An automatic medicine sorting system based on open MV identification two-dimensional code

Abstract

The application relates to the technical field of medical appliances, in particular to an automatic medicine picking system based on Open MV identification of a two-dimensional code, which comprises a first coding module, which is used for number marking of a medicine shelf and number marking of a medicine cabinet in the medicine shelf; a second coding module, which is used for two-dimensional code marking of medicines and medicine prescriptions, and the two-dimensional code of the medicines comprises medicine name, medicine cabinet number where the medicines are located and information of a medicine compartment where the medicines are located; an identification module, which is used for identifying the medicine prescriptions and the medicines through an Open MV camera; and a path planning module, which is used for planning a starting path, an access point, an access height and a return path of the picking robot, so that the required medicines are taken out of a medicine cabinet or the required medicines are stored in a medicine compartment corresponding to the medicine cabinet. The automatic medicine picking system based on Open MV identification of a two-dimensional code can improve medicine management efficiency and realize rapid storage and taking out of the medicines.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an automated drug picking system based on OpenMV QR code recognition. Background Technology

[0002] Currently, medications in hospital pharmacies are stored in batches according to their categories. After a doctor writes a prescription and collects payment, the prescription is transferred to the hospital pharmacy, where pharmacists dispense the corresponding medications to the patient according to the prescription.

[0003] When storing and retrieving a large quantity of medications, pharmacists need to use trolleys to store the medications in batches according to their category into the corresponding medicine cabinets. This requires pharmacists to repeatedly check the medications to avoid storage errors, resulting in a long working time and increasing the risk of medication confusion, misplacement, or omission. During medication retrieval, pharmacists need to retrieve the corresponding medications from the storage area according to the prescription and deliver them to the appropriate dispensing window for the patient. This requires pharmacists to constantly travel between the storage area and the dispensing window, resulting in high labor intensity and low efficiency. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides an automated drug picking system based on OpenMV QR code recognition, which can improve drug management efficiency and enable rapid storage and retrieval of drugs.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] An automated medicine picking system based on OpenMV QR code recognition includes a picking robot, a first encoding module, a second encoding module, an identification module, and a path planning module.

[0007] The first encoding module is used for marking the number on the medicine shelf and the number on the medicine cabinet within the medicine shelf;

[0008] The second encoding module is used for marking the medicine and prescription with QR codes, and the QR code of the medicine includes the medicine name, the medicine cabinet number where the medicine is located and the information of the medicine compartment where the medicine is located, and the QR code of the prescription includes the information of the medicine in the prescription;

[0009] The identification module is used to identify the QR code of the prescription and medicine through the Open MV camera to obtain the medicine information to be taken out or stored.

[0010] The path planning module is used for data acquisition by the identification module, and plans the starting path, access point, access height and return path of the picking robot according to the information of the medicine to be retrieved or stored, so as to drive the picking robot to work according to the plan, so as to retrieve the required medicine from the medicine cabinet or store the required medicine in the corresponding medicine compartment of the medicine cabinet.

[0011] Furthermore, the medicine rack is provided with several columns, each medicine rack is provided with several rows, each row of medicine racks is provided with medicine cabinets on opposite sides, and each medicine cabinet is provided with multiple layers of medicine compartments;

[0012] The medicine rack has longitudinal lanes on both sides for the picking robot to move along, and transverse lanes at both ends for the picking robot to move along.

[0013] The first encoding module sequentially numbers the longitudinal lanes to obtain D1, D2, D3...Di; the first encoding module also sequentially numbers the transverse lanes to obtain d1 and d2, where i is the total number of longitudinal lanes, so that the picking robot passes through D1, d1, D2, d2, D3, d1, Di in sequence when it moves forward.

[0014] The first encoding module numbers each medicine cabinet according to the number of medicine shelves and medicine cabinets, and each longitudinal lane is provided with a tracking block. The number of tracking blocks is the same as the number of medicine cabinets on one side of the medicine shelf, and the tracking blocks in each column are located on the same side of the picking robot's forward direction, so that the grayscale sensor of the picking robot can identify the tracking block when the picking robot moves forward.

[0015] Furthermore, the method for numbering the medicine cabinet includes the following steps:

[0016] S1. Based on the quantity of the medicine shelves, sequentially number the medicine shelves to obtain K1, K2, K3…K Q Where Q is the total number of the medicine shelves; the medicine cabinets in each column of the medicine shelves are numbered sequentially to obtain G1, G2, G3...G R , where R is the total number of columns in the medicine cabinet;

[0017] S2. When Q≥3, sequentially process G1, G3, G4, G7, G8…G along the picking robot's forward path. R-3 G R-2 The Chinese medicine cabinets are numbered in ascending order; G2, G5, G6…G R-1 The number of the Chinese medicine cabinet is associated with the number of the medicine cabinet opposite it, and the difference between them is ×L, where L is half the number of medicine cabinets in each of the aforementioned medicine shelves; G RThe medicine cabinets are numbered in descending order along the backward direction of the picking robot and based on the maximum total number of medicine cabinets.

