Machine vision-based injection medicine identification method and system, and intelligent dispensing equipment

Abstract

The application discloses a kind of injection drug identification methods based on machine vision, specifically comprising: the drug to be identified is placed in visual identification area;Rotating the drug to be identified and / or camera unit to switch the orientation of the feature identification point of the drug to be identified relative to the camera unit, so that the feature identification point of the drug to be identified falls into the visual capture range of the camera unit;The feature identification point image of the drug to be identified is captured by the camera unit;The drug information of the drug to be identified is identified according to the feature identification point image captured by the camera unit.The application also discloses an injection drug identification system and an intelligent dispensing equipment.The injection drug identification method, system and intelligent dispensing equipment provided by the application ensure that the feature identification point of the drug to be identified can be successfully captured by the camera unit for drug information identification by rotating the drug to be identified and / or the camera unit, and this identification method only needs to set a single camera unit, which can save cost and space.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of medicine identification, and particularly relates to a syringe medicine identification method based on machine vision, a syringe medicine identification system and an intelligent medicine dispensing device. BACKGROUND

[0002] In medical institutions, the information of bottled syringe medicines is basically identified and checked manually. When the silk screen information is blurred, it is often difficult to identify, and manual identification is slow.

[0003] Some medical institutions use machine vision detection for medicine identification. However, in the existing identification method, the pose of the camera unit and the medicine to be identified is usually fixed, and the visual capture range of the camera unit is limited, and usually only the side of the medicine to be identified that is directly opposite to it can be captured. When the feature recognition point of the medicine to be identified (such as bottled medicine) is located on the back or side, it cannot be successfully captured by the camera unit, thereby causing difficulties in medicine identification.

[0004] Therefore, in view of the above technical problems, it is necessary to provide a new syringe medicine identification method based on machine vision, a syringe medicine identification system and an intelligent medicine dispensing device. SUMMARY

[0005] The purpose of the present application is to provide a syringe medicine identification method based on machine vision, a syringe medicine identification system and an intelligent medicine dispensing device to solve the problems in the prior art.

[0006] In order to achieve the above-mentioned purpose, the technical scheme provided by the present application is as follows:

[0007] A syringe medicine identification method based on machine vision, specifically comprising:

[0008] Placing the medicine to be identified in a visual identification area;

[0009] Rotating the medicine to be identified and / or the camera unit to switch the orientation of the feature recognition point of the medicine to be identified relative to the camera unit, so that the feature recognition point of the medicine to be identified falls within the visual capture range of the camera unit;

[0010] Capturing the feature recognition point image of the medicine to be identified by the camera unit;

[0011] Identifying the medicine information of the medicine to be identified according to the feature recognition point image captured by the camera unit.

[0012] Further, the way of rotating the medicine to be identified specifically comprises:

[0013] Making the medicine to be identified rotate in the visual identification area with fixed axis or cycloid.

[0014] Further, the manner of rotating the to-be-identified medicine in the visual identification area includes:

[0015] The to-be-identified medicine is picked up by the rotatable mechanical arm, and the mechanical arm is rotated to drive the to-be-identified medicine to rotate around an axis.

[0016] Further, the manner of rotating the to-be-identified medicine in the visual identification area includes:

[0017] The to-be-identified medicine is placed on a rotatable tray, and the tray is rotated to drive the to-be-identified medicine to rotate around an axis.

[0018] Further, the manner of rotating the to-be-identified medicine in the visual identification area includes:

[0019] The to-be-identified medicine is placed on a bearing surface, and the to-be-identified medicine is rotated in a cycloid manner on the bearing surface.

[0020] Further, the manner of rotating the camera unit includes:

[0021] The camera unit is rotated around the to-be-identified medicine in the visual identification area around an axis.

[0022] Further, the manner of rotating the to-be-identified medicine and the camera unit includes:

[0023] The camera unit is rotated around the to-be-identified medicine in the visual identification area around an axis, and the to-be-identified medicine is rotated around an axis in the visual identification area in a direction opposite to the rotation direction of the camera unit.

[0024] Further, the medicine information includes production batch number, production date, medicine name and medicine specification.

