An on-line detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces

Abstract

The present application relates to a kind of traditional Chinese medicine decoction pieces internal defect on-line detection and flexible rejection device, including rack, and the transmission belt and detection dark box being set on rack, flexible pneumatic array rejection mechanism is equipped on the rack below the discharge end of transmission belt, detection dark box includes feed inlet and discharge outlet, acquisition module is equipped in detection dark box, the acquisition module includes hyperspectral imaging unit, X-ray transmission unit and 3D structured light projection unit, data processing terminal is equipped on the outer wall of detection dark box;The present application has the advantages that: by the acquisition module of hyperspectral imaging unit, X-ray transmission unit and 3D structured light projection unit composition detects traditional Chinese medicine decoction pieces, can be detected from three dimensions of component, internal structure and appearance form to traditional Chinese medicine decoction pieces, to accurately identify internal insect damage, hollow, mildew and appearance defect, size unqualified and other various defects, avoid the misjudgment and missed detection of single detection dimension, improve detection quality.

Description

Technical Field

[0001] This invention relates to an online detection and flexible rejection device for internal defects in traditional Chinese medicine decoction pieces. Background Technology

[0002] Prepared herbal medicine pieces are the core carriers of processed Chinese medicinal materials, directly used in clinical practice. Their quality is directly related to the clinical efficacy and medication safety of traditional Chinese medicine. During production and storage, prepared herbal medicine pieces are prone to defects such as internal voids, cracks, impurities, mold, and insect infestation due to factors such as fluctuations in environmental temperature and humidity, differences in processing techniques, and improper storage conditions. These defects not only damage the structural integrity of the prepared herbal medicine pieces, leading to abnormal release of medicinal components, but may also pose medical safety risks. Therefore, achieving accurate online detection and efficient removal of internal defects is a key technical problem that urgently needs to be solved in the intelligent manufacturing of modern prepared herbal medicine pieces.

[0003] Traditional quality control of Chinese herbal medicine slices relies primarily on manual identification, depending on the visual observation of surface characteristics such as color and shape. This method is inefficient, highly subjective, and struggles to identify early, subtle internal defects, resulting in high rates of missed and false detections, failing to meet the quality control requirements of large-scale production lines. While some companies have introduced single-vision inspection and near-infrared spectroscopy with the development of automation technology, significant limitations remain: single-vision technology can only capture surface information and cannot penetrate the slices to obtain internal structure and component distribution, lacking the ability to identify internal cracks, impurities, and other defects; while near-infrared spectroscopy can reflect chemical components, it struggles to accurately locate morphological defects and is easily affected by ambient light and surface texture, resulting in poor detection stability. Summary of the Invention

[0004] The purpose of this invention is to solve the problem of poor detection stability caused by existing detection devices that can only capture surface information. This invention proposes an online detection and flexible rejection device for internal defects in Chinese herbal medicine slices. The device uses a data acquisition module composed of a hyperspectral imaging unit, an X-ray transmission unit, and a 3D structured light projection unit to detect Chinese herbal medicine slices. It can detect the slices from three dimensions: composition, internal structure, and appearance. This allows for accurate identification of various defects such as internal insect infestation, hollowness, mold, as well as external defects and dimensional inconsistencies, avoiding misjudgments and missed detections due to a single detection dimension, thus improving the quality of detection.

[0005] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution: an online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces, comprising a frame, a conveyor belt and a detection dark box mounted on the frame, a flexible pneumatic array rejection mechanism mounted on the frame below the discharge end of the conveyor belt, the detection dark box comprising an inlet and an outlet, and a data acquisition module mounted inside the detection dark box, the data acquisition module comprising a hyperspectral imaging unit, an X-ray transmission unit and a 3D structured light projection unit, a data processing terminal mounted on the outer wall of the detection dark box, the hyperspectral imaging unit, the X-ray transmission unit, the 3D structured light projection unit and the flexible pneumatic array rejection mechanism all being connected to the data processing terminal, a weight acquisition module mounted on the frame and communicatively connected to the data processing terminal, the flexible pneumatic array rejection mechanism receiving rejection commands from the data processing terminal, and independently adjusting the air pressure and opening sequence of the flexible pneumatic array rejection mechanism based on the target weight data acquired by the weight acquisition module and the real-time position coordinates of the target.

[0006] Preferably, the detection chamber includes a chamber body and a partition disposed within the chamber body. The partition divides the chamber body into an optical detection chamber and a radiation detection chamber. A gap is provided between the partition and the conveyor belt for the passage of Chinese herbal medicine slices. The hyperspectral imaging unit and the 3D structured light projection unit are disposed within the optical detection chamber and located above the conveyor belt. The X-ray transmission unit is disposed within the radiation detection chamber and located on the upper and lower sides or both sides of the conveyor belt.

[0007] Preferably, the partition includes a fixed part and a movable part. The top end of the fixed part is fixed to the box body, and the bottom end of the fixed part is provided with a groove. The movable part slides and extends within the groove. The box body is provided with an electric push rod connected to the movable part.

[0008] Preferably, the front and rear side walls of the enclosure are provided with adjustment seats for mounting X-ray transmission units, and the adjustment seats are movably connected to the enclosure.

[0009] Preferably, the data processing terminal includes a housing, a main control processor, a timing control module, a spatial alignment module, and a display. A rotating arm is provided on the outer wall of the housing, and a mounting base for mounting the housing is provided on the rotating arm. The timing control module, the spatial alignment module, and the main control processor are all built into the housing and connected for data communication. The timing control module receives the real-time position signal from the transmission belt displacement encoder and generates a synchronous trigger signal to be sent to the hyperspectral imaging unit, the X-ray transmission unit, and the 3D structured light projection unit. The spatial alignment module receives the multi-source raw data output by the acquisition module, performs coordinate remapping and spatial registration based on a single overcurrent displacement reference, and outputs the aligned multi-source dataset to the main control processor. The display is located on the outer wall of the housing.

