces covering it.

[0025] During data processing: The 3D point cloud data of the bottom of the silo acquired by 3D vision is first converted into a coordinate system with the inlet plane of the silo bottom valve as the reference. Points located outside the corresponding area of ​​the silo bottom valve inlet are not included in the calculation, points below the silo bottom valve inlet plane are not included in the calculation, and the silo inner wall points and silo bottom valve structure points recorded in the empty silo state are not included in the calculation. The remaining points located in the corresponding area of ​​the silo bottom valve inlet and above the silo bottom valve inlet plane are taken as material points.

[0026] Specifically: material thickness is the average height of the material points relative to the inlet plane of the silo bottom valve; material coverage area is the sum of the areas of the collection units containing material points; area of ​​no material area is the sum of the areas of the collection units not containing material points; uncovered area at the edge of the silo bottom valve inlet is the sum of the areas of the collection units not containing material points within a preset width inward from the boundary of the silo bottom valve inlet.

[0027] It should be noted that the preset width is set during the equipment debugging phase based on the width of the edge area of ​​the bottom valve inlet of the silo. The edge area corresponding to the preset width is located inside the boundary of the bottom valve inlet of the silo. The uncovered area of ​​the bottom valve inlet edge is used to determine whether there are any collection units inside the bottom valve inlet edge that are not covered by Chinese herbal medicine pieces.

[0028] The material coverage determination module includes a coverage condition setting subunit and a coverage result output subunit; The coverage condition setting subunit saves preset coverage conditions, which include material thickness reaching a preset material thickness, material coverage area reaching a preset material coverage area, no material area not exceeding a preset no material area, and no uncovered area at the bottom valve inlet edge of the silo not exceeding a preset no material inlet edge of the silo. When all the preset coverage conditions are met, the coverage result output subunit outputs the continuous material coverage result as forming a continuous material coverage; When at least one of the preset coverage conditions is not met, the coverage result output subunit will output the continuous material coverage result as no continuous material coverage has been formed; Specifically: the preset material thickness, preset material coverage area, preset area of ​​no material, and preset uncovered area at the bottom valve inlet edge of the silo are set during the equipment commissioning phase. During the commissioning phase, the three-dimensional point cloud data of the bottom of the silo in the empty state is collected first, and then the three-dimensional point cloud data of the bottom of the silo after the bottom valve inlet of the silo is covered by Chinese herbal medicine pieces are collected. After the bottom valve of the silo is opened to the preset initial opening degree and maintained for the preset initial opening time, the data of the material surface falling distance reaching the commissioning falling distance is recorded as the commissioning data for material feeding.

[0029] In this embodiment: the preset material thickness is set according to the material thickness in the material feeding debugging data, the preset material coverage area is set according to the material coverage area in the material feeding debugging data, the preset no-material area is set according to the no-material area in the material feeding debugging data, and the preset uncovered area of ​​the bottom valve inlet edge of the silo is set according to the uncovered area of ​​the bottom valve inlet edge of the silo in the material feeding debugging data.

[0030] It should be noted that the adjustment descent distance is set by the on-site commissioning personnel based on the inlet size of the silo bottom valve, the preset initial opening degree, and the preset initial opening duration. The adjustment descent distance is used to confirm that the material coverage state above the silo bottom valve inlet can produce a detectable material level drop after the initial valve opening.

[0031] During data processing: The coverage result output subunit only outputs continuous material coverage results based on the material thickness, material coverage area, area of ​​no material area, and uncovered area at the edge of the bottom valve inlet of the silo. It does not output continuous material coverage results based on the material surface data of other areas of the silo.

[0032] Specifically: When all four conditions are met simultaneously, the coverage result output subunit will output continuous material coverage.

[0033] Specifically: When at least one of the following conditions is met: the material thickness does not reach the preset material thickness, the material coverage area does not reach the preset material coverage area, the area of ​​the material-free area exceeds the preset material-free area, or the uncovered area of ​​the bottom valve inlet edge of the silo exceeds the preset uncovered area of ​​the bottom valve inlet edge of the silo, the coverage result output subunit outputs that continuous material coverage has not been formed.