[0025] The application also provides a syringe medicine identification system, which includes:

[0026] A visual identification area for placing a to-be-identified medicine;

[0027] A rotatable mechanical arm for picking up the to-be-identified medicine to the visual identification area and driving the to-be-identified medicine to rotate;

[0028] A camera unit arranged corresponding to the visual identification area and used for capturing image information of the to-be-identified medicine in the visual identification area;

[0029] An image recognition unit for identifying medicine information of the to-be-identified medicine according to the image information obtained by the camera unit.

[0030] Further, the mechanical arm comprises a rotating base and a pneumatic gripper for clamping the medicine to be identified, the pneumatic gripper being connected to the rotating base.

[0031] Further, the pneumatic gripper comprises a flexible clamping part capable of directly contacting the medicine to be identified.

[0032] Further, the flexible clamping part is detachably formed on the pneumatic gripper.

[0033] Further, the injection medicine identification system further comprises a light source arranged corresponding to the visual identification area.

[0034] The application further provides an intelligent medicine dispensing device for automatic dispensing of medicines, comprising:

[0035] a housing;

[0036] a medicine taking area arranged in the housing and used for storing medicines to be picked up;

[0037] a medicine dispensing area arranged in the housing and used for storing medicines to be dispensed;

[0038] a prescription obtaining unit for obtaining prescription information of a user;

[0039] An injection medicine identification system as described above is arranged in the housing, a mechanical arm of the injection medicine identification system is used for picking up medicines in the medicine taking area to the visual identification area for visual identification, and after the identified medicine information matches the prescription information, the medicines are put into the medicine dispensing area for dispensing.

[0040] Further, a multi-axis driving mechanism is further arranged in the housing, and the mechanical arm is configured to be capable of moving under the driving of the multi-axis driving mechanism.

[0041] Further, the medicine taking area, the medicine dispensing area and the visual identification area are all located within a movement stroke defined by the multi-axis driving mechanism.

[0042] Further, the multi-axis driving mechanism comprises a first guide rail arranged along an x-axis, a second guide rail arranged along a y-axis and slidingly arranged on the first guide rail, and a third guide rail arranged along a z-axis and slidingly arranged on the second guide rail.

[0043] Further, the first guide rail is fixed to an inner wall of the housing, and the mechanical arm is slidingly arranged on the third guide rail.

[0044] Further, the intelligent medicine dispensing device further comprises a position recognition unit for obtaining position information of the medicines to be picked up in the medicine taking area.

[0045] Further, the intelligent dispensing device further comprises a controller connected with the prescription acquisition unit, the injection medicine identification system, the multi-axis driving mechanism and the position identification unit.

[0046] The controller is configured to control the multi-axis driving mechanism to drive the mechanical arm to pick up the medicine according to the position information, and control the multi-axis driving mechanism to drive the mechanical arm to drop the medicine according to the prescription information acquired by the prescription acquisition unit and the medicine information identified by the injection medicine identification system.

[0047] Further, the intelligent dispensing device further comprises an inventory unit configured to inventory the number of medicines in the medicine taking area, and the inventory unit is arranged corresponding to the medicine taking area and performs inventory of the number of medicines in the medicine taking area based on machine vision.

[0048] The present application has the following advantages:

[0049] Compared with the prior art, the injection medicine identification method and system based on machine vision and the intelligent dispensing device provided by the present application change the orientation of the feature identification point of the medicine to be identified relative to the camera unit by rotating the medicine to be identified and / or the camera unit, so as to ensure that the feature identification point of the medicine to be identified can be smoothly captured by the camera unit for medicine information identification, and this identification method only needs to set a single camera unit, which can save cost and space. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1 is a schematic diagram of the appearance structure of the intelligent dispensing device in an embodiment of the present application;

[0052] Figure 2 is Figure 1 is a schematic diagram of part of the internal structure of the intelligent dispensing device in the embodiment shown;

[0053] Figure 3 is a schematic diagram of the structure of the mechanical arm in an embodiment of the present application;

[0054] Figure 4 is a schematic diagram of the structure of the multi-axis driving mechanism in an embodiment of the present application;

[0055] Figure 5 is a schematic diagram of the assembly structure of the mechanical arm and the multi-axis driving mechanism in an embodiment of the present application;