[0010] Preferably, the timing control module includes an FPGA synchronization circuit. The FPGA synchronization circuit uses the pulse signal of the displacement encoder as a clock reference and dynamically calculates the trigger delay based on the physical installation offset of each acquisition unit relative to the detection reference plane, so that the line exposure time of the hyperspectral imaging unit, the exposure time of the X-ray transmission unit, and the projection time of the 3D structured light projection unit are aligned with the same physical cross section of the transmission band. The spatial alignment module includes a displacement trigger slicing unit, a pre-calibration mapping lookup table unit, and a dynamic compensation unit. The displacement trigger slicing unit is configured to use the cumulative displacement of the displacement encoder as a spatial index to divide the continuous raw data stream into spatial synchronization data frames according to a preset displacement step size. The pre-calibration mapping lookup table unit is configured to call the pre-stored rigid transformation matrix of each acquisition unit to the dark box reference coordinate system and perform coordinate remapping on the spatial synchronization data frames. The dynamic compensation unit is configured to generate a timing offset correction amount based on the encoder pulse interval change rate and perform sub-pixel level spatial translation correction on the remapped multi-source data.

[0011] Preferably, the flexible pneumatic array rejection mechanism includes a stainless steel perforated mesh belt, a microporous air curtain panel, an independent air pressure control valve group, and an air path filtration assembly. The stainless steel perforated mesh belt is mounted on a frame, and the microporous air curtain panel is mounted on a frame below the stainless steel perforated mesh belt. The microporous air curtain panel has several micron-sized air outlet holes distributed on it. The independent air pressure control valve group is connected to a data processing terminal. The air path filtration assembly includes an air filter, a dryer, and an oil mist separator connected in sequence. The air path filtration assembly is located between the independent air pressure control valve group and the air source.

[0012] Preferably, the data processing terminal calculates the minimum pushing force Fmin=μmg+ma based on the friction coefficient and weight of the Chinese herbal medicine slices; where: μ is the friction coefficient between the Chinese herbal medicine slices and the conveyor belt, m is the weight data of the Chinese herbal medicine slices collected by the weight acquisition module, g is the gravitational acceleration, and a is a preset acceleration threshold; the data processing terminal distributes the calculated Fmin to the micron-level vents covering the projected area of ​​the slices, so that the output force of a single micron-level vent is f=Fmin / N, where N is the number of micron-level vents.

[0013] Preferably, the micron-sized air outlets are distributed in an alternating matrix on the microporous air curtain panel, and several independent control zones are provided along the width of the conveyor belt; the density of the micron-sized air outlets in each control zone increases or decreases, the pore size of the micron-sized air outlets is 50 to 500 μm, and the surface of the microporous air curtain panel is provided with a polytetrafluoroethylene coating, the thickness of the polytetrafluoroethylene coating is 5 to 10 μm.

[0014] Preferably, the weight acquisition module includes a weighing sensor and a vibration damping seat. The weighing sensor is mounted on the frame via the vibration damping seat and is located below the feed section of the conveyor belt. The vibration damping seat is provided with an elastic shock-absorbing pad and / or a damper.

[0015] In summary, the advantages of this invention are as follows: The acquisition module, composed of a hyperspectral imaging unit, an X-ray transmission unit, and a 3D structured light projection unit, can detect traditional Chinese medicine (TCM) decoction pieces from three dimensions: composition, internal structure, and appearance. This allows for accurate identification of various defects such as internal insect infestation, hollowness, mold, and external defects or dimensional inconsistencies, avoiding misjudgments and missed detections based on a single detection dimension, thus improving detection quality. Furthermore, placing the acquisition module inside a dark chamber avoids interference from external light, dust, and electromagnetic fields on the imaging and detection results, ensuring... The defect detection accuracy is stable and consistent. Secondly, a data processing terminal is installed on the outer wall of the detection chamber. Since the hyperspectral imaging unit, X-ray transmission unit, 3D structured light projection unit, and flexible pneumatic array rejection mechanism are all connected to the data processing terminal, it can perform fusion analysis, defect identification, and acceptance judgment on the information collected by the hyperspectral imaging unit, X-ray transmission unit, and 3D structured light projection unit. Simultaneously, it tracks the position coordinates of the medicinal slices on the conveyor belt in real time. When a medicinal slice is determined to be defective, the data processing terminal, based on its real-time position, sends a signal to the flexible pneumatic array rejection mechanism. The array rejection mechanism issues rejection control commands with corresponding timing and air pressure. After receiving the commands, the flexible pneumatic array rejection mechanism precisely executes the rejection action according to preset parameters, separating unqualified medicinal slices from the production line. Qualified medicinal slices are then normally transported to the next process, thus completing the entire process of online detection and flexible rejection. This improves the quality control efficiency of the production line without requiring downtime for diversion, meeting the needs of large-scale and continuous production of Chinese herbal medicine slices. In addition, the data processing terminal can uniformly store information such as detection images, defect types, rejection records, and location coordinates, forming a complete production quality ledger and supporting subsequent quality traceability. Through tracing, statistical analysis, and process optimization, the process meets the requirements of Good Manufacturing Practices (GMP) for pharmaceuticals. Finally, the flexible pneumatic array rejection mechanism independently adjusts the air pressure and timing based on the target weight data collected by the weight acquisition module and the real-time position coordinates of the target. This allows for matching the most suitable rejection force to non-conforming medicinal slices of different weights and locations. While ensuring accurate rejection, it minimizes the impact of airflow on surrounding qualified medicinal slices and avoids secondary damage to the medicinal slices caused by rigid rejection. It is adaptable to medicinal slices of different sizes and weights, maximizing the appearance integrity of qualified medicinal slices and protecting the commercial value of the product. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the structure of an online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to the present invention; Figure 2 This is a control principle diagram of an online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to the present invention; Figure 3 This is a schematic diagram of the detection dark box in this invention; Figure 4 This is a schematic diagram of the data processing terminal in the detection dark box in this invention; Figure 5 This is a structural block diagram of the data processing terminal in this invention; Figure 6 This is a schematic diagram of the flexible pneumatic array rejection mechanism in this invention; Figure 7 This is a partial enlarged view of the microporous air curtain panel in this invention; Figure 8 This is a schematic diagram of the weight acquisition module in this invention.

