Medicine box sucking method, device and equipment based on double-sucker medicine supplementing machine

Abstract

The present application relates to the medicine box sucking method, device and equipment based on the double-sucker medicine supplementing machine, the method comprises the following steps: confirming the double-sucker distance according to the medicine box information and the double-sucker information, confirming the medicine box grabbing point; matching the medicine box grabbing point to each other in pairs, selecting the double-sucker double-medicine box mode; if there is a grabbing point that cannot be matched, the single-medicine box mode is selected. The medicine box sucking method, device and equipment based on the double-sucker medicine supplementing machine provided by the embodiment of the present application adjusts the distance between the two suckers according to the size of different medicine boxes, confirms the grabbing point of each medicine box, then pairs the grabbing points of the medicine boxes, if the pairing is successful, the double-sucker mode is used to suck different medicine boxes; if the pairing is not successful, the single-medicine box mode is selected, so that the appropriate sucking mode can be selected according to the position of the medicine box during the sucking process, and the working efficiency of the double-sucker medicine supplementing machine is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medicine box suction method, device and equipment based on a double-suction-disk medicine supplementing machine. BACKGROUND

[0002] In order to improve the work efficiency of the pharmacy, more and more hospitals use intelligent pharmacies, and the process of supplementing medicine often uses a mechanical arm with a picking end, and the picking mode can be grabbing or suction. Generally, a single suction disk can be configured at the end of the mechanical arm to suck the medicine box, but this mode can only suck a single medicine box at a time, which cannot meet the demand of improving the supplementing speed to some extent, and is being replaced by a mechanical arm with multiple suction disks. The mechanical arm with multiple suction disks generally includes a single mechanical arm with double suction disks and a double mechanical arm with double suction disks, and the latter can suck medicine boxes at different positions by changing the angle between the mechanical arms.

[0003] However, the double-mechanical-arm and double-suction-disk structure has certain disadvantages. Since the structure needs to adjust different suction modes for different application scenarios (such as the volume, weight and placement position of the medicine box), such as a single medicine box corresponding to a double suction disk, different medicine boxes corresponding to a double suction disk, and a single medicine box corresponding to a single suction disk, a judgment mechanism is needed to determine the suction mode to ensure the work efficiency of the double-suction-disk medicine supplementing machine. SUMMARY

[0004] The present application provides a medicine box suction method, device and equipment based on a double-suction-disk medicine supplementing machine, which aims to adjust the suction mode for different medicine boxes and placement conditions to ensure the work efficiency of the double-suction-disk medicine supplementing machine.

[0005] In a first aspect, the present application provides a medicine box suction method based on a double-suction-disk medicine supplementing machine, which includes:

[0006] According to the medicine box information and the double-suction-disk information, the distance between the double suction disks is determined, and the grabbing point of the medicine box is determined.

[0007] The grabbing points of multiple medicine boxes are matched in pairs, and a double-medicine-box mode of double suction disks is selected.

[0008] If there is a grabbing point that cannot be matched, a single-medicine-box mode is selected.

[0009] Optionally, the medicine box information includes the length and width of the medicine box, and the double-suction-disk information includes the width and length of the suction disk, the distance between the double suction disks, the minimum and maximum movement distances of the double suction disks.

[0010] Optionally, the distance between the double suction disks is determined, and specifically includes:

[0011] When the width of the medicine box is greater than the maximum moving distance, the distance between the two suction cups is half of the width of the medicine box.

[0012] When the width of the medicine box is less than the minimum moving distance, the distance between the two suction cups is the minimum moving distance.

[0013] Otherwise, the distance between the two suction cups is the width of the medicine box.

[0014] Optionally, the picking point of the medicine box is confirmed, and specifically includes:

[0015] A 2D image of the medicine box is obtained, and an envelope box of the medicine box is calculated;

[0016] The center point information of the envelope box is obtained, and the center point information is confirmed as the picking point of the medicine box.

[0017] Optionally, after the picking point of the medicine box is confirmed, the method further includes:

[0018] The envelope box is translated along the edge of the envelope box to obtain an extended envelope box of the medicine box;

[0019] A point cloud image in the normal direction of the medicine box is obtained;

[0020] According to the extended envelope box and the point cloud image, an obstacle in the moving path of the two suction cups is predicted.