[0056] Figure 6 is a schematic diagram of a needle medicine identification system in an embodiment of the present application;

[0057] Figure 7 is a schematic diagram of a needle medicine identification system in another embodiment of the present application;

[0058] Figure 8 is a schematic diagram of a needle medicine identification system in another embodiment of the present application;

[0059] Figure 9 is a schematic diagram of a needle medicine identification system in another embodiment of the present application;

[0060] Figure 10 is a schematic diagram of a needle medicine identification system in another embodiment of the present application;

[0061] Figure 11 is a flow chart of a needle medicine identification method based on machine vision in an embodiment of the present application.

[0062] BRIEF DESCRIPTION OF DRAWINGS 1 - housing; 11 - accommodation space; 12 - medicine taking area; 13 - medicine taking-out area; 14 - medicine taking-out port; 15 - medicine taking-out box; 2 - visual identification area; 3 - mechanical hand; 31 - rotating base; 32 - pneumatic clamping jaw; 321 - flexible clamping part; 4 - camera unit; 5 - multi-axis driving mechanism; 51 - first guide rail; 52 - second guide rail; 53 - third guide rail; 54 - first motor; 55 - second motor; 56 - third motor; 6 - prescription acquisition unit; 7 - needle medicine to be identified; 71 - feature identification point; 8 - tray; 9 - rotating mechanism. DETAILED DESCRIPTION

[0063] The present application will be described in detail below with reference to the embodiments shown in the drawings. However, the embodiments do not limit the present application, and the structural, method, or functional changes made by those skilled in the art based on the embodiments are included in the protection scope of the present application.

[0064] It should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. In the illustrated embodiments, the directional indications, i.e., up, down, left, right, front, and back, are relative and are used to explain the structure and movement of the different components in the present application. These indications are appropriate when the components are in the positions shown in the drawings. However, if the positions of the components change, it is considered that these indications will also change accordingly.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0066] Referring to Figure 1 and Figure 2 The present application provides an intelligent dispensing device for automatic dispensing of medicines, which specifically comprises a housing 1, a medicine taking area 12 for storing medicines to be picked up, a medicine dispensing area 13 for storing medicines to be dispensed, a prescription acquisition unit 6 for acquiring prescription information of a user, and a needle medicine identification system.

[0067] The housing 1 is generally cuboid in shape and defines a receiving space 11. Universal wheels are installed at the bottom of the housing 1 to facilitate movement of the intelligent dispensing device. The medicine taking area 12, the medicine dispensing area 13, and the needle medicine identification system are all arranged in the receiving space 11 of the housing 1.

[0068] Referring to Figure 2 The needle medicine identification system comprises a visual identification area 2 for placing medicines to be identified, a rotatable mechanical hand 3 for picking up the medicines to be identified to the visual identification area 2 and driving the medicines to be identified to rotate, a camera unit 4 arranged corresponding to the visual identification area 2 and used for capturing image information of the medicines to be identified in the visual identification area 2, and an image recognition unit used for identifying medicine information (including production batch number, production date, medicine name, and medicine specification, etc.) of the medicines to be identified according to the image information acquired by the camera unit 4.

[0069] Referring to Figure 3 The mechanical hand 3 comprises a rotating base 31 and a pneumatic gripper 32 for clamping the medicines to be identified. The rotating base 31 is connected to the rotating shaft of a motor and is configured to be driven to rotate by the motor. The pneumatic gripper 32 is connected to the rotating base 31 and is configured to be able to rotate with the rotation of the rotating base 31. The mechanical hand 3 can be used to pick up the medicines in the medicine taking area 12 to the visual identification area 2 for visual identification, and to put the medicines to the medicine dispensing area 13 for dispensing after the identified medicine information matches the prescription information.