[0018] S3. When Q=2, the medicine cabinets G1, G3, and G4 are sequentially numbered in ascending order along the forward path of the picking robot; the medicine cabinet G1 is numbered in descending order along the backward direction of the picking robot and based on the maximum total number of medicine cabinets.

[0019] S4. When Q=1, the G1 and G2 medicine cabinets are sequentially numbered in ascending order along the forward path of the picking robot.

[0020] Furthermore, the path planning module calculates the number of times the tracking block is passed through using a grayscale sensor to determine the numbers of the medicine cabinets on both sides of the current position of the picking robot;

[0021] After the picking robot completes the removal or storage of medicine, the path planning module receives a return signal. The path planning module then controls the picking robot to continue moving forward and to d1 or d2 before returning to D1.

[0022] Furthermore, the picking robot includes a frame and a lifting mechanism and a gripping mechanism mounted on the frame.

[0023] The bottom of the frame is equipped with a steering wheel and the grayscale sensor, and the grayscale sensor is located on one side of the bottom of the frame. A lidar is provided at the end of the frame in the forward direction. The Open MV cameras are respectively located on both sides of the frame in the forward direction.

[0024] The lifting mechanism includes a fixed platform, a lifting platform and a lifting motor. Two guide rails are provided on each side of the vehicle frame. One end of each guide rail is fixedly connected to the vehicle frame, and each guide rail is slidably provided with a slider.

[0025] The fixed platform is fixedly connected to the end of the guide rail away from the vehicle frame;

[0026] The lifting platform is located between the guide rails on both sides of the vehicle frame, and the lifting platform is fixedly connected to the slider through a connecting support;

[0027] The lifting motor is fixedly connected to the fixed platform, and the lifting motor drives the connecting support through the lifting drive assembly so that the lifting platform moves up and down along the guide rail;

[0028] The clamping mechanism includes a clamping arm, a gripper, and a translation motor. Optical shafts are respectively provided on both sides of the lifting platform facing the vehicle frame. The clamping arm is slidably connected to the optical shafts through a fixed support.

[0029] The gripper is provided in two parts, and the two grippers are respectively connected to the two ends of the gripping arm via servo motors;

[0030] The translation motor is fixedly connected to the lifting platform, and the translation motor drives the gripping arm through the translation drive assembly so that the gripping arm can translate along the fixed support, and the translation direction of the gripping arm is perpendicular to the forward direction of the vehicle frame.

[0031] The lifting motor controls the height of the gripper to raise or lower it to the desired height for storing or retrieving medicine. The translation motor controls the translation of the gripper to extend it into the medicine compartment for retrieving or discharging medicine.

[0032] Furthermore, the lifting drive assembly includes a first synchronous belt and a first drive block. Two first synchronous belts are provided, and the two first synchronous belts are respectively provided on both sides of the fixed platform. The first synchronous belt is located between the two guide rails. The two ends of the first synchronous belt are rotatably connected to the fixed platform and one of the guide rails, respectively. The first synchronous belt is also connected to the lifting motor for transmission.

[0033] One side of the first drive block is fixedly connected to one of the connecting supports, and the other side is fixedly connected to the first synchronous belt.

[0034] Furthermore, a buffer block is fixedly provided at one end of the guide rail near the fixed platform, and a tensioning member is provided at one end of the guide rail near the vehicle frame. The tensioning member is slidably connected to the guide rail and is fixed to the guide rail by screws. The tensioning member is rotatably connected to the end of the first synchronous belt away from the fixed platform.

[0035] Furthermore, the translation drive assembly includes a second synchronous belt and a second drive block. The second synchronous belt is located on the side of the lifting platform facing the vehicle frame. Both ends of the second synchronous belt are rotatably connected to the lifting platform, and the second synchronous belt is drive-connected to the translation motor.

[0036] One end of the second drive block is fixedly connected to the fixed support, and the other end is fixedly connected to the second synchronous belt.

[0037] Furthermore, the picking robot also includes a transport mechanism for transporting medicine baskets, and the opening of the medicine baskets is provided with a protruding edge. There are two transport mechanisms, and the two transport mechanisms are arranged opposite to each other on the frame.

[0038] The transport mechanism includes an X-axis platform and a Y-axis frame. The X-axis platform is located at one end of the vehicle frame in the forward direction and is slidably connected to the vehicle frame via an X-axis rod. The X-axis platform is driven by an X-axis motor, so that the movement direction of the X-axis platform is perpendicular to the forward direction of the vehicle frame. Limiting strips are provided at both ends of the X-axis platform along its movement direction, and a guide plate is inclined on one side of the X-axis platform facing the vehicle frame.