[0021] Optionally, the picking points of a plurality of medicine boxes are matched to form pairs, and specifically includes:

[0022] Two of the plurality of medicine boxes are selected, and it is determined whether the corresponding picking points are on the same plane;

[0023] If yes, it is determined whether the distance between the picking points is within a first threshold range from the distance between the two suction cups;

[0024] If yes, it is determined whether the normal angle between the picking points is within a second threshold range;

[0025] If yes, the picking points are determined to form a point pair.

[0026] Optionally, before the picking points that cannot be matched are selected, the method further includes:

[0027] According to the results of the point pairs, a single-direction linked list is obtained, in which the picking points are sorted according to their positions;

[0028] The picking points at both ends of the single-direction linked list are selected to form a point pair.

[0029] Optionally, a single-medicine-box mode is selected, and specifically includes:

[0030] When the width of the medicine box is greater than the sum of the distance between the two suction cups and the width of the suction cup, a first single-medicine-box mode is selected, in which the two suction cups are parallel to the length of the medicine box.

[0031] When the width of the medicine box is less than the sum of the distance between the two suction discs and the width of the suction disc, and greater than the length of the suction disc, a second single-medicine-box mode is selected in which the two suction discs are parallel to the width of the medicine box;

[0032] When the width of the medicine box is less than the length of the suction disc, and greater than the width of the suction disc, a third single-medicine-box mode is selected in which a single suction disc is used.

[0033] In a second aspect, an embodiment of the present application provides a medicine box suction device based on a double-suction-disc medicine supplementing machine, applied to the method provided in the first aspect, and comprising:

[0034] A grabbing point confirmation module is configured to confirm the distance between the two suction discs and the grabbing point of the medicine box according to the size information of the medicine box and the size information of the double suction disc;

[0035] A grabbing point matching module is configured to match the grabbing points of multiple medicine boxes in pairs, and select a double-suction-disc double-medicine-box mode.

[0036] A single-medicine-box mode selection module is configured to select a single-medicine-box mode if there are grabbing points that cannot be matched.

[0037] In a third aspect, an embodiment of the present application provides an electronic device, which comprises:

[0038] One or more processors;

[0039] A memory configured to store one or more programs;

[0040] When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the medicine box suction method based on a double-suction-disc medicine supplementing machine as provided in any embodiment of the present application.

[0041] The medicine box suction method, device and equipment based on a double-suction-disc medicine supplementing machine provided in the embodiments of the present application can adjust the distance between the two suction discs according to the size of different medicine boxes, confirm the grabbing points of the medicine boxes, and then match the grabbing points of the medicine boxes in pairs. If the matching is successful, the double-suction-disc medicine supplementing machine can suck different medicine boxes respectively. If the matching is not successful, a single-medicine-box mode is selected. Therefore, the appropriate suction mode can be selected according to the position of the medicine box during the suction process, and the working efficiency of the double-suction-disc medicine supplementing machine is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A flowchart of the medicine box suction method based on a double-suction-disc medicine supplementing machine provided in the first embodiment of the present application;

[0043] Figure 2 A flowchart of the determination of the grabbing points of the medicine box in the medicine box suction method based on a double-suction-disc medicine supplementing machine provided in the second embodiment of the present application;

[0044] Figure 3is a flow chart for predicting obstacles in the medicine box suction method based on the double-suction-cup medicine supplementing machine provided in Embodiment Two of the present application;

[0045] Figure 4 is a flow chart for point pair composition judgment in the medicine box suction method based on the double-suction-cup medicine supplementing machine provided in Embodiment One of the present application;

[0046] Figure 5 is a flow chart for forming point pairs through a singly linked list in the medicine box suction method based on the double-suction-cup medicine supplementing machine provided in Embodiment Three of the present application;

[0047] Figure 6 is a flow chart for single medicine box mode judgment in the medicine box suction method based on the double-suction-cup medicine supplementing machine provided in Embodiment Four of the present application;

[0048] Figure 7 is a structural schematic diagram of the medicine box suction device based on the double-suction-cup medicine supplementing machine provided in Embodiment Five of the present application;

[0049] Figure 8 is a structural schematic diagram of the medicine box suction equipment based on the double-suction-cup medicine supplementing machine provided in Embodiment Six of the present application;

[0050] Figure 9 is a structural schematic diagram of the double-suction-cup medicine supplementing machine applied to the medicine box suction method based on the double-suction-cup medicine supplementing machine provided in Embodiment of the present application. DETAILED DESCRIPTION

[0051] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, but not all the structures.