[0034] In this embodiment, after the area corresponding to the bottom valve inlet of the silo is defined, the system no longer determines whether the valve can be initially opened based on the overall material level of the silo. Instead, it only uses the material thickness, material coverage area, area of ​​the area without material, and uncovered area at the edge of the bottom valve inlet of the silo to generate a continuous material coverage result. Therefore, when sliced ​​or leafy medicinal slices are piled up on one side of the silo after being transferred, but there is still a gap at the edge of the bottom valve inlet of the silo, the system can output the continuous material coverage result as not forming a continuous material coverage, so that the subsequent initial valve opening control is not based on the overall material level of the silo, thereby reducing errors in the continuous material coverage result caused by incorrect sampling area.

[0035] Example 3 Please see Figure 2 Specifically: the initial valve opening control module includes an initial valve opening execution subunit; When the continuous material coverage result is the formation of continuous material coverage, the initial valve opening execution subunit sends an initial valve opening command to the bottom valve of the silo, causing the bottom valve of the silo to open from the closed position to the preset initial opening degree; The initial valve opening execution subunit takes the moment when the bottom valve of the silo reaches the preset initial opening degree as the start time of the preset initial opening duration. Specifically: In the scenario set in Example 1, the initial valve opening command is sent by the control system to the actuator of the bottom valve of the silo. After receiving the initial valve opening command, the actuator of the bottom valve of the silo drives the bottom valve of the silo to open from the closed position. When the opening feedback value of the bottom valve of the silo is equal to the preset initial opening, the control system records the moment and uses the moment as the start time of the preset initial opening duration.

[0036] In this embodiment: the preset initial opening degree and preset initial opening duration are saved to the control system during the equipment debugging stage. After the debugging personnel form a continuous material coverage above the bottom valve inlet of the silo, they use different candidate opening degrees and candidate opening durations to perform initial valve opening tests in sequence, and select the candidate opening degree and candidate opening duration that can obtain the material surface descent distance within the three-dimensional vision acquisition cycle and will not discharge too much material at one time as the preset initial opening degree and preset initial opening duration.

[0037] It should be noted that after the bottom valve of the silo reaches the preset initial opening degree, the control system keeps the opening degree of the bottom valve of the silo unchanged within the preset initial opening time. After the preset initial opening time ends, the control system continues to control the formal feeding according to the processing result of the feeding judgment module. Before receiving the formal feeding control command, the bottom valve of the silo will not be directly switched to the formal feeding opening degree.

[0038] The initial valve opening control module includes a data acquisition period determination subunit and a material feeding data acquisition subunit; The data collection period determination subunit takes the start time of the preset initial opening duration as the data collection start point and the end time of the preset initial opening duration as the data collection end point. Between the start and end points of the data collection, the material feeding data acquisition subunit obtains the material surface height of the collection unit at each collection time through the material surface acquisition module. For collection units containing material points, the average height of the material points relative to the inlet plane of the bottom valve of the silo is taken as the material surface height of the collection unit. For collection units without material points, the material surface height is taken as zero. The material feeding data acquisition subunit obtains the material surface height at each acquisition time based on the material surface height of each acquisition unit, and the material surface height is the average value of the material surface height of each acquisition unit within the same acquisition time. The material feeding data acquisition subunit obtains the material descent time based on the time interval between the moment when the material surface height first falls below the material surface height of the collection starting point and reaches the preset descent height and the collection starting point. If there is no instance between the collection starting point and the collection ending point where the material surface height falls below the material surface height of the collection starting point and reaches the preset descent height, the preset initial opening time is used as the material descent time. The material feeding data acquisition subunit obtains the material surface descent distance based on the height difference between the material surface height at the collection start point and the material surface height at the collection end point. When the material surface height at the collection end point is not lower than the material surface height at the collection start point, the material surface descent distance is set to zero. The material feeding data acquisition subunit obtains the number of times the material surface stops falling based on the number of times the difference between the material surface heights at two adjacent acquisition times within a continuous preset stop time is not greater than the preset stop height difference; The material feeding data acquisition subunit obtains the number of local collapses based on the number of times the value obtained by subtracting the material surface height of the acquisition unit at the next acquisition time from the material surface height of the acquisition unit at the previous acquisition time exceeds the preset collapse height. Specifically: Between the collection start point and the collection end point, the material surface collection module collects the three-dimensional point cloud data of the bottom of the silo according to the preset collection interval. Each time the three-dimensional point cloud data of the bottom of the silo is collected, it is considered as a collection moment. The preset collection interval is saved to the control system during the equipment debugging phase, and the preset initial start time must include at least the collection start point, the collection end point, and a collection moment between the collection start point and the collection end point.