[0017] Figure label: 1. Frame, 11. Conveyor Belt, 2. Detection Dark Box, 21. Inlet, 22. Outlet, 23. Housing, 231. Optical Detection Chamber, 232. X-ray Detection Chamber, 24. Partition, 241. Fixed Part, 242. Moving Part, 243. Groove, 25. Gap, 26. Electric Push Rod, 27. Adjustment Seat, 28. Rotating Arm, 29. Mounting Seat, 3. Flexible Pneumatic Array Rejection Mechanism, 30. Stainless Steel Perforated Mesh Belt, 31. Microporous Air Curtain Panel, 32. Independent Air Pressure Control Valve Assembly, 33. Air Filter Assembly, 34. Air Outlet, 35. Air Filter, 36. Dryer, 37. Oil Mist Separator, 38. Air Source, 39. PTFE Coating, 4. Acquisition Module, 41. Hyperspectral Imaging Unit, 42. X-ray Transmission Unit, 43. 3D structured light projection unit, 5 data processing terminal, 51 housing, 52 main control processor, 53 timing control module, 54 spatial alignment module, 55 display, 56 displacement trigger slicing unit, 57 pre-calibration mapping lookup table unit, 58 dynamic compensation unit, 6 weight acquisition module, 61 weighing sensor, 62 anti-vibration buffer seat, 63 elastic shock absorption pad, 64 damper. Detailed Implementation

[0018] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, an online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces includes a frame 1, a conveyor belt 11 and a detection dark box 2 mounted on the frame 1. A flexible pneumatic array rejection mechanism 3 is provided on the frame 1 below the discharge end of the conveyor belt 11. The detection dark box 2 includes an inlet 21 and an outlet 22. The detection dark box 2 is equipped with a data acquisition module 4, which includes a hyperspectral imaging unit 41, an X-ray transmission unit 42 and a 3D structured light projection unit 43. The hyperspectral imaging unit 41, X-ray transmission unit 42 and 3D structured light projection unit 43 are all existing technologies and will not be described in detail in this embodiment. Specifically, the hyperspectral imaging unit 41 can capture the molecular spectral characteristics inside the decoction pieces, and can distinguish decoction pieces with the same appearance but abnormal composition, such as loss of effective ingredients or adulteration, thus overcoming the limitation of traditional visual inspection that can only see the surface. The X-ray transmission unit 42 can penetrate the decoction pieces and clearly show internal pores, insect infestation, and mold. Defects that cannot be detected by the naked eye and surface imaging are detected at a depth far exceeding other optical detection methods. The 3D structured light projection unit 43 can quickly construct a three-dimensional model of the medicinal slices and accurately measure the volume, thickness, shape and other dimensional parameters of the medicinal slices. It can detect defects such as incompleteness and deformation. No processing of the medicinal slices is required during detection, and the surface structure of the medicinal slices will not be damaged. The outer wall of the detection dark box 2 is equipped with a data processing terminal 5. The hyperspectral imaging unit 41, X-ray transmission unit 42, 3D structured light projection unit 43 and flexible pneumatic array rejection mechanism 3 are all connected to the data processing terminal 5. The frame 1 is equipped with a weight acquisition module 64 that is communicatively connected to the data processing terminal 5. The flexible pneumatic array rejection mechanism 3 receives rejection instructions from the data processing terminal 5 and independently adjusts the air pressure and opening sequence of the flexible pneumatic array rejection mechanism 3 according to the target weight data and the real-time position coordinates of the target collected by the weight acquisition module 64.