[0052] The existing intelligent pharmacies gradually use medicine supplementing machines to supplement medicines. As shown in Figure 9 , the medicine supplementing machine is provided with a mechanical arm with a suction cup; and in order to improve the rate of medicine supplementing, some medicine supplementing machines have adopted a structure of multiple mechanical arms-suction cups, but for different use scenarios (such as the volume, weight and placement position of the medicine box), different suction modes need to be adjusted, such as a double-suction-cup corresponding to a single medicine box, a double-suction-cup corresponding to different medicine boxes, and a single-suction-cup corresponding to a single medicine box, so a judgment mechanism is needed to determine the suction mode, so as to ensure the working efficiency of the double-suction-cup medicine supplementing machine.

[0053] Embodiment One

[0054] In view of the above deficiencies, the present application provides a medicine box suction method based on a double-suction-cup medicine supplementing machine, as shown in Figure 1 , which comprises:

[0055] S10: According to the medicine box information and the double-sucker information, confirming the distance between the double-suckers and the grabbing point of the medicine box; wherein the medicine box information includes the length L b of the medicine box, the width W b of the medicine box; the double-sucker information includes the width W k of the double-suckers, the length L k of the double-suckers, the distance L s between the double-suckers, the minimum moving distance L min of the double-suckers and the maximum moving distance L max .

[0056] Generally, the double-suckers are respectively arranged on two mechanical arms of the medicine supplementing machine. The medicine box is placed in the medicine box case and moved to the area accessible by the double-suckers under the action of the medicine supplementing machine. The medicine supplementing machine can obtain the medicine box information by pre-acquiring the code of the medicine box. The mechanical arms and the sucker models used by the medicine supplementing machine are relatively fixed, so when different medicine boxes are targeted, the distance between the double-suckers is adjusted to meet the needs of sucking. The adjustment method usually needs to be set in advance, and often needs to be adjusted according to different conditions, including:

[0057] When the width W b of the medicine box is greater than the maximum moving distance L max , that is, W b >L max , the distance between the double-suckers is half of the width of the medicine box, that is, L s =1 / 2 W b .

[0058] When the width W b of the medicine box is less than the minimum moving distance L min , that is, W b L min , the distance between the double-suckers is the minimum moving distance, that is, L s =L min .

[0059] Otherwise, the distance between the double-suckers is the width of the medicine box, that is, L s =W b .

[0060] It should be noted that the grabbing point of the medicine box usually includes but is not limited to the center of gravity of the medicine box.

[0061] S20: match the grabbing points of the plurality of medicine boxes to each other in pairs, and select a double-suction disc double-medicine box mode; the double-suction disc double-medicine box mode is to use two suction discs connected by two mechanical arms to suck medicine boxes at different positions in the medicine box. However, the two medicine boxes need to satisfy the distance relationship between the two suction discs. In the process of pairing each other, a certain grabbing point may be matched to multiple corresponding grabbing points, and some grabbing points may not be successfully matched to other grabbing points. Therefore, the grabbing points need to be arranged and combined to ensure the maximum matching number and the maximum grabbing efficiency of the medicine supplementing machine.

[0062] Suppose that the grabbing point of the medicine box 1 is P1 with coordinates p1(x1, y1, z1) and a grabbing normal vector n1(nx1, ny1, nz1), and the grabbing point of the medicine box 2 is P2 with coordinates p2(x2, y2, z2) and a grabbing normal vector n2(nx2, ny2, nz2). The specific matching mode is as shown in Figure 4

[0063] S21: select two of the plurality of medicine boxes, and determine whether the corresponding grabbing points are on the same plane.

[0064] In combination with the coordinates and the grabbing normal vector of P1, an equation about the envelope box of the medicine box 1 is obtained:

[0065] nx1(x-x1)+ny1(y-y1)+nz1(z-z1)=0 (1)

[0066] In combination with the coordinates and the grabbing normal vector of P2, an equation about the envelope box of the medicine box 2 is obtained:

[0067] nx2(x-x2)+ny2(y-y2)+nz2(z-z2)=0 (2)

[0068] It should be noted that the envelope box refers to a rectangular area surrounded by the four corners of the medicine box (rectangle).