[0039] The Y-axis carrying rack is located on one side of the vehicle frame in the forward direction. The Y-axis carrying rack is slidably connected to the vehicle frame via a Y-axis rod, and the Y-axis rod is located on the side of the X-axis rod facing the vehicle frame. The Y-axis carrying rack is driven by a Y-axis motor so that the movement direction of the Y-axis carrying rack is parallel to the forward direction of the vehicle frame. Support members are respectively provided at both ends of the Y-axis carrying rack along its movement direction.

[0040] Furthermore, an X-axis lead screw is provided on one side of the X-axis rod, and the two ends of the X-axis lead screw are respectively rotatably connected to the vehicle frame. The nut of the X-axis lead screw is fixedly connected to the bottom of the X-axis platform, and the X-axis lead screw is drivenly connected to the X-axis motor.

[0041] A Y-axis lead screw is provided on one side of the Y-axis rod. The two ends of the Y-axis lead screw are rotatably connected to the vehicle frame. The nut of the Y-axis lead screw is fixedly connected to the bottom of the Y-axis load cell, and the Y-axis lead screw is driven by the Y-axis motor.

[0042] The beneficial effects of this invention are:

[0043] 1. This invention utilizes a shelf coding module to number and label medicine shelves and cabinets, allowing the location of desired medications to be retrieved or stored. Each medication is labeled with a QR code, recording its name and corresponding compartment information, establishing a clear association between medications and compartments. Prescriptions are also labeled with QR codes, enabling a picking robot to identify medication information within the prescription. A path planning module plans a route based on the QR code information, driving the picking robot to follow the plan and retrieve the required medications from the cabinet or store them in their corresponding compartments, thus completing automated medication picking. This invention employs visual technology for image processing to achieve medication identification and location, accurately identifying different types of medications and determining their positions, avoiding errors and improving work efficiency. Furthermore, this invention automatically plans and schedules medication storage and retrieval based on demand, reducing waiting time and repetitive operations, making medication management more efficient and streamlined.

[0044] 2. The tracking blocks are all located on the same side of the picking robot's forward direction, which allows the picking robot to identify the tracking blocks as it moves forward. The number of the tracking blocks is related to the number of the medicine cabinets. By calculating the number of tracking blocks that the picking robot passes through, the number of medicine cabinets on both sides can be determined, which effectively improves the positioning speed and accuracy of the picking robot.

[0045] 3. By controlling the forward and reverse rotation of the lifting motor, the height of the lifting platform can be adjusted, thereby adjusting the height of the gripper so that the gripper can face the medicine compartment to be stored; by controlling the forward and reverse rotation of the translation motor, the gripper can be inserted into the medicine compartment to be stored; by using a servo motor to control the opening and closing of the gripper, the medicine can be placed into the medicine compartment and the medicine can be clamped. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the picking robot structure of an automated medicine picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of the lifting mechanism of an automated medicine picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0048] Figure 3 This is a side view of the lifting mechanism of an automated drug picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0049] Figure 4 This is a schematic diagram of the gripping mechanism of an automated drug picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0050] Figure 5 This is a schematic diagram of the transport mechanism structure of an automated medicine picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0051] Figure 6 This is a structural block diagram of an automated drug picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0052] Figure 7 This is a route planning diagram of an automated drug picking system based on OpenMV QR code recognition, according to a preferred embodiment of the present invention.

[0053] In the diagram, 1-picking robot, 101-medicine shelf, 102-medicine cabinet, 103-tracking block, 11-medicine shelf coding module, 12-coding module, 13-recognition module, 14-path planning module, 2-frame, 21-steering wheel, 22-LiDAR, 31-fixed platform, 32-lifting platform, 321-connecting support, 33-lifting motor, 34-guide rail, 341-slider, 35-first synchronous belt, 351-first drive block, 36-buffer. Block, 37-Tensioning component, 41-Grip arm, 42-Gripper, 421-Servo motor, 43-Translation motor, 44-Optical axis, 441-Fixed support, 45-Second synchronous belt, 451-Second drive block, 5-X-axis stage, 501-Limiting strip, 502-Guide plate, 51-X-axis rod, 52-X-axis motor, 53-X-axis lead screw, 6-Y-axis rack, 601-Support component, 61-Y-axis rod, 62-Y-axis motor, 63-Y-axis lead screw. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0056] 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 invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0057] Please also see Figures 1 to 7 An automated drug picking system based on OpenMV QR code recognition according to a preferred embodiment of the present invention includes a picking robot 1, a first encoding module 11, a second encoding module 12, an identification module 13, and a path planning module 14.

[0058] The picking robot 1 includes a frame 2 and a lifting mechanism, a gripping mechanism and a transport mechanism installed on the frame 2.