[0019] The acquisition module 4, composed of a hyperspectral imaging unit 41, an X-ray transmission unit 42, and a 3D structured light projection unit 43, detects traditional Chinese medicine (TCM) decoction pieces. It can detect TCM decoction pieces from three dimensions: composition, internal structure, and appearance. This allows for accurate identification of various defects such as internal insect infestation, hollowness, mold, and external defects or dimensional inconsistencies, avoiding misjudgments and missed detections based on a single detection dimension, thus improving detection quality. Furthermore, placing the acquisition module 4 inside the detection dark box 2 avoids interference from external light, dust, and electromagnetic fields on imaging and detection results, ensuring stable and consistent detection accuracy. Secondly, a data processing terminal 5 is installed on the outer wall of the inspection dark box 2. Since the hyperspectral imaging unit 41, X-ray transmission unit 42, 3D structured light projection unit 43, and flexible pneumatic array rejection mechanism 3 are all connected to the data processing terminal 5, the data processing terminal 5 can perform fusion analysis, defect identification, and acceptance judgment on the information collected by the hyperspectral imaging unit 41, X-ray transmission unit 42, and 3D structured light projection unit 43. At the same time, it can track the position coordinates of the medicinal slices on the conveyor belt 11 in real time. When a medicinal slice is determined to be unqualified, the data processing terminal 5 will determine its position based on its real-time position. The system sends rejection control commands with corresponding timing and air pressure to the flexible pneumatic array rejection mechanism 3. Upon receiving the commands, the flexible pneumatic array rejection mechanism 3 precisely executes the rejection action according to preset parameters, separating unqualified medicinal slices from the production line. Qualified medicinal slices are then normally transported to the next process, thus completing the entire process of online detection and flexible rejection. This improves the quality control efficiency of the production line without requiring downtime for diversion, meeting the needs of large-scale and continuous production of Chinese herbal medicine slices. In addition, the data processing terminal 5 can uniformly store information such as detection images, defect types, rejection records, and location coordinates, forming a complete production quality ledger to support subsequent... Quality traceability, statistical analysis, and process optimization meet the requirements of Good Manufacturing Practices (GMP) for pharmaceuticals. Finally, the flexible pneumatic array rejection mechanism 3 independently adjusts the air pressure and timing based on the target weight data collected by the weight acquisition module 64 and the real-time position coordinates of the target. It can match the most suitable rejection force for unqualified medicinal slices of different weights and positions, ensuring accurate rejection while minimizing the impact of airflow on surrounding qualified medicinal slices and avoiding secondary damage to the medicinal slices caused by rigid rejection. It is adaptable to medicinal slices of different sizes and weights, maximizing the appearance integrity of qualified medicinal slices and protecting the commercial value of the product.

[0020] The detection dark box 2 includes a box body 23 and a partition 24 disposed within the box body 23. The partition 24 divides the box body 23 into an optical detection cavity 231 and a radiation detection cavity 232. A gap 25 for the passage of Chinese herbal medicine slices is provided between the partition 24 and the conveyor belt 11. The hyperspectral imaging unit 41 and the 3D structured light projection unit 43 are disposed within the optical detection cavity 231 and located above the conveyor belt 11. The X-ray transmission unit 42 is disposed within the radiation detection cavity 232 and located on the upper and lower sides or both sides of the conveyor belt 11. The partition 24 divides the box body 23 into the optical detection cavity 231 and the radiation detection cavity 232, effectively isolating the hyperspectral imaging... The mutual interference between 3D structured light projection and X-ray transmission ensures that the detection accuracy of each acquisition unit is not affected. A gap 25 is reserved between the partition 24 and the conveyor belt 11 for the passage of Chinese herbal medicine pieces, which not only ensures the smooth passage of Chinese herbal medicine pieces during the transmission process, but also reduces light and X-ray crosstalk between the two cavities, avoiding identification deviations caused by detection signal interference. The hyperspectral and 3D structured light units are arranged in the optical detection cavity 231 and the X-ray unit is arranged in the X-ray detection cavity 232, and precisely positioned at the corresponding positions on the conveyor belt 11, so as to realize the comprehensive and accurate acquisition of the optical characteristics, spatial morphology and internal structure of the herbal medicine pieces, further improving the accuracy and stability of defect identification. The partition 24 includes a fixed part 241 and a movable part 242. The top end of the fixed part 241 is fixed to the housing 23, and the bottom end of the fixed part 241 is provided with a groove 243. The movable part 242 slides and extends within the groove 243. The housing 23 is provided with an electric push rod 26 connected to the movable part 242. By setting the partition 24 as a fixed part 241 and a movable part 242, since the bottom end of the fixed part 241 is provided with a groove 243 for the movable part 242 to slide and extend, the size of the gap 25 between the partition 24 and the conveyor belt 11 can be dynamically adapted according to the different thicknesses and sizes of Chinese herbal medicine slices, thus being compatible with the detection requirements of various specifications of herbal medicine slices. In addition, the electric push rod 26 enables the automatic extension and retraction of the movable part 242 without manual disassembly and adjustment, improving the convenience of operation and effectively avoiding problems such as herbal medicine slice jamming, poor transmission, or detection interference caused by the fixed gap 25. The front and rear side walls of the housing 23 are each provided with an adjustment seat 27 for mounting the X-ray transmission unit 42, and the adjustment seat 27 is movably connected to the housing 23. By setting the adjustment seat 27 for mounting the X-ray transmission unit 42 inside the housing 23, since the adjustment seat 27 is movably connected to the housing 23, the emission angle and distance of the X-ray can be optimized according to parameters such as the thickness and density of the medicinal slices, so as to ensure the accuracy of internal defect detection. For example, when detecting thick medicinal slices, the distance between the X-ray source and the medicinal slices can be brought closer to improve the penetration effect. In this embodiment, the adjustment seat 27 is mounted on the housing 23 through a sliding module. The specific installation structure is existing technology and will not be described in detail in this embodiment, which can ensure the straightness of the movement of the adjustment seat 27.