[0070] Specifically, the pneumatic gripper 32 obtains clamping force by driving a pneumatic cylinder, and can be suitable for medicines with irregular picking surfaces, such as bottled medicines like ampoules. The pneumatic gripper 32 comprises a flexible clamping part 321 which can be in direct contact with the second type of medicine. On the one hand, the flexible clamping part 321 can deform when clamping the medicine to better contact the surface of the medicine and obtain better clamping effect. On the other hand, the flexible clamping part 321 has a certain buffering effect and can avoid crushing the medicine when the medicine is packaged in a glass bottle or other fragile container. The pneumatic gripper 32 can be connected to an air compressor (not shown in the figure) through an air flow pipeline to drive the pneumatic cylinder to obtain clamping force. Preferably, the flexible clamping part 321 is detachably formed on the pneumatic gripper 32, so that other shapes and materials of the clamping part can be replaced to facilitate the clamping of medicines of various shapes. In other embodiments, the pneumatic gripper 32 can also be replaced by an electric gripper.

[0071] Specifically, the pneumatic gripper 32 is configured to be detachably connected to the rotating base 31, so as to replace other picking jigs, such as picking jigs with vacuum nozzles, to achieve picking of medicines with planar picking surfaces such as boxed medicines by negative pressure suction. The detachable connection mode can be a clamping mode of a pneumatic quick connector and / or an electromagnetic adsorption mode. When the clamping mode of the pneumatic quick connector is used for docking, one of the rotating base 31 and the pneumatic gripper 32 can be connected as a female connector, and the other part can be connected as a male connector, so as to realize quick disassembly and assembly between the rotating base 31 and the pneumatic gripper 32. When the electromagnetic adsorption mode is used for docking, an electromagnet can be arranged at the connection part of one of the rotating base 31 and the pneumatic gripper 32, and the other part can be made of ferromagnetic material, so as to realize quick disassembly and assembly between the rotating base 31 and the pneumatic gripper 32 by turning on and off the current of the electromagnet.

[0072] Specifically, the ampoule medicine recognition system further comprises a supplementary light source arranged corresponding to the visual recognition area 2, which can irradiate the to-be-recognized medicine in the visual recognition area 2 to facilitate the camera unit 4 to obtain image information of the to-be-recognized medicine. Preferably, the camera unit 4 is an industrial camera.

[0073] Specifically, please refer to Figure 2 The shell 1 further comprises a multi-axis driving mechanism 5, and the mechanical arm 3 of the ampoule medicine recognition system is configured to be movable under the driving of the multi-axis driving mechanism 5. The medicine taking area 12, the medicine output area 13 and the visual recognition area 2 are all located within the movement stroke defined by the multi-axis driving mechanism 5, so that the mechanical arm 3 can be moved to the medicine taking area 12, the medicine output area 13 and the visual recognition area 2 under the driving of the multi-axis driving mechanism 5.

[0074] Specifically, please refer to Figure 4 and Figure 5As shown, the multi-axis driving mechanism 5 includes a first guide rail 51 arranged along the x-axis, a second guide rail 52 arranged along the y-axis, and a third moving guide rail arranged along the z-axis. The first guide rail 51 is fixed at one end to the inner wall of the shell 1, the second guide rail 52 is slidably mounted on the first moving guide rail and is driven by a first motor 54, the third guide rail 53 is slidably mounted on the second guide rail 52 and is driven by a second motor 55, and the rotating base 31 of the mechanical arm 3 is slidably mounted on the third guide rail 53 and is driven by a third motor 56. The first guide rail 51, the second guide rail 52, and the third guide rail 53 jointly define the moving stroke of the multi-axis driving mechanism 5. Preferably, the first motor 54, the second motor 55, and the third motor 56 are servo motors.

[0075] Specifically, the prescription obtaining unit 6 includes a code scanner, which can be used to scan an identification code storing user prescription information to obtain the corresponding prescription information. The identification code includes a bar code and / or a two-dimensional code. In other embodiments, the prescription obtaining unit 6 can also obtain the user's prescription information through voice input, text input, radio frequency identification, etc.