[0039] During data processing: at each acquisition moment, the material point and acquisition unit are determined in the manner described in Example 2. For acquisition units containing material points, the material surface height of the acquisition unit is obtained by averaging the heights of all material points within the acquisition unit. For acquisition units without material points, there are no material points that can participate in the height calculation, so the material surface height of the acquisition unit is set to zero.

[0040] Specifically: within the same data collection moment, the material surface height is obtained by adding the material surface heights of all data collection units within that time and then dividing by the number of data collection units. The material surface height at the data collection starting point is used as the reference height for subsequent calculations of the material surface descent time and the material surface descent distance.

[0041] It should be noted that the preset descent height is set during the equipment debugging phase based on the height measurement error of the 3D vision. The preset descent height is greater than the height measurement error of the 3D vision at the bottom valve inlet of the silo, so that the descent result when the material surface height reaches the preset descent height can be repeatedly collected by the 3D vision.

[0042] Specifically: When obtaining the material level descent time, the control system reads the material level height one by one starting from the first acquisition time after the acquisition point. When the material level height at a certain acquisition time is lower than the material level height at the acquisition point, and the difference between the two reaches the preset descent height, the time interval between the acquisition time and the acquisition point is taken as the material level descent time.

[0043] Specifically: When obtaining the material surface descent distance, the control system reads the material surface height at the starting point and the material surface height at the ending point of the acquisition, and uses the value obtained by subtracting the material surface height at the ending point from the material surface height at the starting point as the material surface descent distance. When the obtained value is less than zero, the material surface descent distance is taken as zero.

[0044] It should be noted that the preset stop duration and preset stop height difference are saved to the control system during the equipment debugging phase. The preset stop duration is used to determine the continuous period during which the material level has not dropped and can be counted as a descent. The preset stop height difference is used to exclude the height difference caused by the error of the three-dimensional vision height measurement.

[0045] During data processing: When the number of times the material surface stops falling is obtained, the control system uses a preset stop time as a detection period and checks the material surface height difference between two adjacent acquisition times within the detection period. When the material surface height difference between two adjacent acquisition times in each detection period is not greater than the preset stop height difference, the number of times the material surface stops falling is counted once.

[0046] Specifically: The preset collapse height is set during the equipment debugging phase based on the 3D visual height measurement error within a single acquisition unit and the identifiable falling distance of the Chinese herbal medicine pieces during the initial valve opening process. The preset collapse height is greater than the 3D visual height measurement error within a single acquisition unit.

[0047] During data processing: When obtaining the number of local collapses, the control system reads the material surface height of the same acquisition unit at two adjacent acquisition times, and subtracts the material surface height of the acquisition unit at the previous acquisition time from the material surface height of the acquisition unit at the next acquisition time to obtain the height drop value of the acquisition unit. When the height drop value exceeds the preset collapse height, the number of local collapses is counted as one.

[0048] The initial valve opening control module includes an uncovered processing subunit; When the result of continuous material coverage is that no continuous material coverage is formed, the uncovered processing subunit keeps the bottom valve of the silo closed; The uncovered processing subunit does not send the material descent time, material descent distance, number of times the material descent stops, and number of times local collapses to the material descent judgment module; Specifically: when the continuous material coverage result is that no continuous material coverage has been formed, the control system does not send an initial valve opening command, the bottom valve actuator of the silo remains in the closed position, the data collection period determination subunit does not generate the data collection start point and data collection end point, and the material feeding data acquisition subunit does not generate the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapses.

[0049] It should be noted that the uncovered processing subunit does not send the above four data items to the material feeding judgment module, so that the material feeding judgment module will not generate the current batch material feeding judgment result based on the absence of material, insufficient material, or slow feeding when there is no continuous material coverage above the bottom valve inlet of the hopper.

[0050] In this embodiment, during the initial valve opening stage, the system takes the moment when the bottom valve of the silo reaches the preset initial opening degree as the data collection starting point, and obtains the material level descent time, material level descent distance, number of times the material level stops descent, and number of times local collapse within the preset initial opening duration. This ensures that the data received by the material feeding judgment module corresponds to the same controlled valve opening process, rather than scattered data corresponding to the silo bottom valve before it starts, during its movement, or when it is not open. For example, if there is an action time when the silo bottom valve actuator moves from the closed position to the preset initial opening degree, the system will not include the phenomenon of no material feeding during this action time in the material level descent time. At the same time, when the continuous material coverage result is that no continuous material coverage has been formed, the non-coverage processing subunit keeps the silo bottom valve closed and does not send the material level descent time, material level descent distance, number of times the material level stops descent, and number of times local collapse to the material feeding judgment module. This ensures that the current batch of material feeding judgment result only comes from the initial valve opening data after continuous material coverage has been formed.

