Method for filling the gap of a clamping jaw for adapting to different sizes of medicine bottles

By using image segmentation models and contour smoothing technology, the problem of missing masking on medicine bottles caused by occlusion of the robot gripper was solved, enabling accurate size measurement and replacement of medicine bottles of various sizes, thus meeting the real-time and accuracy requirements of the dispensing robot.

CN122290124APending Publication Date: 2026-06-26美蓝(杭州)医药科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
美蓝(杭州)医药科技有限公司
Filing Date
2026-05-07
Publication Date
2026-06-26

AI Technical Summary

Technical Problem

In existing methods of handling medicine bottles, the robotic gripper may obscure the sides of the bottle, resulting in gaps after image segmentation. This makes it impossible to accurately obtain the bottle size and poses a risk to medication dispensing safety.

Method used

The initial segmentation mask is extracted by an image segmentation model, the gaps occluded by the grippers are identified, the gap parameters are planned and filled, and the contour smoothing verification is combined to ensure the integrity and accuracy of the mask and adapt it to multiple sizes of medicine bottles.

Benefits of technology

It achieves accurate identification and filling of gaps, adapts to multiple sizes of medicine bottles, reduces integration and debugging costs, ensures dimensional measurement accuracy and real-time performance, and improves system stability.

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Abstract

This invention relates to the field of image data processing, and in particular to a method for filling gaps caused by grippers on medicine bottles of all sizes. The method includes acquiring an original image containing the medicine bottle and grippers; extracting and preprocessing an initial segmentation mask of the bottle body using an image segmentation model; extracting the edge contour of the preprocessed bottle body mask; determining and locating the gap region and extracting gap parameters; planning a filling path based on the gap parameters to fill the gap region pixel by pixel; optimizing the contour smoothing of the filled complete bottle body mask; verifying the contour integrity and connection accuracy of the filled mask; and outputting the complete bottle body segmentation mask to a size measurement module after passing the verification. This application achieves the filling of gaps caused by grippers on medicine bottles of all sizes, with a single-frame mask filling time ≤10ms. The filled bottle body mask is used for subsequent pixel-level size measurement, with a size measurement deviation ≤0.1mm.
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