[0069] The distance from the grabbing point of the medicine box 1 to the rectangular envelope plane of the medicine box 2 is calculated as

[0070]

[0071] Similarly, the distance from the grabbing point of the medicine box 2 to the rectangular envelope plane of the medicine box 1 is calculated as

[0072]

[0073] Further, the average value d of d1 and d2 is obtained, and compared with the first distance threshold d thres When the average value d is less than the first distance threshold d thres , it is determined that the two grabbing points P1 and P2 are coplanar.

[0074] ​S22: If yes, judge whether the difference between the distance between the two grabbing points and the double-sucker interval is within the first threshold range;

[0075] The distance between the two grabbing points P1, P2 is:

[0076]

[0077] The difference between the distance value and the double-sucker interval L s is calculated:

[0078] D = |L-L s | (6)

[0079] And by comparing the difference with the second distance threshold d thres , when less than the second distance threshold d thresh , it meets the requirements. The first distance threshold d thresh and the second distance threshold d thres are adjusted according to actual selection, for example, 5mm can be selected.

[0080] S23: If yes, judge whether the normal line angle between the two grabbing points is within the second threshold range; by calculating the normal line angle between the two grabbing points to determine whether the normals of the two grabbing points P1, P2 are parallel, wherein the normal line angle is:

[0081]

[0082] By comparing θ with the set angle threshold θ thresh , it is judged: if less than the threshold, it is judged that the grabbing normal is parallel. The angle threshold θ thresh may be set to 5°.

[0083] S24: If yes, determine the point pair. When the two normals are parallel, it is determined that the two grabbing points P1, P2 can form a point pair. When any one of steps S21-S23 is not met, it is determined that the two cannot form a point pair. Then all the grabbing points are matched to obtain all the matching results.

[0084] S30: If there are grabbing points that cannot be matched, select the single medicine box mode. When the single medicine box mode is adopted, the same medicine box can be selected by double-sucker suction, or one medicine box can be sucked by one sucker and the other sucker is suspended, which mainly depends on the comparison relationship between the double-sucker interval L s , the medicine box length L b , and the medicine box width W b , which has been described above and will not be repeated here.

[0085] The method for sucking medicine boxes based on the double-suction-disk medicine supplementing machine provided by the embodiment of the application adjusts the distance between the two suction disks according to the sizes of different medicine boxes, confirms the grabbing points of the medicine boxes, then pairs the grabbing points of the medicine boxes two by two, if the pairing is successful, the double-suction-disk mode of sucking different medicine boxes is implemented, if the pairing is not successful, the single-medicine-box sucking mode is selected, so that the appropriate sucking mode can be selected according to the different positions of the medicine boxes in the sucking process, and the working efficiency of the double-suction-disk medicine supplementing machine is ensured.

[0086] Embodiment two

[0087] The embodiment further refines the above technical solution, as shown in Figure 2 Step S10, the grabbing points of the medicine boxes are confirmed, and specifically include:

[0088] S11: obtaining the 2D image of the medicine box and calculating the envelope box of the medicine box; the top of the medicine supplementing machine is provided with a 3D camera to obtain the point cloud image of the medicine box in the medicine box and the 2D image of the medicine box; then the positioning box of each medicine box can be segmented by the Mask-RCNN network learning algorithm, and the rectangular envelope box of each medicine box can be calculated according to the segmented positioning box mask and the point cloud information.

[0089] S12: obtaining the center point information of the envelope box and confirming the grabbing point of the medicine box. In order to facilitate calculation, the coordinate system of the medicine box can be established, and then the center point information and the coordinate point are quantified to facilitate subsequent calculation. It should be noted that the above-mentioned rectangular envelope box is represented as the coordinates of the four corners in the image coordinate system.