[0051] Example 4 Please see Figure 2 Specifically: the material feeding judgment module includes a material feeding condition setting subunit and a material feeding result generation subunit; The material feeding condition setting subunit stores the conditions for successful material feeding and the conditions for obstructed material feeding, and sets the material feeding judgment results for the current batch of materials to include successful material feeding results, normal material feeding results, and obstructed material feeding results; The conditions for successful material feeding include: the material surface descent distance reaching a preset first material surface descent distance, the material surface descent time not exceeding a preset first material surface descent time, the number of times the material surface stops descent not exceeding a preset first number of times the material surface stops descent, and the number of times local collapses do not exceed a preset first number of times local collapses. The obstructed feeding conditions include at least one of the following: the material surface descent distance does not reach the preset second material surface descent distance, the material surface descent time exceeds the preset second material surface descent time, the number of times the material surface stops descent exceeds the preset second number of times the material surface stops descent, and the number of times local collapse exceeds the preset second number of times local collapse occurs. The material feeding result generation subunit generates a successful material feeding result when the successful material feeding condition is met. The material feeding result generation subunit generates a blocked material feeding result when the smooth material feeding condition is not met and the blocked material feeding condition is met. The material feeding result generation subunit generates a general material feeding result when the smooth material feeding condition is not met and the obstructed material feeding condition is not met. Specifically: In the scenario set in Example 1, after receiving the material surface descent time, material surface descent distance, number of times the material surface stopped descent and number of times local collapse obtained in Example 3, the material feeding condition setting subunit first determines whether the smooth material feeding condition is met. If the smooth material feeding condition is met, the smooth material feeding result is generated directly, and the obstructed material feeding condition is no longer determined.

[0052] In this embodiment: the conditions for smooth material feeding and the conditions for obstructed material feeding are saved to the control system during the equipment commissioning phase. After the commissioning personnel form a continuous material cover above the bottom valve inlet of the silo, they make the bottom valve of the silo perform multiple initial valve openings according to the preset initial opening degree and preset initial opening duration, and record the material level descent time, material level descent distance, number of times the material level stops descending and the number of times local collapses are obtained each time the valve is opened.

[0053] Specifically: the preset first material surface descent distance is set according to the material surface descent distance in the successful feeding debugging data; the preset first material surface descent time is set according to the material surface descent time in the successful feeding debugging data; the preset first material surface stop descent number is set according to the material surface stop descent number in the successful feeding debugging data; and the preset first partial collapse number is set according to the partial collapse number in the successful feeding debugging data.

[0054] Specifically: the preset second material surface descent distance is set according to the material surface descent distance in the obstructed feeding debugging data; the preset second material surface descent time is set according to the material surface descent time in the obstructed feeding debugging data; the preset number of times the second material surface stops descent is set according to the number of times the material surface stops descent in the obstructed feeding debugging data; and the preset number of times the second partial collapse occurs is set according to the number of times the partial collapse occurs in the obstructed feeding debugging data.

[0055] It should be noted that: the data for successful material feeding is the material level descent distance obtained within the preset initial opening time, and the data for continuing formal material feeding without activating the arch-breaking mechanism after the initial valve opening. The data for obstructed material feeding is the data where at least one of the following is true within the preset initial opening time: the material level descent distance does not reach the preset second material level descent distance, the material level descent time exceeds the preset second material level descent time, the number of times the material level stops descent exceeds the preset second number of times the material level stops descent, or the number of times local collapse exceeds the preset second number of times local collapse occurs.

[0056] During data processing: the material feeding result generation subunit processes the data in the order of smooth material feeding conditions, obstructed material feeding conditions, and general material feeding results. When the smooth material feeding conditions are met, the smooth material feeding result is output. When the smooth material feeding conditions are not met and the obstructed material feeding conditions are met, the obstructed material feeding result is output. When neither of the above two outputs occurs, the general material feeding result is output.