[0059] A steering wheel 21 and a grayscale sensor are installed at the bottom of the frame 2, with the grayscale sensor located on one side of the bottom of the frame 2. A lidar 22 is installed at the end of the frame 2 in the forward direction, and OpenMV cameras are respectively installed on both sides of the frame 2 in the forward direction. In this embodiment, the steering wheel 21 is provided with four independent drive units for driving the frame 2.

[0060] The lidar, through the reflection and angle offset of laser light, can obtain distance information of obstacles within a 180-degree range in front of the vehicle. The lidar and the Open MV camera are controlled by a host computer. The host computer can determine a threshold based on the distance information. When the threshold exceeds the set range, the host computer will stop sending operating signals to the steering wheel 21 of the chassis and simultaneously activate a buzzer to issue a warning. At the same time, a two-dimensional model of the terrain is created by the lidar before the machine operates, allowing it to accurately travel in the corresponding direction. The Open MV camera is used for QR code scanning. In this embodiment, a shell is provided outside the vehicle frame 2, and the Open MV camera is mounted on the shell.

[0061] Before using the machine, black tracking lines 103 need to be placed on the path to be run in the environment where it will be used. Grayscale sensors will be used for tracking. There are two grayscale sensors set in parallel. One grayscale sensor detects grayscale levels from black to white for accurate tracking, and the other grayscale sensor is used to count the tracking lines 103 to determine whether the corresponding medicine cabinet has been reached.

[0062] The frame 2 in this embodiment is composed of aluminum square tubes and connected by angle irons, which has advantages such as low cost and light weight. At the same time, through holes are reserved in the aluminum square tubes, and fiberglass boards are fixed on the upper and lower sides of the aluminum square tubes with bolts to provide mounting holes for the lifting mechanism, clamping mechanism, transportation mechanism, steering wheel 21, grayscale sensor and lidar 22.

[0063] The lifting mechanism includes a fixed platform 31, a lifting platform 32, and a lifting motor 33. Each side of the frame 2 is provided with two guide rails 34, one end of which is fixedly connected to the frame 2, and each guide rail 34 is slidably provided with a slider 341.

[0064] The fixed platform 31 is fixedly connected to the end of the guide rail 34 away from the frame 2.

[0065] The lifting platform 32 is located between the guide rails 34 on both sides of the frame 2, and the lifting platform 32 is fixedly connected to the slider 341 via a connecting support 321. The connecting support 321 is fixedly connected to the lifting platform 32, and the connecting support 321 is fixed to the slider 341. With the cooperation of the connecting support 321 and the slider 341, wobbling during the movement of the slide is prevented, effectively improving the load capacity and stability of the slide.

[0066] The lifting motor 33 is fixedly connected to the fixed platform 31, and the lifting motor 33 drives the connecting support 321 through the lifting drive assembly so that the lifting platform 32 moves up and down along the guide rail 34.

[0067] like Figure 1 and Figure 2 As shown, the lifting drive assembly includes a first synchronous belt 35 and a first drive block 351.

[0068] Two first synchronous belts 35 are provided, one on each side of the fixed platform 31, and the other between two guide rails 34. Each first synchronous belt 35 is rotatably connected to the fixed platform 31 and one of the guide rails 34, respectively, and is also connected to the lifting motor 33 via a transmission connection. The output shaft of the lifting motor 33 is connected to the drive shaft of the first synchronous belt 35 via a transmission belt to drive the first synchronous belt 35.

[0069] The first drive block 351 is fixedly connected to one of the connecting supports 321 on one side and fixedly connected to the first synchronous belt 35 on the other side.

[0070] Driven by the lifting motor 33, the first synchronous belt 35 rotates, causing the first drive block 351 to drive the corresponding connecting support 321 to rise or fall, thereby realizing the lifting control of the lifting platform 32.

[0071] like Figure 3 As shown, a buffer block 36 is fixedly installed at one end of the guide rail 34 near the fixed platform 31, and a tensioning member 37 is installed at one end of the guide rail 34 near the frame 2. The tensioning member 37 is slidably connected to the guide rail 34 and is fixed to the guide rail 34 by screws. The tensioning member 37 is rotatably connected to the end of the first synchronous belt 35 away from the fixed platform 31.

[0072] The buffer block 36 restricts the vertical travel of the lifting platform 32, while effectively protecting the safety of the moving slide and preventing damage from collisions. By adjusting the position of the tensioner 37 on the guide rail 34, the tension of the first synchronous belt 35 can be adjusted, allowing the first synchronous belt 35 to operate stably.