[0090] It should be noted that in the subsequent sucking process, the mechanical arm may encounter obstacles when moving upward with the suction disk, which may affect normal work. Therefore, it is necessary to determine to reduce the risk of collision, as shown in Figure 3 , it further includes:

[0091] S13: translating the envelope box along the edge of the envelope box to obtain an extended envelope box of the medicine box; in an optional implementation, the extended envelope box includes the following specific setting mode:

[0092] Firstly, the above-mentioned rectangular envelope box is translated along the relatively short side, and the translation distance is the distance L s between the two suction disks, to obtain a first rectangular box, and then the rectangular envelope box is translated along the normal vector of the rectangular envelope box to obtain a second rectangular box, and the translation distance is the distance between the grabbing point of the medicine box and the top of the medicine box.

[0093] After that, the 8 corner points in the first and second rectangular frames will be projected into a 2D image using the intrinsic information of the 3D camera, and the corresponding coordinate information will be obtained to form an extended envelope frame.

[0094] S14: Obtain the point cloud image in the normal direction of the suction medicine box. Divide the point cloud image obtained by the 3D camera using the extended envelope frame, and then obtain the obstacle point cloud and the corresponding height during the upward movement of the suction disc.

[0095] S15: According to the extended envelope frame and the point cloud image, predict the obstacles in the moving path of the double suction disc. Divide the point cloud image obtained by the 3D camera using the extended envelope frame, and then obtain the obstacle point cloud and the corresponding height during the upward movement of the suction disc. This is conducive to ensuring the safe upward movement of the double suction disc.

[0096] Embodiment Three

[0097] This embodiment is further refined based on the above-mentioned embodiment one, wherein before step S30 is executed, if there is a matching point, as shown in the following formula: Figure 5 Further comprising:

[0098] S25: According to the result of the composition point pair, obtain a single-direction linked list sorted by the position of the grabbing point. The sorting process includes but is not limited to using a directed acyclic graph, which is as follows:

[0099] First, an index value about each grabbing point is established to construct a graph, which aims to match all the grabbing points of the medicine boxes in the medicine box. There is a possibility that one grabbing point can match multiple grabbing points, so the relative position relationship needs to be calculated and sorted to determine the forward or backward node.

[0100] It should be noted that the judgment of the forward node and the backward node can be calculated by projecting the grabbing point to the coordinate value of the aforementioned coordinate system, for example:

[0101] The pixel coordinate value of the grabbing point p1(x1, y1, z1) of the medicine box 1 projected onto the 2D image is t1(u1, v1), and the pixel coordinate value of the grabbing point p2(x2, y2, z2) of the medicine box 2 projected onto the 2D image is t2(u2, v2). The chessboard distance of t1 and t2 on the 2D image is respectively:

[0102] c1=|u1|+|v1| (8)

[0103] c2=|u2|+|v2| (9)

[0104] The judgment between c1 and c2: if c1 is less than c2, the grabbing point P1 in the point pair is in front of the grabbing point P2; if c1 is greater than c2, the grabbing point P1 in the point pair is behind the grabbing point P2.

[0105] S26: Select the grabbing points at both ends of the single linked list to form a point pair. After determining the front and back order of the grabbing points through step S25, a single linked list is obtained; further judgment needs to be made on the single linked list:

[0106] 1. If there is no other grabbing point that can be used as the front node of a certain grabbing point, the grabbing point is the head node.

[0107] 2. If there is no other grabbing point that can be used as the back node of a certain grabbing point, the grabbing point is the isolated node.

[0108] After the judgment is completed, the point pair is constructed according to the first and last grabbing points in the arrangement order of the single linked list. If there is a single grabbing point in the single linked list, there is an isolated node.

[0109] In an alternative embodiment, the above-mentioned need for posture confirmation of the grabbing points that have formed a point pair. The confirmation method is as follows:

[0110] Let the first node p a in the point pair be the grabbing point of the medicine box with coordinates p a (x a , y a , z a ), the normal vector of the medicine box grabbing plane be n a (nx a , ny a , nz a ), and the long side direction vector of the rectangular envelope frame of the medicine box be v a (vx a , vy a , vz a ); the second node P b in the point pair is the grabbing point of the medicine box with coordinates p b (x b , y b , z b ), the normal vector of the medicine box grabbing plane be n b (nx b , ny b , nz b ), and the long side direction vector of the rectangular envelope frame of the medicine box be v b (vx b , vy b , vz b ).