[0057] The feeding execution module includes a feeding parameter storage subunit and a feeding parameter calling subunit; The feeding parameter storage subunit pre-stores smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters. The smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters all include the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger condition. The feeding parameter calling subunit calls the smooth feeding control parameter when the current batch of material feeding judgment result is smooth feeding result, calls the normal feeding control parameter when the current batch of material feeding judgment result is normal feeding result, and calls the obstructed feeding control parameter when the current batch of material feeding judgment result is obstructed feeding result. Specifically: The feeding parameter storage subunit stores the smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters as three parameter groups. Each parameter group includes the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger condition when the material is officially fed.

[0058] In this embodiment: the opening degree of the bottom valve of the silo is the position where the bottom valve of the silo is opened during the formal feeding stage; the opening speed of the bottom valve of the silo is the speed at which the bottom valve of the silo moves from the closed position to the opening degree required for formal feeding; and the arch breaking trigger condition is the judgment condition for starting the arch breaking mechanism during the formal feeding process.

[0059] Specifically, the arch-breaking triggering conditions may include the formal feeding detection time and the formal feeding descent distance. During the formal feeding detection time, the control system obtains the material surface height through the material surface acquisition module. When the material surface height at the end of the formal feeding detection time has not decreased by the distance from the material surface height at the beginning of the formal feeding detection time to the formal feeding descent distance, the control system starts the arch-breaking mechanism.

[0060] It should be noted that the control parameters for smooth feeding, general feeding, and obstructed feeding are saved to the control system during the equipment commissioning phase. The commissioning personnel set the corresponding hopper bottom valve opening degree, hopper bottom valve opening speed, and arch breaking trigger conditions based on the feeding process corresponding to the smooth feeding result, general feeding result, and obstructed feeding result, so that the parameter set corresponding to the current batch of material feeding judgment result is used in the formal feeding phase.

[0061] During data processing: The feeding parameter calling subunit reads the feeding judgment result of the current batch of materials. When the feeding judgment result of the current batch of materials is a smooth feeding result, the feeding parameter calling subunit calls the smooth feeding control parameters; when the feeding judgment result of the current batch of materials is a normal feeding result, the feeding parameter calling subunit calls the normal feeding control parameters; when the feeding judgment result of the current batch of materials is a blocked feeding result, the feeding parameter calling subunit calls the blocked feeding control parameters.

[0062] The material feeding judgment module includes a material feeding data receiving subunit and a judgment result control subunit; The material feeding data receiving subunit only receives the material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of times local collapses sent by the initial valve opening control module after the continuous material coverage result is formed and within the same preset initial opening time. If the material feeding judgment module does not simultaneously receive the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs within the same preset initial opening time, the judgment result control subunit will not generate the material feeding judgment result for the current batch of materials. Specifically: When the initial valve opening control module sends the material level descent time, material level descent distance, number of times the material level stops descent, and number of times local collapse occurs, it simultaneously sends the corresponding data collection start point and data collection end point. The material feeding data receiving subunit confirms whether the four data items come from the same preset initial opening duration based on the data collection start point and data collection end point.

[0063] During data processing: when the starting points for the material descent time, the material descent distance, the number of times the material descent stops, and the number of times local collapse occurs are the same, and the corresponding starting points are the same, the material feeding data receiving subunit receives the four data items; when any of the four data items is missing, or the starting points for the four data items are different, or the starting points for the four data items are different, the material feeding data receiving subunit does not send the four data items to the material feeding result generation subunit.

[0064] It should be noted that: if the material feeding judgment module does not simultaneously receive the four data items within the same preset initial start time, the judgment result control subunit will not generate the material feeding judgment result for the current batch, and the feeding execution module will not call the smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters.

[0065] In this embodiment, after receiving the material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of times local collapse within the same preset initial opening time, the material feeding judgment module can classify the current batch of material feeding judgment results into smooth feeding results, general feeding results, and obstructed feeding results. The feeding execution module then calls the smooth feeding control parameters, general feeding control parameters, or obstructed feeding control parameters to ensure that the silo bottom valve opening degree, silo bottom valve opening speed, and arch breaking trigger condition during formal feeding correspond to the data obtained from the same initial valve opening. For example, if the material surface descent distance of root and stem slices does not reach the preset second material surface descent distance within the preset initial opening time, the system generates an obstructed feeding result and calls the obstructed feeding control parameters instead of using the smooth feeding control parameters. At the same time, the feeding data receiving subunit only receives four data items within the same preset initial opening time, which can prevent the material surface descent time from being collected from one acquisition and the material surface descent distance from another acquisition from being combined to generate the current batch of material feeding judgment results.