[0073] like Figure 1 and Figure 2As shown, the gripping mechanism includes a gripping arm 41, a gripper 42, and a translation motor 43. Optical shafts 44 are respectively provided on both sides of the lifting platform 32 facing the vehicle frame 2. The gripping arm 41 is slidably connected to the optical shafts 44 via fixed supports 441. The fixed supports 441 are sleeved on the gripping arm 41 and fixedly connected to it, and the fixed supports 441 slide along the optical shafts 44, allowing the gripping arm 41 to slide along the optical shafts 44.

[0074] Two grippers 42 are provided, and each gripper 42 is connected to both ends of the gripping arm 41 via a servo motor 421. In this embodiment, a thin-film pressure sensor is installed on the gripper 42, which is mounted in the middle of the mechanical gripper. This sensor is used to measure the pressure during gripping. It can directly grip the medicine laterally. When the medicine is gripped, the thin-film pressure sensor will transmit a signal to the host computer, which can accurately grip the medicine without damaging its appearance. In this embodiment, a photoelectric switch is provided below the gripper 42. The photoelectric switch is used to determine the distance. By setting its threshold, when the mechanical arm is extended to a certain length, the power switch will reflect a high level to the host computer. The host computer can accurately control the number of steps the stepper motor advances by changing the high and low levels, making the gripping of medicine more precise. The signal from the photoelectric switch is used as the gripping signal or release signal of the gripper 42 to accurately complete the storage and retrieval of medicine.

[0075] The translation motor 43 is fixedly connected to the lifting platform 32, and the translation motor 43 drives the gripping arm 41 through the translation drive assembly so that the gripping arm 41 can move along the fixed support 441, and the translation direction of the gripping arm 41 is perpendicular to the forward direction of the frame 2.

[0076] like Figure 4 As shown, the translation drive assembly includes a second synchronous belt 45 and a second drive block 451. The second synchronous belt 45 is located on the side of the lifting platform 32 facing the vehicle frame 2. Both ends of the second synchronous belt 45 are rotatably connected to the lifting platform 32, and the second synchronous belt 45 is drive-connected to the translation motor 43. The translation motor 43 is fixedly mounted on the side of the lifting platform 32 facing away from the vehicle frame 2. The output shaft of the translation motor 43 passes through the lifting platform 32 and is drive-connected to the second synchronous belt 45.

[0077] One end of the second drive block 451 is fixedly connected to the fixed support 441, and the other end is fixedly connected to the second synchronous belt 45.

[0078] Driven by the translation motor 43, the second synchronous belt 45 rotates, causing the second drive block 451 to drive the fixed support 441 to translate, thereby realizing the translation drive of the gripping arm 41 so that the two grippers 42 can grip the corresponding medicines respectively.

[0079] The height of the gripper 42 is controlled by the lifting motor 33 so that the gripper 42 is raised or lowered to the required height for storing or retrieving medicines. The translation motor 43 controls the translation of the gripper 42 so that the gripper 42 extends into the medicine compartment to retrieve or discharge medicines.

[0080] The lifting motor 33 adopts a high-torque stepper motor. The lifting motor 33 controls the rotation of the synchronous pulley directly connected to the motor output shaft, and adjusts the rotation of the coaxial synchronous belt in the lifting mechanism to realize the movement of the slide table in the vertical direction. The stepper motor is characterized by rotating a fixed angle for each pulse received, which has the function of precise stroke. At the same time, it can provide a certain self-locking torque after being powered on, so that the robotic arm can be stably maintained at a certain height, realizing the picking of medicines at different heights.

[0081] The translation motor 43 is a stepper motor, and its working principle is the same as that of the lifting motor 33.

[0082] like Figure 1 and Figure 5 As shown, the transport mechanism is used for transporting the medicine basket, and the opening of the medicine basket is provided with a protruding edge. There are two transport mechanisms, and the two transport mechanisms are arranged opposite to each other on the frame 2.

[0083] The transport mechanism includes an X-axis platform 5 and a Y-axis rack 6. The X-axis platform 5 is located at one end of the vehicle frame 2 in the forward direction, and the X-axis platform 5 is slidably connected to the vehicle frame 2 through an X-axis rod 51. The X-axis platform 5 is driven by an X-axis motor 52, so that the movement direction of the X-axis platform 5 is perpendicular to the forward direction of the vehicle frame 2. Limiting strips 501 are respectively provided at both ends of the X-axis platform 5 along its movement direction, and a guide plate 502 is inclined on the side of the X-axis platform 5 facing the vehicle frame 2.

[0084] The Y-axis carrying rack 6 is located on one side of the vehicle frame 2 in the forward direction. The Y-axis carrying rack 6 is slidably connected to the vehicle frame 2 via the Y-axis rod 61, and the Y-axis rod 61 is located on the side of the X-axis rod 51 facing the vehicle frame 2. The Y-axis carrying rack 6 is driven by the Y-axis motor 62 so that the movement direction of the Y-axis carrying rack 6 is parallel to the forward direction of the vehicle frame 2. Support members 601 are respectively provided at both ends of the Y-axis carrying rack 6 along its movement direction.