[0076] Specifically, the intelligent dispensing device further includes a position recognition unit for obtaining position information of the medicine to be picked up in the medicine taking area 12, and a controller connected with the prescription obtaining unit 6, the injection medicine recognition system, the multi-axis driving mechanism 5, and the position recognition unit. The controller can control the multi-axis driving mechanism 5 to drive the mechanical arm 3 of the injection medicine recognition system to perform medicine picking up according to the position information obtained by the position recognition unit, and can control the multi-axis driving mechanism 5 to drive the mechanical arm 3 to perform medicine dispensing according to the prescription information obtained by the prescription obtaining unit 6 and the medicine information recognized by the injection medicine recognition system. For example, when a certain medicine needs to be picked up, the position information (coordinate information) of the medicine to be picked up in the medicine taking area 12 is obtained through the position recognition unit, the controller controls the multi-axis driving mechanism 5 to drive the mechanical arm 3 to move to the corresponding position to perform picking up action on the medicine, and then controls the mechanical arm 3 to move to the vision recognition to perform medicine information recognition, and when the recognized medicine information matches the prescription information, the mechanical arm 3 is controlled to move to the medicine dispensing area 13 to perform medicine dispensing.

[0077] Specifically, the intelligent dispensing device further includes an inventory unit for inventorying the number of medicines in the medicine taking area 12, which is arranged corresponding to the medicine taking area 12 and inventories the number of medicines in the medicine taking area 12 based on machine vision. The number of remaining medicines in the medicine taking area 12 can be counted through the inventory unit, so as to remind relevant personnel to replenish medicines.

[0078] Specifically, the intelligent medicine dispensing device further comprises a checking unit connected with the controller, which is used to count the number of each type of medicine to be dispensed in the medicine dispensing area 13. The checking unit can count the number of medicines based on machine vision, and compare the counted number of medicines with the number of medicines in the prescription information to determine whether the number of medicines is incorrect, thereby ensuring the accurate dispensing of medicines.

[0079] Specifically, the shell 1 is provided with a medicine outlet 14 corresponding to the medicine dispensing area 13, and the medicine dispensing box 15 arranged in the medicine dispensing area 13 can be transported out of the shell 1 through the medicine outlet 14, so that the user can take the medicine dispensed into the medicine dispensing box 15.

[0080] Please refer to Figure 6 The process of medicine identification by the injection medicine identification system in the foregoing embodiments will be further described in the following specific scenarios:

[0081] First, the injection medicine 7 to be identified is picked up by the rotatable mechanical arm 3 to the visual identification area 2, and then the mechanical arm 3 is rotated to drive the injection medicine 7 to rotate around the axis (the rotation axis can coincide with or not coincide with the central axis of the injection medicine 7), so as to switch the orientation of the feature identification point 71 on the surface of the injection medicine 7 relative to the camera unit 4. During the rotation, the orientation of the camera unit 4 remains unchanged and continuously captures image information of the injection medicine 7 to capture the feature identification point 71 image of the injection medicine 7 (to ensure that the camera unit 4 can smoothly capture the feature identification point 71 of the injection medicine 7, the injection medicine 7 is usually rotated at least one revolution), and then the feature identification point 71 image captured by the camera unit 4 is transmitted to the image recognition unit for identification, so as to identify the medicine information of the injection medicine 7.

[0082] In another embodiment, please refer to Figure 7 A rotatable tray can be arranged in the visual identification area of the injection medicine identification system to replace the rotation of the foregoing mechanical arm 3. At this time, only the injection medicine 7 to be identified is picked up by the mechanical arm 3 and placed on the tray 8, and the rotation of the tray 8 drives the injection medicine 7 to rotate, thereby completing the medicine identification process.

[0083] In another embodiment, please refer to Figure 8As shown, a bearing platform can be arranged in the visual recognition of the injection medicine recognition system, and the injection medicine 7 to be recognized is placed on the bearing platform (the central axis of the injection medicine 7 is parallel to the bearing surface of the bearing platform), the orientation of the camera unit 4 is kept unchanged, the injection medicine 7 is made to rotate like a cycloid (roll on the bearing platform) on the bearing platform to switch the orientation of the feature recognition point 71 on the surface of the injection medicine 7 relative to the camera unit 4, with the cycloid rotation of the injection medicine 7, the feature recognition point 71 on the injection medicine 7 can be directly opposite the camera unit 4 at a certain moment, so that the camera unit 4 can smoothly capture the feature recognition point 71 of the injection medicine 7 for medicine recognition. The cycloid rotation of the injection medicine 7 can be driven by an external force, or the bearing platform can be arranged to be inclined to make the injection medicine 7 rotate like a cycloid by its own gravity.