[0111] The coordinates of the pair of double-suction disc grabbing points are p=(p a +p b ) / 2, and the vector represents the position of the double-suction disc when grabbing the double medicine box.

[0112] The normal vector of the pair of double-suction disc grabbing points is n=(n a +n b ) / 2, and the long edge direction vector of the pair of double-suction disc grabbing points is v=(v a +v b ) / 2. According to the normal vector and the long edge direction vector of the double-suction disc grabbing, the short edge direction vector of the double-suction disc grabbing can be calculated as s=n x v. The rotation matrix of the double-suction disc grabbing is R=[v t s t n t ], which represents the posture of the double-suction disc when grabbing the double medicine box.

[0113] Embodiment Four

[0114] This embodiment is further refined on the basis of the foregoing embodiments. When there is an isolated node, a single medicine box mode needs to be selected, as shown in Figure 6 , specifically including:

[0115] S31: When the medicine box width W b is greater than the sum of the double-suction disc spacing L s and the suction disc width W k , a first single medicine box mode is selected, in which the double-suction disc is parallel to the medicine box length;

[0116] S32: When the medicine box width W b is less than the sum of the double-suction disc spacing L s and the suction disc width W k , and greater than the suction disc length L k , a second single medicine box mode is selected, in which the double-suction disc is parallel to the medicine box width;

[0117] S33: When the medicine box width W b is less than the suction disc length L k , and greater than the suction disc width W k , a third single medicine box mode is selected, in which a single suction disc is selected.

[0118] Embodiment Five

[0119] Further as shown in Figure 7 , the present application also proposes a medicine box suction device based on a double-suction disc medicine supplementing machine, which applies the medicine box suction method based on the double-suction disc medicine supplementing machine of any one of embodiments 1-4, as shown in Figure 7 , including:

[0120] The grabbing point confirmation module 10 is configured to confirm the grabbing point of the medicine box according to the medicine box size information and the double-sucker size information. The medicine box information includes the length and width of the medicine box. The double-sucker information includes the width and length of the sucker, the distance between the double-suckers, the minimum and maximum moving distances of the double-suckers. The grabbing point confirmation module 10 is further configured to perform the following operations:

[0121] When the width of the medicine box is greater than the maximum moving distance, the distance between the double-suckers is half of the width of the medicine box.

[0122] When the width of the medicine box is less than the minimum moving distance, the distance between the double-suckers is the minimum moving distance.

[0123] Otherwise, the distance between the double-suckers is the width of the medicine box.

[0124] The grabbing point confirmation module 10 is further configured to obtain a 2D image of the medicine box, calculate an envelope box of the medicine box, obtain the center point information of the envelope box, and confirm the center point as the grabbing point of the medicine box.

[0125] The grabbing point confirmation module 10 can further translate the envelope box along the edge of the envelope box to obtain an extended envelope box of the medicine box, obtain a point cloud image in the normal direction of the medicine box, and predict the obstacles in the moving path of the double-suckers according to the extended envelope box and the point cloud image.

[0126] The grabbing point matching module 20 is configured to match the grabbing points of multiple medicine boxes into pairs to select a double-sucker double-medicine box mode. The grabbing point matching module 20 is further configured to perform the following operations:

[0127] Select two medicine boxes from the multiple medicine boxes, determine whether the corresponding grabbing points are in the same plane, if so, determine whether the distance between the grabbing points is within a first threshold range, if so, determine whether the normal angle between the grabbing points is within a second threshold range, if so, determine that the grabbing points form a point pair. In an embodiment, the grabbing point matching module 20 further obtains a single-direction linked list in which the grabbing points are sorted according to their positions based on the result of the point pair matching, and selects the grabbing points at the two ends of the single-direction linked list to form a point pair.

[0128] The single-medicine box mode selection module 30 is configured to select a single-medicine box mode if there are grabbing points that cannot be matched. The single-medicine box mode selection module 30 is further configured to perform the following operations according to the execution conditions: when the width of the medicine box is greater than the sum of the distance between the double-suckers and the width of the sucker, select a first single-medicine box mode in which the double-suckers are parallel to the length of the medicine box; when the width of the medicine box is less than the sum of the distance between the double-suckers and the width of the sucker and greater than the length of the sucker, select a second single-medicine box mode in which the double-suckers are parallel to the width of the medicine box; when the width of the medicine box is less than the length of the sucker and greater than the width of the sucker, select a third single-medicine box mode in which a single-sucker is used.