[0021] The data processing terminal 5 includes a housing 51, a main control processor 52, a timing control module 53, a spatial alignment module 54, and a display 55. A rotating arm 28 is provided on the outer wall of the housing 23, and a mounting base 29 for mounting the housing 51 is provided on the rotating arm 28. In this embodiment, the main control processor 52, the display 55, and the rotating arm 28 are existing technologies and will not be described in detail. The timing control module 53, the spatial alignment module 54, and the main control processor 52 are all built into the housing 51 and are connected for data communication. The timing control module 53 receives the real-time position signal from the displacement encoder of the transmission belt 11 and generates a synchronous trigger signal, which is sent to the hyperspectral imaging unit 41, the X-ray transmission unit 42, and the 3D structured light projection unit 43. The spatial alignment module 54 receives the multi-source raw data output by the acquisition module 4, performs coordinate remapping and spatial registration based on a single overcurrent displacement reference, and outputs the aligned multi-source dataset to the main control processor. The device 52, with the display 55 mounted on the outer wall of the housing 51, is equipped with a data processing terminal 5 housing 51 via a rotating arm 28 and mounting base 29 on the outer wall of the housing 23. The angle of the display 55 can be flexibly adjusted, allowing operators to view detection data, defect results, and equipment parameters from different positions, significantly improving operational convenience. The timing control module 53, spatial alignment module 54, and main control processor 52 are integrated into the housing 51 and communicate with each other, enabling synchronous triggering, spatial alignment, and centralized processing of multi-source acquired data. This effectively solves the problems of low recognition accuracy and data asynchrony caused by simple superposition of existing multi-source data. The timing control module 53 receives the real-time position signal from the displacement encoder of the transmission belt 11 and generates a synchronous trigger signal to be sent to the three acquisition units, ensuring that the three acquire the same cross-section of the slice data synchronously. The spatial alignment module 54 realizes coordinate remapping and registration of multi-source data based on a single overcurrent displacement reference, providing reliable data support for accurate defect identification.

[0022] The timing control module 53 includes an FPGA synchronization circuit. This FPGA synchronization circuit uses the pulse signal from the displacement encoder as a clock reference and dynamically calculates the trigger delay based on the physical installation offset of each acquisition unit relative to the detection reference plane. This ensures that the line exposure time of the hyperspectral imaging unit 41, the exposure time of the X-ray transmission unit 42, and the projection time of the 3D structured light projection unit 43 are aligned with the same physical cross-section of the transmission band 11. This guarantees precise alignment of the line exposure time of the hyperspectral imaging unit 41, the exposure time of the X-ray transmission unit 42, and the projection time of the 3D structured light projection unit 43 with the same physical cross-section of the transmission band 11, avoiding defect positioning deviations caused by asynchronous acquisition. The spatial alignment module 54 includes a displacement trigger slicing unit 56, a pre-calibration mapping lookup table unit 57, and a dynamic compensation unit 58. The displacement trigger slicing unit 56 is configured with a displacement encoder. The cumulative displacement is used as a spatial index to divide the continuous raw data stream into spatial synchronization data frames according to a preset displacement step size. The pre-calibration mapping lookup unit 57 is configured to call the pre-stored rigid transformation matrix of each acquisition unit to the dark box reference coordinate system to perform coordinate remapping on the spatial synchronization data frames. The dynamic compensation unit 58 is configured to generate a timing offset correction amount based on the encoder pulse interval change rate and perform sub-pixel level spatial translation correction on the remapped multi-source data. The synchronous data frames are divided by the displacement trigger slicing unit 56 with the cumulative displacement as the spatial index, the pre-calibration mapping lookup unit 57 calls the rigid transformation matrix to realize coordinate remapping, and the dynamic compensation unit 58 performs sub-pixel level correction based on the encoder pulse interval change rate. This effectively solves the problem of spatial misalignment of multi-source data, significantly improves the accuracy and robustness of defect identification, and can adapt to small fluctuations during the operation of the conveyor belt 11.

[0023] Specifically, in use, the FPGA synchronization circuit uses the pulse signal output by the displacement encoder of the conveyor belt 11 as a clock reference. The displacement encoder collects the running displacement and speed information of the conveyor belt 11 in real time. Each output pulse corresponds to a fixed displacement of the conveyor belt 11 (e.g., 0.1 mm). The FPGA synchronization circuit uses this as a reference to capture the running status of the conveyor belt 11 in real time. At the same time, the FPGA synchronization circuit pre-stores the physical installation offset of each acquisition unit (hyperspectral imaging unit 41, X-ray transmission unit 42, and 3D structured light projection unit 43) relative to the detection reference surface of the device (i.e., the distance difference and position deviation between each acquisition unit and the detection reference surface), and dynamically calculates the trigger delay time of each acquisition unit based on the offset. By accurately calculating the trigger delay, the FPGA synchronization circuit generates a synchronous trigger signal, which is sent to the three acquisition units respectively, ultimately achieving precise alignment of the horizontal exposure time of the hyperspectral imaging unit 41, the exposure time of the X-ray transmission unit 42, and the projection time of the 3D structured light projection unit 43 with the same physical cross section of the conveyor belt 11.

