Automatic liquid preparation ampoule bottle liquid level detection method and system and liquid medicine proportion detection method

Abstract

The invention belongs to the technical field of liquid level detection, particularly relates to an automatic liquid preparation ampoule bottle liquid level detection method and system and a liquid medicine proportion detection method, and aims at solving the problems that existing ampoule bottle liquid level detection cannot be compatible with ampoule bottles of different specifications, and labels need to be removed manually. The method comprises the following steps: calibrating internal and external parameters of a camera; acquiring an image of a to-be-detected ampoule bottle under a light source with a set type and direction; carrying out denoising, binarization and histogram equalization preprocessing on the image; extracting an ROI area graph through adoption of an adaptive ROI extraction method based on brightness change; performing edge extraction, and extracting the lowest curve of the area with the maximum transverse line density through ellipse detection; and using the horizontal tangent line of the curve as the liquid level line of the ampoule bottle. The liquid level detection method is high in efficiency, high in real-time performance, high in accuracy and precision of detection results and compatible with ampoule bottles of different specifications, and labels do not need to be removed manually.

Description

technical field [0001] The invention belongs to the technical field of liquid level detection, and in particular relates to a liquid level detection method and system of an automatic liquid dosing ampoule bottle, and a liquid medicine ratio detection method. Background technique [0002] In the liquid dispensing robot, the visual detection function is mainly based on the visual image processing technology to complete the measurement of the key dimension data of the medicine bottle, including the detection of the outline of the ampoule bottle, the neck of the bottle, and the position of the liquid level, so as to support the movement and grasping of the robot manipulator and the detection of the medicine bottle. The disinfection, cutting and opening of the bottle provide guiding data, and the precise measurement and positioning of the grasped object provide a strong guarantee for the accurate and orderly operation of the entire robot system. Among them, the detection of the l...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, the existing ampoules liquid level detection cannot be compatible with ampoules of different specifications and the problem that manual removal of labels is required, the present invention provides a liquid level detection method for automatic dosing ampoules, the ampoule Bottle level detection methods include:

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