[0085] The function of the transport mechanism is to transport the medicine gripped by the gripper 42 into the medicine basket. In the initial state, the X-axis platform 5 is located at the end away from the Y-axis rod 61, and the Y-axis rack 6 is located at the end close to the X-axis rod 51.

[0086] The process of receiving medicine in the medicine basket is as follows: the X-axis stage 5 moves toward the Y-axis rod 61, so that the idle medicine basket is close to the Y-axis frame 6. When the X-axis stage 5 moves to the Y-axis frame 6, the convex edge of the medicine basket can be placed on the support 601, so that the idle medicine basket is fixed on the Y-axis frame 6. Then the Y-axis frame 6 moves the idle medicine basket to directly below the gripper 42, and the gripper places the medicine into the medicine basket.

[0087] The process of moving the medicine basket to the front or rear of frame 2 is as follows:

[0088] The Y-axis carrier 6 moves toward the X-axis rod 51, bringing the medicine basket containing the medicine closer to the X-axis platform 5. When the Y-axis carrier 6 moves to the X-axis platform 5, the medicine basket is fed between the two limiting bars 501. Then the X-axis platform 5 moves away from the Y-axis rod 61. Under the action of the two limiting bars 501, the medicine basket is fixed on the X-axis platform 5. At the same time, the convex edge of the medicine basket slides out of the support member 601, so that the medicine basket can be moved to the front or rear of the vehicle frame 2.

[0089] By performing a single operation of receiving medicine in the medicine basket and moving the medicine basket to the front or rear of the vehicle frame 2, a medicine transportation operation is completed. After each medicine transportation operation is completed, the X-axis platform 5 and the Y-axis platform 6 are reset to the state before the medicine basket received the medicine, so as to avoid interference with the removal of medicine by the X-axis platform 5 and the Y-axis platform 6.

[0090] In this embodiment, an X-axis lead screw 53 is provided on one side of the X-axis rod 51. The two ends of the X-axis lead screw 53 are rotatably connected to the frame 2, the nut of the X-axis lead screw 53 is fixedly connected to the bottom of the X-axis platform 5, and the X-axis lead screw 53 is connected to the X-axis motor 52 for transmission.

[0091] A Y-axis lead screw 63 is provided on one side of the Y-axis rod 61. The two ends of the Y-axis lead screw 63 are rotatably connected to the frame 2. The nut of the Y-axis lead screw 63 is fixedly connected to the bottom of the Y-axis load cell 6, and the Y-axis lead screw 63 is connected to the Y-axis motor 62 for transmission.

[0092] Both the X-axis motor 52 and the Y-axis motor 62 are fixed on the frame 2, and both the X-axis motor 52 and the Y-axis motor 62 are stepper motors. By controlling the X-axis motor 52 and the Y-axis motor 62, the stroke of the X-axis platform 5 and the Y-axis rack 6 are controlled, thereby ensuring the accurate transportation of the medicine basket.

[0093] The automated drug picking system based on OpenMV QR code recognition in this embodiment also includes a first encoding module 11, a second encoding module 12, an identification module 13, and a path planning module 14.

[0094] The first coding module 11 is used for number marking of the medicine shelf 101 and the medicine cabinet 102 in the medicine shelf 101.

[0095] The second coding module 12 is used for QR code marking of medicines and prescriptions. The QR code for medicines includes the medicine name, the medicine cabinet number where the medicine is located, and the information of the medicine compartment where the medicine is located. The QR code for prescriptions includes information about the medicines in the prescription. The information of the medicine compartment where the medicine is located is determined according to the height position of the medicine compartment.

[0096] The identification module 13 is used to identify the QR code of the prescription and medicine through the Open MV camera to obtain the medicine information to be taken out or stored.

[0097] The path planning module 14 is used to identify the data acquired by the module 13, and to plan the starting path, access point, access height and return path of the picking robot 1 according to the information of the medicine to be taken out or stored, so as to drive the picking robot 1 to work according to the plan, so as to take out the required medicine from the medicine cabinet or store the required medicine in the corresponding medicine compartment of the medicine cabinet 102.

[0098] The first coding module 11 uses numbers to mark the medicine shelves 101, medicine cabinets 102, and medicine compartments, so that the location of the medicine to be retrieved or stored can be determined by the number. The second coding module 12 marks the medicine with a QR code, and records the name information of the medicine and the information of the medicine compartment according to the QR code, so that the medicine and the medicine compartment have a corresponding relationship. At the same time, the prescription is marked with a QR code, so that the picking robot 1 can identify the medicine information in the prescription. Under the action of the path planning module 14, the route is planned according to the QR code information, and the picking robot 1 is driven to work according to the plan to realize the retrieval of the required medicine from the medicine cabinet or the storage of the required medicine in the corresponding medicine compartment of the medicine cabinet 102, thus completing the automatic picking of medicine.