[0024] The spatial alignment module 54 is the core processing unit for achieving accurate fusion of multi-source acquired data. Its core function is to solve the spatial misalignment problem caused by different installation positions and coordinate systems of hyperspectral imaging data, X-ray transmission data, and 3D structured light projection data due to different acquisition unit installation positions. By performing coordinate correction, synchronous segmentation, and precise compensation on the original multi-source data, it outputs an aligned multi-source dataset, providing unified and accurate data support for the defect identification algorithm of the data processing terminal 5, thereby improving the accuracy of defect identification. The displacement trigger slicing unit 56 uses the cumulative displacement of the displacement encoder as a spatial index and pre-sets a fixed displacement step size (e.g., 0.1mm, consistent with the displacement corresponding to the pulse of the displacement encoder). When the conveyor belt 11 runs to the preset displacement step size, this unit triggers a data slice, dividing the continuous data stream output by the three acquisition units at the current moment into a complete spatial synchronous data frame. Each data frame corresponds to a slice at a fixed physical position on the conveyor belt 11, ensuring that the multi-source data frame and the actual position of the slice are accurately correlated, laying the foundation for subsequent coordinate remapping. The pre-calibration mapping lookup unit 57 addresses the inconsistency in coordinate systems among the acquisition units. Through a pre-set rigid transformation matrix, it maps the original data coordinates of each acquisition unit to the reference coordinate system of the darkroom 2, achieving coordinate unification of multi-source data. Specifically, during the device debugging phase, the hyperspectral imaging unit 41, X-ray transmission unit 42, and 3D structured light projection unit 43 are pre-calibrated to obtain the rigid transformation matrix between each acquisition unit's own coordinate system and the darkroom reference coordinate system (this matrix includes parameters such as translation, rotation, and scaling, used to characterize the positional relationship between each acquisition unit's coordinate system and the reference coordinate system). This matrix is ​​then stored in the storage module of the data processing terminal 5. When the pre-calibration mapping lookup unit 57 receives the spatial synchronization data frame output by the displacement-triggered slicing unit 56, it calls the pre-stored rigid transformation matrix to perform coordinate remapping operations on each frame of multi-source original data. This converts the original data coordinates of the hyperspectral, X-ray, and 3D structured light data into coordinates under the darkroom reference coordinate system, achieving initial alignment of multi-source data in spatial coordinates. The dynamic compensation unit 58 compensates for minute spatial misalignments in multi-source data caused by minor fluctuations during the operation of the conveyor belt 11 (such as unstable speed or slight vibration of the conveyor belt 11), achieving sub-pixel level precise correction and further improving the alignment accuracy of multi-source data.The specific working process is as follows: The dynamic compensation unit 58 collects the pulse interval change rate output by the displacement encoder in real time, judges the operating status of the conveyor belt 11 (such as whether the speed fluctuates or whether there is slight slippage) by the pulse interval change rate, and generates a timing offset correction amount based on the change rate; then, the correction amount is applied to the multi-source data after remapping by the pre-calibration mapping lookup unit 57, and performs sub-pixel level spatial translation correction on the data to eliminate the spatial misalignment of multi-source data caused by the slight fluctuation of the conveyor belt 11, and ensures that the multi-source data can be accurately aligned to the same position of the same slice, providing extremely high-precision data support for subsequent defect identification (such as accurate positioning of internal cracks and surface defects).

[0025] Finally, the flexible pneumatic array rejection mechanism 3 includes a stainless steel perforated mesh belt 30, a microporous air curtain panel 31, an independent air pressure control valve group 32, and an air path filter assembly 33. The stainless steel perforated mesh belt 30 is mounted on the frame 1, and the microporous air curtain panel 31 is mounted on the frame 1 below the stainless steel perforated mesh belt 30. The microporous air curtain panel 31 has several micron-sized air outlet holes 34 distributed on it. The independent air pressure control valve group 32 is connected to the data processing terminal 5, and the air path filter assembly 33 includes air filters connected in sequence. The system comprises a device 35, a dryer 36, and an oil mist separator 37. The air path filter assembly 33 is positioned between the independent air pressure control valve group 32 and the air source 38. The flexible pneumatic array rejection mechanism 3 is configured as a stainless steel perforated mesh belt 30, a microporous air curtain panel 31, an independent air pressure control valve group 32, and an air path filter assembly 33. Because the microporous air curtain panel 31 has micron-sized air outlet holes 34, it can generate a gentle and uniform airflow, effectively pushing the Chinese herbal medicine slices away from the conveyor belt 11 without causing damage due to excessive impact force, perfectly suited for... When handling delicate materials like Chinese medicinal herbs, the system allows for precise adjustment of airflow in specific areas based on the location and weight of the herbs, achieving "point-to-point" accurate removal and preventing accidental or missed removal. The stainless steel perforated mesh belt 30 does not obstruct airflow. Furthermore, the independent air pressure control valve group 32 is linked to the data processing terminal 5, laying the foundation for subsequent dynamic adjustment of air pressure based on the weight and real-time location of the herbs. This allows for real-time adjustment of air pressure and opening sequence for each defective herb, ensuring effective removal while maximizing air conservation. Furthermore, it can avoid secondary damage to Chinese herbal medicine slices. Finally, the air path filter assembly 33 is set as an air filter 35, a dryer 36 and an oil mist separator 37 connected in sequence. Since the air path filter assembly 33 is set between the independent air pressure control valve group 32 and the air source 38, it can effectively remove moisture, impurities and oil mist from the compressed air, avoid clogging the micron-level air outlet 34 of the microporous air curtain panel 31, extend the service life of the rejection mechanism 3, and at the same time ensure the stability and uniformity of air pressure output, reducing the overall maintenance cost.

[0026] The data processing terminal 5 calculates the minimum pushing force Fmin = μmg + ma based on the friction coefficient and weight of the Chinese herbal medicine slices; where: μ is the friction coefficient between the Chinese herbal medicine slices and the conveyor belt, m is the weight data of the Chinese herbal medicine slices collected by the weight acquisition module 64, g is the gravitational acceleration, and a is a preset acceleration threshold; the data processing terminal 5 distributes the calculated Fmin to the micron-level vent 34 covering the projected area of ​​the slices, so that the output force of a single micron-level vent 34 is f = Fmin / N, where N is the micron-level... The number of vents 34, calculated based on the friction coefficient and weight of the medicinal herb slices, determines the minimum pushing force Fmin. This ensures precise removal of defective slices from the conveyor belt 11 without damaging the slices due to excessive force or failing to remove them due to insufficient force. It is adaptable to slices of different weights and friction coefficients, allowing for personalized and precise adjustment of the removal force. This improves the accuracy and reliability of removal, effectively avoiding mis-removal and missed removal, further ensuring the quality control of the slices, and meeting the needs of large-scale production. In this embodiment, a is preferably set to 0.5 m / s. 2 ~2.0m / s 2 Specifically, the settings can be flexibly adjusted according to the physical properties of the Chinese herbal medicine pieces to ensure that they are always in the optimal rejection state.