[0129] The medicine box sucking device based on the double-suction-disk medicine supplementing machine provided by the embodiment of the present application adopts the same technical means and achieves the same technical effect as the medicine box sucking method based on the double-suction-disk medicine supplementing machine, which will not be described herein.

[0130] Embodiment six

[0131] Figure 8 The structure diagram of the medicine box sucking device based on the double-suction-disk medicine supplementing machine provided by the embodiment six of the present application is shown in Figure 8 The medicine box sucking device based on the double-suction-disk medicine supplementing machine includes a processor 610, a memory 620, an input device 630 and an output device 640; the number of the processor 610 in the medicine box sucking device based on the double-suction-disk medicine supplementing machine can be one or more, Figure 8 and the processor 610 is taken as an example herein; the processor 610, the memory 620, the input device 630 and the output device 640 in the medicine box sucking device based on the double-suction-disk medicine supplementing machine can be connected through a bus or other means, Figure 8 and the connection through the bus is taken as an example herein.

[0132] The memory 620 is a kind of computer readable storage medium, which can be used to store software programs, computer executable programs and modules, such as the program instructions / modules (for example, the grabbing point confirmation module 10, the grabbing point matching module 20 and the single medicine box mode selection module 30) corresponding to the medicine box sucking method based on the double-suction-disk medicine supplementing machine in the embodiment of the present application. The processor 610 executes the software programs, instructions and modules stored in the memory 620, thereby performing various functional applications and data processing of the medicine box sucking device based on the double-suction-disk medicine supplementing machine, that is, implementing the medicine box sucking method based on the double-suction-disk medicine supplementing machine described above.

[0133] The memory 620 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application program required by a function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 620 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some examples, the memory 620 can further include a memory remotely arranged relative to the processor 610, which can be connected to the medicine box sucking device based on the double-suction-disk medicine supplementing machine through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0134] The input device 630 can be used to receive input digital or character information, and generate key signal inputs related to the user settings and function control of the medicine box sucking device based on the double-suction-disk medicine supplementing machine. The output device 640 can include a display device such as a display screen.

[0135] Embodiment seven

[0136] Embodiment seven of the present application also provides a storage medium containing computer executable instructions, which when executed by a computer processor, are used to perform a medicine box suction method based on a double-sucker medicine supplementing machine, comprising:

[0137] According to the medicine box information and the double-sucker information, the distance of the double-sucker is confirmed, and the grabbing point of the medicine box is confirmed;

[0138] The grabbing points of the plurality of medicine boxes are matched to be in pairs, and a double-medicine-box mode of the double-sucker is selected;

[0139] If there is a grabbing point that cannot be matched, a single-medicine-box mode is selected.

[0140] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present application is not limited to the method operations described above, and can also perform related operations in the medicine box suction method based on the double-sucker medicine supplementing machine provided by any embodiment of the present application.

[0141] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH, a hard disk or an optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0142] It is worth noting that in the above embodiment of the medicine box suction method device of the double-sucker medicine supplementing machine, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy distinction, and do not limit the protection scope of the present application.

[0143] Although the present application has been described in detail in the foregoing general description, specific embodiments and experiments, some modifications or improvements can be made on the basis of the present application, which is obvious to those skilled in the art. Therefore, these modifications or improvements made on the basis of not deviating from the spirit of the present application, are all within the scope of protection claimed by the present application.