[0099] This embodiment utilizes visual technology for image processing to achieve drug identification and location, accurately identifying different types of drugs and determining their positions, avoiding errors and improving work efficiency. This embodiment automatically plans and schedules drug storage and retrieval according to demand, reducing waiting time and repetitive operations, making drug management more efficient and streamlined.

[0100] like Figure 7 As shown, the medicine rack 101 has several columns, each medicine rack 101 has several rows, and each row of medicine rack 101 has medicine cabinets 102 on both sides. Each medicine cabinet 102 has multiple layers of medicine compartments, and the height of the medicines and medicine compartments are correlated so that the host computer can obtain the accurate position of the medicines based on the medicine information.

[0101] The medicine rack 101 has longitudinal lanes on both sides for the picking robot 1 to move along, and transverse lanes at both ends for the picking robot 1 to move along.

[0102] The first encoding module 11 sequentially numbers the longitudinal lanes to obtain D1, D2, D3...Di; the first encoding module 11 also sequentially numbers the transverse lanes to obtain d1 and d2, where i is the total number of longitudinal lanes, so that the picking robot 1 passes through D1, d1, D2, d2, D3, d1, Di in sequence when it moves forward.

[0103] The first encoding module 11 numbers each medicine cabinet 102 according to the number of medicine shelves 101 and medicine cabinets 102. Each longitudinal driveway is equipped with a tracking block 103. The number of tracking blocks 103 is the same as the number of medicine cabinets 102 on one side of the medicine shelves 101. The tracking blocks 103 in each column are located on the same side of the picking robot 1's forward direction, so that the grayscale sensor of the picking robot 1 can identify the tracking block 103 as the picking robot 1 moves forward. In this embodiment, the tracking block 103 is located on the left side of the picking robot 1's forward direction.

[0104] The numbering method for medicine cabinet 102 includes the following steps:

[0105] S1. Based on the quantity of medicine shelves 101, sequentially number the medicine shelves 101 to obtain K1, K2, K3…K Q Where Q is the total number of medicine shelves 101; the medicine cabinets 102 in each column of medicine shelves 101 are numbered sequentially to obtain G1, G2, G3...G R , where R is the total number of columns in medicine cabinet 102;

[0106] S2. When Q≥3, sequentially process G1, G3, G4, G7, G8…G along the forward path of picking robot 1. R-3 G R-2 The Chinese medicine cabinet 102 is numbered in ascending order; G2, G5, G6…G R-1 The number of the Chinese medicine cabinet 102 is associated with the number of its opposite medicine cabinet 102, and the difference between them is Q-1×L, where L is half the number of Chinese medicine cabinets 102 in each medicine shelf 101; G R The medicine cabinets 102 are numbered in descending order along the backward direction of the picking robot 1 and based on the maximum total number of medicine cabinets 102.

[0107] S3. When Q=2, the medicine cabinets G1, G3, and G4 are numbered in ascending order along the forward path of the picking robot 1; the medicine cabinet G1 is numbered in descending order along the backward direction of the picking robot 1 and based on the maximum total number of medicine cabinets 102.

[0108] S4. When Q=1, sequentially number the G1 and G2 medicine cabinets 102 in ascending order along the forward path of the picking robot 1.

[0109] In this embodiment, there are 5 rows of medicine shelves 101, and each row of medicine shelves 101 has 20 medicine cabinets, so:

[0110] The longitudinal lane numbers are: D1, D2, D3, D4, D5, D6;

[0111] The medicine shelf 101 is numbered as follows: K1, K2, K3, K4, K5;

[0112] The medicine cabinets are numbered as follows: G1, G2, G3, G4, G5, G6, G7, G8, G9, G 10 ;

[0113] like Figure 7 As shown, the arrows indicate the direction of movement of picking robot 1. According to the numbering method of medicine cabinet 102, G1 moves along picking robot 1 in numbers 1-10; G2 moves along picking robot 1 in numbers 51-60; G3 moves along picking robot 1 in numbers 11-20; G4 moves along picking robot 1 in numbers 21-30; G5 moves along picking robot 1 in numbers 61-70; G6 moves along picking robot 1 in numbers 71-80; G7 moves along picking robot 1 in numbers 31-40; G8 moves along picking robot 1 in numbers 41-50; G9 moves along picking robot 1 in numbers 81-90; G... 10 The numbers moving along the picking robot 1 are 91-100;

[0114] Each longitudinal lane is equipped with 10 tracking blocks 103, and each tracking block 103 is directly opposite each medicine cabinet 102.