[0027] The micron-sized air outlets 34 are arranged in a staggered matrix on the microporous air curtain panel 31, and several independent control zones are provided along the width direction of the conveyor belt 11. The density of the micron-sized air outlets 34 in each control zone increases or decreases. The pore size of the micron-sized air outlets 34 is 50-500 μm, and the surface of the microporous air curtain panel 31 is provided with a polytetrafluoroethylene coating 39, the thickness of which is 5-10 μm. The staggered matrix distribution of the air outlets 34 on the microporous air curtain panel 31, and the provision of several independent control zones along the width direction of the conveyor belt 11, enables... The micropores in the corresponding areas are precisely controlled based on the projected area of ​​the medicinal slices to achieve targeted and precise removal, avoiding wasted airflow. Secondly, the density of the micron-level air outlets 34 in each control zone is increased or decreased. The pore diameter of these micron-level air outlets 34 is 50–500 μm, adaptable to medicinal slices of different sizes and weights, ensuring uniform and stable thrust and preventing damage to the slices from excessive local thrust. When the pore diameter of the micron-level air outlets 34 is less than 50 μm, the airflow pattern is prone to instability, making it impossible to accurately target the medicinal slices and potentially affecting the overall performance. To improve the rejection effect, the micron-sized air outlet 34 is prone to clogging. When the diameter of the micron-sized air outlet 34 is greater than 500μm, the airflow easily becomes a columnar airflow with strong impact force, which can easily damage the integrity of the Chinese herbal medicine pieces, resulting in material waste. Moreover, the airflow has a wide coverage area and can easily blow onto adjacent qualified Chinese herbal medicine pieces, making it impossible to achieve precise point-to-point force control. Finally, by applying a polytetrafluoroethylene coating 39 to the surface of the microporous air curtain panel 31, the adhesion of herbal medicine fragments can be effectively reduced, facilitating daily cleaning of the equipment, reducing the probability of micropore clogging, and improving the rejection mechanism. The ease of maintenance and long-term operational stability of component 3 will not interfere with the airflow pattern of the micron-level air outlet 34, ensuring the accuracy of flexible pneumatic rejection. When the thickness of the PTFE coating 39 is greater than 10μm, it can easily cause eddies in the airflow at the opening of the air outlet 34, affecting the accuracy and stability of the airflow. When the thickness of the PTFE coating 39 is less than 5μm, it is difficult for the PTFE coating 39 to form a completely continuous, pinhole-free film layer. Fine residues and dust from the Chinese herbal medicine pieces will directly adhere to the substrate of panel 31 through the pores, increasing the overall cleaning difficulty. In addition, in order to better collect defective products, a negative pressure receiving hopper can be installed on the frame to prevent the Chinese herbal medicine pieces from rebounding or scattering. The specific structure is existing technology and will not be described in detail in this embodiment.

[0028] The weight acquisition module 64 includes a weighing sensor 61 and a vibration damping seat 62. The weighing sensor 61 is mounted on the frame 1 via the vibration damping seat 62 and is located below the feeding section of the conveyor belt 11. The vibration damping seat 62 is equipped with an elastic shock-absorbing pad 63 and / or a damper 64. By configuring the weight acquisition module 64 with the weighing sensor 61 and the vibration damping seat 62, and because the weighing sensor 61 is mounted on the frame 1 via the vibration damping seat 62 and is located below the feeding section of the conveyor belt 11, the stability of the weighing sensor 61 can be ensured. This enables online real-time acquisition of the weight of the Chinese herbal medicine slices without the need for an additional weighing process, and does not affect the operating efficiency of the conveyor belt 11. The weight data of the Chinese herbal medicine slices can be collected as soon as they enter the conveyor belt 11, avoiding the loss of weight due to material loss during transportation. The weighing errors caused by sliding and offset are mitigated, and the timeliness and accuracy of data acquisition are guaranteed. The vibration damping seat 62, with its internal elastic damping pads 63 and / or dampers 64, effectively reduces the impact of vibrations generated during the operation of the conveyor belt 11 on the load cell 61, avoiding weight acquisition deviations caused by vibration, improving the accuracy and stability of weight acquisition, and providing reliable data support for the accurate calculation of the minimum push force. Moreover, the elastic damping pads 63 and / or dampers 64 can be flexibly adjusted according to the vibration conditions of the actual operating environment to adapt to different usage requirements. In this embodiment, the structure of the vibration damping seat 62 with elastic damping pads 63 and dampers 64 can effectively extend the service life of the load cell 61, reduce the frequency of later replacement and maintenance, and greatly reduce the cost of use.

[0029] In addition to the preferred embodiments described above, there are other embodiments of the present invention. Those skilled in the art can make various changes and modifications based on the present invention, and all such changes and modifications should fall within the scope defined by the appended claims, as long as they do not depart from the spirit of the present invention.