Claims

1. A method for sucking medicine from a medicine box based on a double-sucker medicine supplementing machine, characterized in that, The application relates to a medicine box sucking method based on a double-sucker medicine supplementing machine. According to medicine box information and double-sucker information, the double-sucker interval is confirmed, and a grabbing point of the medicine box is confirmed. The medicine box information comprises a medicine box length and a medicine box width. The double-sucker information comprises a sucker width, a sucker length, a double-sucker interval, a minimum activity distance of the double sucker and a maximum activity distance. The grabbing points of a plurality of the medicine boxes are matched to be in pairs, and a double-sucker double-medicine box mode is selected; wherein the pairing process is used for arranging and combining the grabbing points, and all the grabbing points are matched. If there is a grabbing point that cannot be matched, a single-medicine box mode is selected. The matching of the grabbing points of the plurality of the medicine boxes to be in pairs specifically comprises the following steps. Two of the plurality of the medicine boxes are selected, and it is judged whether the corresponding grabbing points are in the same plane. If yes, it is judged whether the distance between the grabbing points and the difference between the double-sucker interval are within a first threshold range. If yes, it is judged whether the normal angle between the grabbing points is within a second threshold range. If yes, a point pair is determined. Before the step of judging whether the grabbing points cannot be matched, the following steps are further included. According to the result of the point pair, a single-direction linked list in which the positions of the grabbing points are sorted is obtained. The grabbing points at the two ends of the single-direction linked list are selected to form a point pair.

2. The medicine box suction method based on the double-suction disc medicine supplementing machine according to claim 1, characterized in that, The confirmation of the double-sucker interval specifically comprises the following steps. When the medicine box width is greater than the maximum activity distance, the double-sucker interval is half of the medicine box width. When the medicine box width is less than the minimum activity distance, the double-sucker interval is the minimum activity distance. Otherwise, the double-sucker interval is the medicine box width.

3. The medicine box suction method based on the double-suction disc medicine supplementing machine according to claim 1, characterized in that, The confirmation of the grabbing point of the medicine box specifically comprises the following steps. A 2D image about the medicine box is obtained, and an envelope frame about the medicine box is calculated. The center point information of the envelope frame is obtained, and the center point information is confirmed as the grabbing point of the medicine box.

4. The medicine box suction method based on the double-suction disc medicine supplementing machine according to claim 3, characterized in that, After the confirmation of the grabbing point of the medicine box, the following steps are further included. The envelope frame is translated along the edge of the envelope frame, and an extended envelope frame about the medicine box is obtained. A point cloud image in the normal direction of sucking the medicine box is obtained. According to the extended envelope frame and the point cloud image, it is judged whether there is an obstacle in the moving path of the double sucker.

5. The method of claim 1, wherein the medicine box suction method based on the double-suction disc medicine supplementing machine is characterized by, The selection of the single-medicine box mode specifically comprises the following steps. When the medicine box width is greater than the sum of the double-sucker interval and the sucker width, a first single-medicine box mode in which the double sucker is parallel to the medicine box length is selected. When the medicine box width is less than the sum of the double-sucker interval and the sucker width and greater than the sucker length, a second single-medicine box mode in which the double sucker is parallel to the medicine box width is selected. When the medicine box width is less than the sucker length and greater than the sucker width, a third single-medicine box mode in which a single sucker is selected is selected.

6. A medicine suction device for a medicine box based on a double-suction disc medicine supplementing machine, characterized by, The application relates to a medicine box sucking method based on a double-sucker medicine supplementing machine. A grabbing point confirmation module is used for confirming the double-sucker interval and the grabbing point of the medicine box according to medicine box information and double-sucker information; the medicine box information comprises a medicine box length and a medicine box width; and the double-sucker information comprises a sucker width, a sucker length, a double-sucker interval, a minimum activity distance of the double sucker and a maximum activity distance. The grabbing point matching module is configured to match the grabbing points of the plurality of medicine boxes in pairs to select a double-sucker double-medicine-box mode. The matching of the grabbing points is performed by permutation and combination, and all the grabbing points are matched. The single-medicine-box mode selection module is configured to select a single-medicine-box mode if there is a grabbing point that cannot be matched. The grabbing point matching module is configured to perform the following operations: Two of the plurality of medicine boxes are selected, and it is determined whether the corresponding grabbing points are on the same plane. If yes, it is determined whether the difference between the distance between the grabbing points and the double-sucker distance is within a first threshold range. If yes, it is determined whether the normal angle between the grabbing points is within a second threshold range. If yes, it is determined that the grabbing points form a point pair. The grabbing point matching module is further configured to perform the following operations: According to the result of the point pair, a singly linked list is obtained, in which the grabbing points are sorted according to their positions. The grabbing points at the two ends of the singly linked list are selected to form a point pair.

7. An electronic device, comprising: The electronic device comprises: one or more processors; a memory for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the medicine box sucking method based on the double-sucker medicine supplementing machine according to any one of claims 1-5.

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