[0084] In another embodiment, please refer to Figure 9 As shown, the injection medicine 7 to be recognized is kept stationary in the visual recognition area 2 of the injection medicine recognition system (the orientation of the feature recognition point 71 of the injection medicine 7 is kept unchanged), and then the camera unit 4 is made to rotate at least one circle around the injection medicine 7 under the drive of the rotating mechanism 9, the feature recognition point 71 on the injection medicine 7 can be directly opposite the camera unit 4 at a certain moment in the rotating process, so that the camera unit 4 can smoothly capture the feature recognition point 71 of the injection medicine 7 for medicine recognition.

[0085] In another embodiment, please refer to Figure 10 As shown, the camera unit 4 is made to rotate around the injection medicine 7 to be recognized in the visual recognition area 2 of the injection medicine recognition system, and the injection medicine 7 is made to rotate in the visual recognition area 2 in the direction opposite to the rotating direction of the camera unit 4, the feature recognition point 71 on the injection medicine 7 can be directly opposite the camera unit 4 at a certain moment in the rotating process, so that the camera unit 4 can smoothly capture the feature recognition point 71 of the injection medicine 7 for medicine recognition. In this embodiment, the injection medicine 7 and the camera unit 4 can also rotate in the same direction, for example, the two can rotate in the same direction at different angular velocities, and the feature recognition point 71 on the injection medicine 7 can also be directly opposite the camera unit 4 at a certain moment.

[0086] Please refer to Figure 11 The present application also provides an injection medicine recognition method based on machine vision, which specifically comprises:

[0087] Placing the medicine to be recognized in the visual recognition area;

[0088] Rotating the medicine to be recognized and / or the camera unit to switch the orientation of the feature recognition point of the medicine to be recognized relative to the camera unit, so that the feature recognition point of the medicine to be recognized falls into the visual capture range of the camera unit 4;

[0089] capturing a feature recognition point image of the medicine to be identified by the camera unit;

[0090] identifying the medicine information of the medicine to be identified according to the feature recognition point image captured by the camera unit.

[0091] Specifically, the manner of rotating the medicine to be identified specifically includes: rotating the medicine to be identified in a fixed-axis manner or a trochoidal manner in the visual recognition area. The medicine to be identified is rotated in the fixed-axis manner by a rotating mechanism, and is rotated in the trochoidal manner by a power mechanism or its own gravity.

[0092] Specifically, the medicine information identified according to the feature recognition point image captured by the camera unit includes a production batch number, a production date, a medicine name, a medicine specification, and the like.

[0093] In an exemplary embodiment, please refer to Figure 6 The manner of rotating the injection medicine to be identified 7 in the fixed-axis manner in the visual recognition area 2 specifically includes: picking up the injection medicine to be identified 7 by the rotatable mechanical hand 3, and rotating the mechanical hand 3 to drive the injection medicine to be identified 7 to rotate in the fixed-axis manner, so as to switch the orientation of the feature recognition point 71 of the injection medicine to be identified 7 relative to the camera unit 4, so that the feature recognition point 71 of the injection medicine to be identified 7 can fall into the visual capture range of the camera unit 4.

[0094] In an exemplary embodiment, please refer to Figure 7 The manner of rotating the injection medicine to be identified 7 in the fixed-axis manner in the visual recognition area 2 specifically includes: placing the injection medicine to be identified 7 on a rotatable tray, and rotating the tray to drive the injection medicine to be identified 7 to rotate in the fixed-axis manner, so as to switch the orientation of the feature recognition point 71 of the injection medicine to be identified 7 relative to the camera unit 4, so that the feature recognition point 71 of the injection medicine to be identified 7 can fall into the visual capture range of the camera unit 4.

[0095] In an exemplary embodiment, please refer to Figure 8 The manner of rotating the injection medicine to be identified 7 in the trochoidal manner in the visual recognition area 2 specifically includes: placing the injection medicine to be identified 7 on a bearing surface, and making the injection medicine to be identified 7 rotate (roll) in the trochoidal manner on the bearing surface, so as to switch the orientation of the feature recognition point 71 of the injection medicine to be identified 7 relative to the camera unit 4, so that the feature recognition point 71 of the injection medicine to be identified 7 can fall into the visual capture range of the camera unit 4.