Claims

1. An online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces, comprising a frame and a conveyor belt mounted on the frame, characterized in that: It also includes a detection dark box mounted on a frame. A flexible pneumatic array rejection mechanism is provided on the frame at the material outlet end of the conveyor belt. The detection dark box includes an inlet and an outlet. A data acquisition module is provided inside the detection dark box. The data acquisition module includes a hyperspectral imaging unit, an X-ray transmission unit, and a 3D structured light projection unit. A data processing terminal is provided on the outer wall of the detection dark box. The hyperspectral imaging unit, X-ray transmission unit, 3D structured light projection unit, and flexible pneumatic array rejection mechanism are all connected to the data processing terminal. A weight acquisition module is provided on the frame and is communicatively connected to the data processing terminal. The flexible pneumatic array rejection mechanism receives rejection commands from the data processing terminal and independently adjusts the air pressure and opening sequence of the flexible pneumatic array rejection mechanism according to the target weight data acquired by the weight acquisition module and the real-time position coordinates of the target.

2. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 1, characterized in that: The detection chamber includes a chamber body and a partition disposed within the chamber body. The partition divides the chamber body into an optical detection cavity and a radiation detection cavity. A gap is provided between the partition and the conveyor belt for the passage of Chinese herbal medicine slices. The hyperspectral imaging unit and the 3D structured light projection unit are disposed within the optical detection cavity and located above the conveyor belt. The X-ray transmission unit is disposed within the radiation detection cavity and located on the upper and lower sides or both sides of the conveyor belt.

3. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 2, characterized in that: The partition includes a fixed part and a movable part. The top end of the fixed part is fixed to the box body, and the bottom end of the fixed part is provided with a groove. The movable part slides and extends within the groove. The box body is provided with an electric push rod connected to the movable part.

4. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 2, characterized in that: The front and rear side walls of the enclosure are equipped with adjustment seats for mounting X-ray transmission units, and the adjustment seats are movably connected to the enclosure.

5. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 1, characterized in that: The data processing terminal includes a housing, a main control processor, a timing control module, a spatial alignment module, and a display. A rotating arm is provided on the outer wall of the housing, and a mounting base for mounting the housing is provided on the rotating arm. The timing control module, the spatial alignment module, and the main control processor are all built into the housing and are connected for data communication. The timing control module receives the real-time position signal from the transmission belt displacement encoder and generates a synchronous trigger signal to be sent to the hyperspectral imaging unit, the X-ray transmission unit, and the 3D structured light projection unit. The spatial alignment module receives the multi-source raw data output by the acquisition module, performs coordinate remapping and spatial registration based on a single overcurrent displacement reference, and outputs the aligned multi-source dataset to the main control processor. The display is located on the outer wall of the housing.

6. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 5, characterized in that: The timing control module includes an FPGA synchronization circuit. This FPGA synchronization circuit uses the pulse signal from the displacement encoder as a clock reference and dynamically calculates the trigger delay based on the physical installation offset of each acquisition unit relative to the detection reference plane. This ensures that the exposure times of the hyperspectral imaging unit, the X-ray transmission unit, and the projection times of the 3D structured light projection unit are aligned to the same physical cross-section of the transmission band. The spatial alignment module includes a displacement trigger slicing unit, a pre-calibration mapping lookup unit, and a dynamic compensation unit. The displacement trigger slicing unit is configured to use the cumulative displacement of the displacement encoder as a spatial index to divide the continuous raw data stream into spatial synchronization data frames according to a preset displacement step size. The pre-calibration mapping lookup unit is configured to call the pre-stored rigid transformation matrix from each acquisition unit to the dark box reference coordinate system to perform coordinate remapping on the spatial synchronization data frames. The dynamic compensation unit is configured to generate a timing offset correction amount based on the encoder pulse interval change rate and perform sub-pixel-level spatial translation correction on the remapped multi-source data.

7. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 1, characterized in that: The flexible pneumatic array rejection mechanism includes a stainless steel perforated mesh belt, a microporous air curtain panel, an independent air pressure control valve group, and an air path filtration assembly. The stainless steel perforated mesh belt is mounted on a frame, and the microporous air curtain panel is mounted on the frame below the stainless steel perforated mesh belt. The microporous air curtain panel has several micron-sized air outlet holes distributed on it. The independent air pressure control valve group is connected to a data processing terminal. The air path filtration assembly includes an air filter, a dryer, and an oil mist separator connected in sequence. The air path filtration assembly is located between the independent air pressure control valve group and the air source.

8. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 7, characterized in that: The data processing terminal calculates the minimum pushing force Fmin=μmg+ma based on the friction coefficient and weight of the Chinese herbal medicine slices; where: μ is the friction coefficient between the Chinese herbal medicine slices and the conveyor belt, m is the weight data of the Chinese herbal medicine slices collected by the weight acquisition module, g is the gravitational acceleration, and a is a preset acceleration threshold; the data processing terminal distributes the calculated Fmin to the micron-level vents covering the projected area of ​​the slices, so that the output force of a single micron-level vent is f=Fmin / N, where N is the number of micron-level vents.

9. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 8, characterized in that: The micron-sized air outlets are distributed in an alternating matrix on the microporous air curtain panel, and several independent control zones are provided along the width of the conveyor belt; the density of the micron-sized air outlets in each control zone increases or decreases, the pore size of the micron-sized air outlets is 50 to 500 μm, and the surface of the microporous air curtain panel is provided with a polytetrafluoroethylene coating, the thickness of which is 5 to 10 μm.

10. The online detection and flexible rejection device for internal defects of traditional Chinese medicine decoction pieces according to claim 1, characterized in that: The weight acquisition module includes a weighing sensor and a vibration damping seat. The weighing sensor is mounted on the frame via the vibration damping seat and is located below the feed section of the conveyor belt. The vibration damping seat is equipped with an elastic shock-absorbing pad and / or a damper.

Images