Needle point position detection method, system and apparatus for robot automatic liquid preparation

Abstract

The invention belongs to the field of image detection, particularly relates to a needle point position detection method, system and apparatus for robot automatic liquid preparation, and aims to solve the problems that in the liquid preparation process of an existing liquid preparation robot. Due to the fact that a mechanical arm cannot be correctly guided due to the fact that the position of a needle head cannot be determined, the needle head pricks a penicillin bottle opening in a deviated mode, then the liquid preparation efficiency is low, and even the liquid preparation fails. The method comprises: collecting a to-be-detected needle head image; preprocessing the image; extracting an ROI region of the image; obtaining the edge contour of a needle in the ROI through an edge detection method, determining the position of the needle through corner detection, and obtaining the pixel coordinates of the needle; obtaining a world three-dimensional coordinate corresponding to the needle tip through a preset first pose solving method by combining the pixel coordinates of the two needle tips in different directions; and preparing liquid according to the obtained world three-dimensional coordinates. According to the invention, the pricking error of the needle head is reduced, and the liquid preparation efficiency and accuracy of the liquid preparation robot are improved.

Description

technical field [0001] The invention belongs to the field of image detection, and in particular relates to a needle point position detection method, system and equipment for automatic liquid dispensing by a robot. Background technique [0002] In the liquid dispensing robot, it is a necessary process for the syringe to pierce medicines such as vials, ampoules, and infusion bags. However, there are many types of needle tubes on the market, and the types of needles are also different, and because the material of ordinary medical needle barrels and needle tips is relatively soft, the needles are easily twisted and deformed when gripped by a robotic arm or even in a natural state. Error occurs when pricking the vial. However, the diameter of the mouth of the vial that can be pricked is between 1-2mm, which causes the needle tube of the mechanical arm to pierce the vial very easily, and the liquid extraction is unsuccessful. At present, liquid dispensing robots at home and abro...

AI Technical Summary

Problems solved by technology

[0003] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing liquid dispensing robot cannot determine the position of the needle and correctly guide the mechanical arm during the liquid dispensing process, causing the needle to stick to the mouth of the vial, and then As a result of the problem of low dosing efficiency or even dosing failure, the first aspect of the present invention proposes a needle tip position detection method for automatic dosing by a robot, the method comprising:

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