[0066] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended technical solutions and their equivalents.

Claims

1. An automatic weighing and dispensing system for traditional Chinese medicine, characterized in that, It includes a material level acquisition module, a material coverage judgment module, an initial valve opening control module, a material feeding judgment module, and a material feeding execution module; The material surface acquisition module is used to acquire three-dimensional point cloud data of the bottom of the silo through three-dimensional vision after the feeding robot docks the silo containing weighed Chinese herbal medicine pieces to the extraction tank opening, and before the bottom valve of the silo is opened; and to determine the corresponding area of ​​the bottom valve inlet of the silo based on the position and boundary of the bottom valve inlet. The material coverage judgment module is used to generate a continuous material coverage result based on the data in the three-dimensional point cloud data at the bottom of the silo corresponding to the area at the bottom valve inlet of the silo. The continuous material coverage result includes the formation of continuous material coverage and the absence of continuous material coverage. The initial valve opening control module is used to open the bottom valve of the silo to a preset initial opening degree and maintain it for a preset initial opening time when the continuous material coverage result is that continuous material coverage has been formed. Within the preset initial opening time, it collects the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs, and then sends the data to the material discharge judgment module. It is also used to keep the bottom valve of the silo closed and not send the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapse occurs to the material discharge judgment module when the continuous material coverage result is that continuous material coverage has not been formed. The material feeding judgment module is used to generate the material feeding judgment result for the current batch of materials based on the received material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of local collapses. The feeding execution module is used to control the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger conditions during formal feeding based on the current batch material feeding judgment result.

2. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 1, characterized in that, The material surface acquisition module includes an inlet region determination subunit; The inlet area determination subunit determines the plane range of the bottom valve inlet of the silo based on the inner edge contour of the bottom valve inlet, and extends the plane range of the bottom valve inlet of the silo upward along the height direction of the silo to the preset collection height; The space formed by the extension of the entrance area determination sub-unit will be used as the corresponding area for the bottom valve inlet of the silo.

3. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 2, characterized in that, The material surface acquisition module includes an acquisition unit division sub-unit and a material surface basic data acquisition sub-unit; The acquisition unit divides the area corresponding to the bottom valve inlet of the silo into multiple acquisition units with the same area, and selects points located in the area corresponding to the bottom valve inlet of the silo and higher than the bottom valve inlet plane from the three-dimensional point cloud data of the bottom of the silo as material points. The material surface basic data acquisition subunit obtains the material thickness based on the height of the material point relative to the inlet plane of the silo bottom valve, obtains the material coverage area based on the area of ​​the acquisition unit containing the material point, obtains the area of ​​the area without material based on the area of ​​the acquisition unit without the material point, and obtains the uncovered area of ​​the silo bottom valve inlet edge based on the area of ​​the acquisition unit without the material point within a preset width inward from the boundary of the silo bottom valve inlet.

4. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 3, characterized in that, The material coverage determination module includes a coverage condition setting subunit and a coverage result output subunit; The coverage condition setting subunit saves preset coverage conditions, which include material thickness reaching a preset material thickness, material coverage area reaching a preset material coverage area, no material area not exceeding a preset no material area, and no uncovered area at the bottom valve inlet edge of the silo not exceeding a preset no material inlet edge of the silo. When all the preset coverage conditions are met, the coverage result output subunit outputs the continuous material coverage result as forming a continuous material coverage; When at least one of the preset coverage conditions is not met, the coverage result output subunit outputs the continuous material coverage result as no continuous material coverage is formed.

5. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 4, characterized in that, The initial valve opening control module includes an initial valve opening execution subunit; When the continuous material coverage result is the formation of continuous material coverage, the initial valve opening execution subunit sends an initial valve opening command to the bottom valve of the silo, causing the bottom valve of the silo to open from the closed position to the preset initial opening degree; The initial valve opening execution subunit takes the moment when the bottom valve of the silo reaches the preset initial opening degree as the start time of the preset initial opening duration.

6. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 5, characterized in that, The initial valve opening control module includes a data acquisition period determination subunit and a material feeding data acquisition subunit; The data collection period determination subunit takes the start time of the preset initial opening duration as the data collection start point and the end time of the preset initial opening duration as the data collection end point. Between the start and end points of the data collection, the material feeding data acquisition subunit obtains the material surface height of the collection unit at each collection time through the material surface acquisition module. For collection units containing material points, the average height of the material points relative to the inlet plane of the bottom valve of the silo is taken as the material surface height of the collection unit. For collection units without material points, the material surface height is taken as zero. The material feeding data acquisition subunit obtains the material surface height at each acquisition time based on the material surface height of each acquisition unit, and the material surface height is the average value of the material surface height of each acquisition unit within the same acquisition time. The material feeding data acquisition subunit obtains the material descent time based on the time interval between the moment when the material surface height first falls below the material surface height of the collection starting point and reaches the preset descent height and the collection starting point. If there is no instance between the collection starting point and the collection ending point where the material surface height falls below the material surface height of the collection starting point and reaches the preset descent height, the preset initial opening time is used as the material descent time. The material feeding data acquisition subunit obtains the material surface descent distance based on the height difference between the material surface height at the collection start point and the material surface height at the collection end point. When the material surface height at the collection end point is not lower than the material surface height at the collection start point, the material surface descent distance is set to zero. The material feeding data acquisition subunit obtains the number of times the material surface stops falling based on the number of times the difference between the material surface heights at two adjacent acquisition times within a continuous preset stop time is not greater than the preset stop height difference; The material feeding data acquisition subunit obtains the number of local collapses based on the number of times the value obtained by subtracting the material surface height of the acquisition unit from the material surface height of the acquisition unit at the previous acquisition time exceeds the preset collapse height.

7. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 6, characterized in that, The initial valve opening control module includes an uncovered processing subunit; When the result of continuous material coverage is that no continuous material coverage is formed, the uncovered processing subunit keeps the bottom valve of the silo closed; The uncovered processing subunit does not send the material descent time, material descent distance, number of times the material descent stops, and number of times local collapses to the material descent judgment module.

8. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 7, characterized in that, The material feeding judgment module includes a material feeding condition setting subunit and a material feeding result generation subunit; The material feeding condition setting subunit stores the conditions for successful material feeding and the conditions for obstructed material feeding, and sets the material feeding judgment results for the current batch of materials to include successful material feeding results, normal material feeding results, and obstructed material feeding results; The conditions for successful material feeding include: the material surface descent distance reaching a preset first material surface descent distance, the material surface descent time not exceeding a preset first material surface descent time, the number of times the material surface stops descent not exceeding a preset first number of times the material surface stops descent, and the number of times local collapses do not exceed a preset first number of times local collapses. The obstructed feeding conditions include at least one of the following: the material surface descent distance does not reach the preset second material surface descent distance, the material surface descent time exceeds the preset second material surface descent time, the number of times the material surface stops descent exceeds the preset second number of times the material surface stops descent, and the number of times local collapse exceeds the preset second number of times local collapse occurs. The material feeding result generation subunit generates a successful material feeding result when the successful material feeding condition is met. The material feeding result generation subunit generates a blocked material feeding result when the smooth material feeding condition is not met and the blocked material feeding condition is met. The material feeding result generation subunit generates a general material feeding result when the smooth material feeding condition is not met and the obstructed material feeding condition is not met.

9. The automatic weighing and dispensing system for traditional Chinese medicine according to claim 8, characterized in that, The feeding execution module includes a feeding parameter storage subunit and a feeding parameter calling subunit; The feeding parameter storage subunit pre-stores smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters. The smooth feeding control parameters, general feeding control parameters, and obstructed feeding control parameters all include the opening degree of the bottom valve of the silo, the opening speed of the bottom valve of the silo, and the arch breaking trigger condition. The feeding parameter calling subunit calls the smooth feeding control parameter when the current batch of material feeding judgment result is smooth feeding result, calls the normal feeding control parameter when the current batch of material feeding judgment result is normal feeding result, and calls the obstructed feeding control parameter when the current batch of material feeding judgment result is obstructed feeding result.

10. An automatic weighing and dispensing system for traditional Chinese medicine according to claim 9, characterized in that, The material feeding judgment module includes a material feeding data receiving subunit and a judgment result control subunit; The material feeding data receiving subunit only receives the material surface descent time, material surface descent distance, number of times the material surface stopped descent, and number of times local collapses sent by the initial valve opening control module after the continuous material coverage result is formed and within the same preset initial opening time. If the material feeding judgment module does not simultaneously receive the material surface descent time, material surface descent distance, number of times the material surface stops descent, and number of times local collapses within the same preset initial start time, the judgment result control subunit will not generate the material feeding judgment result for the current batch of materials.

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