[0096] In an exemplary embodiment, please refer to Figure 9As shown, the rotating the imaging unit 4 mode specifically includes: rotating the imaging unit 4 around the to-be-identified injection medicine 7 in the visual identification area 2 as a fixed axis, so as to switch the orientation of the feature identification point 71 of the to-be-identified injection medicine 7 relative to the imaging unit 4, thereby enabling the feature identification point 71 of the to-be-identified injection medicine 7 to fall within the visual capture range of the imaging unit 4.

[0097] In an exemplary embodiment, refer to Figure 10 As shown, the rotating the to-be-identified injection medicine 7 and the imaging unit 4 mode specifically includes:

[0098] Rotating the imaging unit 4 around the to-be-identified injection medicine 7 in the visual identification area 2 as a fixed axis, and rotating the to-be-identified injection medicine 7 in the visual identification area 2 as a fixed axis in a direction opposite to the rotation direction of the imaging unit 4, so as to switch the orientation of the feature identification point 71 of the to-be-identified injection medicine 7 relative to the imaging unit 4, thereby enabling the feature identification point 71 of the to-be-identified injection medicine 7 to fall within the visual capture range of the imaging unit 4.

[0099] In summary, the injection medicine identification method, system and intelligent dispensing device based on machine vision provided by the present application change the orientation of the feature identification point of the to-be-identified medicine relative to the imaging unit by rotating the to-be-identified medicine and / or the imaging unit, thereby ensuring that the feature identification point of the to-be-identified medicine can be smoothly captured by the imaging unit for medicine information identification, and this identification mode only needs to set a single imaging unit, which can save cost and space.

[0100] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application.

[0101] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be properly combined to form other implementation manners that can be understood by those skilled in the art.

Claims

1. A machine vision-based method of identifying a syringe drug product, the method comprising: capturing an image of a syringe drug product; processing the image to identify a needle color; and identifying the syringe drug product based on the needle color. The application is applied to an intelligent medicine dispensing device, which comprises a medicine dispensing area for storing medicine to be dispensed, a prescription acquisition unit for acquiring user prescription information; The injection medicine identification method specifically comprises: Placing the medicine to be identified in a visual identification area, wherein the medicine to be identified is a bottled injection medicine, and a feature identification point for identifying medicine information is arranged on the bottle body; Controlling the medicine to be identified to rotate in the visual identification area in a fixed-axis or cycloid manner, so that the medicine to be identified rotates at least one round, so as to switch the orientation of the feature identification point of the medicine to be identified relative to the camera unit, and so that the feature identification point of the medicine to be identified falls into the visual capture range of the camera unit; During the rotation of the medicine to be identified, the camera unit continuously acquires image information of the injection medicine, and captures the feature identification point image of the medicine to be identified. According to the feature identification point image captured by the camera unit, the medicine information of the medicine to be identified is identified. Matching the prescription information acquired by the prescription acquisition unit with the medicine information, if the matching is successful, the injection medicine is put into the medicine dispensing area for dispensing. 2.The machine vision-based ampoule medicine recognition method according to claim 1, characterized in that, The method for making the medicine to be identified rotate in the visual identification area in a fixed-axis manner specifically comprises: Picking up the medicine to be identified by a rotatable mechanical hand, and rotating the mechanical hand to drive the medicine to be identified to rotate in a fixed-axis manner. 3.The machine vision-based ampoule medicine recognition method according to claim 1, characterized in that, The method for making the medicine to be identified rotate in the visual identification area in a fixed-axis manner specifically comprises: Placing the medicine to be identified on a rotatable tray, and rotating the tray to drive the medicine to be identified to rotate in a fixed-axis manner.

4. The machine vision-based injection medicine identification method according to claim 1, wherein the method for making the medicine to be identified rotate in the visual identification area in a cycloid manner specifically comprises: Placing the medicine to be identified on a bearing surface, and making the medicine to be identified rotate in a cycloid manner on the bearing surface. The medicine information comprises a production batch number, a production date, a medicine name and a medicine specification.

5. The method for identifying injection drugs based on machine vision according to claim 1, characterized in that: It comprises:

6. A syringe drug identification system characterized by, A visual identification area for placing the medicine to be identified, wherein the medicine to be identified is a bottled injection medicine, and a feature identification point for identifying medicine information is arranged on the bottle body; A rotatable mechanical hand for picking up the medicine to be identified into the visual identification area and driving the medicine to be identified to rotate; A camera unit arranged corresponding to the visual identification area and used for capturing image information of the medicine to be identified in the visual identification area; An image recognition unit for identifying the medicine information of the medicine to be identified according to the image information acquired by the camera unit; The rotatable mechanical hand controls the medicine to be identified to rotate in the visual identification area in a fixed-axis or cycloid manner, so that the medicine to be identified rotates at least one round, so as to switch the orientation of the feature identification point of the medicine to be identified relative to the camera unit, and so that the feature identification point of the medicine to be identified falls into the visual capture range of the camera unit. During the rotation of the medicine to be identified, the camera unit continuously acquires image information of the injection medicine, and captures the feature identification point image of the medicine to be identified. The mechanical hand comprises a rotating base and a pneumatic gripper for clamping the medicine to be identified, and the pneumatic gripper is connected to the rotating base.

7. The syringe identification system of claim 6, wherein, ​ 8. The syringe identification system of claim 7, wherein, The pneumatic gripper comprises a flexible clamping part capable of directly contacting the medicine to be identified.

9. The syringe identification system of claim 8, wherein, The flexible clamping part is detachably formed on the pneumatic gripper.

10. The syringe medicine identification system of claim 6, wherein, The injection medicine identification system further comprises a light source arranged corresponding to the visual identification area.

11. An intelligent dispensing apparatus for the automated dispensing of pharmaceuticals, characterized in that, The injection medicine identification system comprises: a housing; a medicine taking area arranged in the housing and used for storing medicines to be taken; a medicine dispensing area arranged in the housing and used for storing medicines to be dispensed; a prescription obtaining unit used for obtaining prescription information of a user; The injection medicine identification system according to any one of claims 6-10 is arranged in the housing, and a mechanical hand of the injection medicine identification system is used for picking up the medicine in the medicine taking area to the visual identification area for visual identification, and dispensing the medicine to the medicine dispensing area for dispensing after the identified medicine information matches the prescription information.

12. The intelligent medication dispensing apparatus of claim 11, wherein, The housing further comprises a multi-axis driving mechanism, and the mechanical hand is configured to be movable under the driving of the multi-axis driving mechanism.

13. The intelligent medication dispensing apparatus of claim 12, wherein, The medicine taking area, the medicine dispensing area and the visual identification area are all located within a movement stroke defined by the multi-axis driving mechanism.

14. The intelligent medication dispensing apparatus of claim 13, wherein, The multi-axis driving mechanism comprises a first guide rail arranged along an x-axis, a second guide rail arranged along a y-axis and slidingly arranged on the first guide rail, and a third guide rail arranged along a z-axis and slidingly arranged on the second guide rail.

15. The intelligent dispensing apparatus of claim 14, wherein, The first guide rail is fixed to an inner wall of the housing, and the mechanical hand is slidingly arranged on the third guide rail.

16. The intelligent medication dispensing apparatus of claim 12, wherein, The intelligent medicine dispensing device further comprises a position recognition unit used for obtaining position information of the medicine to be picked up in the medicine taking area.

17. The intelligent medication dispensing apparatus of claim 16, wherein, The intelligent medicine dispensing device further comprises a controller connected with the prescription obtaining unit, the injection medicine identification system, the multi-axis driving mechanism and the position recognition unit. The controller is used for controlling the multi-axis driving mechanism to drive the mechanical hand to perform medicine picking up according to the position information, and is used for controlling the multi-axis driving mechanism to drive the mechanical hand to perform medicine dispensing according to the prescription information obtained by the prescription obtaining unit and the medicine information identified by the injection medicine identification system.

18. The intelligent medication dispensing apparatus of claim 17, wherein, The intelligent medicine dispensing device further comprises a counting unit used for counting the number of medicines in the medicine taking area, and the counting unit is arranged corresponding to the medicine taking area and counts the number of medicines in the medicine taking area based on machine vision.

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