[0115] The initial point in this embodiment is the tracking block 103 corresponding to medicine cabinet 102 number 1. The route planning for the picking robot 1 to return to the initial point is as follows:

[0116] In picking robot 1D1, returning means back to the initial point; in picking robot 1D2, returning means D2-d2-initial point; in picking robot 1D3, returning means D3-d1-initial point; in picking robot 1D4, returning means D4-d2-initial point; in picking robot 1D5, returning means D5-d1-initial point; and in picking robot 1D6, returning means D6-d2-initial point.

[0117] In this embodiment, the path planning module 14 calculates the number of times the tracking block 103 is passed through the grayscale sensor in order to determine the number of the medicine cabinets 102 on both sides of the current position of the picking robot 1.

[0118] After the picking robot 1 completes the removal or storage of medicine, the path planning module 14 receives a return signal and controls the picking robot 1 to continue moving forward and move to d1 or d2 before returning to D1.

[0119] In this embodiment, instructions are given for retrieving and storing medicines in medicine cabinets 102 numbered 15 and 65, and the picking robot 1 uses the side closest to the tracking block 103 as its left side:

[0120] During medication removal:

[0121] A1. By scanning the QR code on the prescription with an Open MV camera, the host computer obtains the name of the medicine to be taken out, the information of the medicine cabinet 102 of the medicine to be taken out, and the height information of the medicine compartment of the medicine to be taken out through the recognition module 13.

[0122] A2. The path planning module 14 obtains the information from the machine recognition module 13 that the medicines to be retrieved are located in medicine cabinets 102 numbered 15 and 65 and the medicine retrieval height. The path planning module 14 plans the medicine retrieval path of the picking robot 1 as: D1-d1-D2-d2-D3. When the tracking block 103 counts 15 and 65, the picking robot 1 stops to retrieve the medicine. After the medicine retrieval is completed, the return path of the picking robot 1 is: D3-d1-initial point.

[0123] A3. The host computer controls the picking robot 1 to move according to the data of the path planning module 14. When the tracking block 103 counts to 15, the host computer controls the lifting motor 33 to make the gripper 42 face the corresponding medicine compartment, and then controls the translation motor 43 to make the gripping arm 41 move to the left. The gripper 42 extends into the corresponding medicine compartment and completes the gripping of the medicine through the servo motor 421. Then the transport mechanism performs one medicine transport.

[0124] A4. The host computer controls the picking robot 1 to continue moving according to the data of the path planning module 14. When the tracking block 103 counts to 65, the host computer controls the lifting motor 33 to make the gripper 42 face the corresponding medicine compartment, and then controls the translation motor 43 to make the gripping arm 41 move to the right. The gripper 42 extends into the corresponding medicine compartment and completes the gripping of the medicine through the servo motor 421. Then the transport mechanism performs one medicine transport.

[0125] A5. The host computer controls the picking robot 1 to return based on the data from the path planning module 14. The picking robot 1 moves along the D3-d1-initial point and completes one extraction of medicine.

[0126] In the storage of medicines, only one type of medicine is stored at a time. The medicine storage process for medicine cabinet 102, numbered 15, is as follows:

[0127] B1. The QR code of the medicine to be stored is captured by the Open MV camera. The host computer obtains the name of the medicine to be stored, the information of the medicine cabinet 102 to which the medicine to be stored belongs, and the height information of the medicine compartment to which the medicine to be stored belongs through the recognition module 13.

[0128] B2. The path planning module 14 obtains the required medicines to be stored in medicine cabinet 102 (number 15) and the medicine storage height information from the machine recognition module 13. The path planning module 14 plans the medicine retrieval path of the picking robot 1 as D1-d1-D2. When the tracking block 103 counts to 15, the picking robot 1 stops to store the medicine. After the medicine storage is completed, the return path of the picking robot 1 is D2-d2-initial point.

[0129] B3. The host computer controls the picking robot 1 to move according to the data of the path planning module 14. When the tracking block 103 counts to 15, the host computer controls the lifting motor 33 to make the gripper 42 face the corresponding medicine compartment, and then controls the translation motor 43 to make the gripping arm 41 move to the left. The gripper 42 extends into the corresponding medicine compartment and the medicine is placed through the servo motor 421.

[0130] B4. The host computer controls the picking robot 1 to return based on the data from the path planning module 14. The picking robot 1 moves along D2-d2-initial point and completes one storage of medicine.

[0131] The same principle applies to the storage of medicines in medicine cabinet 102, numbered 65.

Claims

1. An automated medicine picking system based on OpenMV QR code recognition, characterized in that, It includes a picking robot (1), a first coding module (11), a second coding module (12), a recognition module (13), and a path planning module (14). The picking robot (1) includes a frame (2) and a lifting mechanism and a gripping mechanism installed on the frame (2). The bottom of the frame (2) is provided with a steering wheel (21) and a grayscale sensor, and the grayscale sensor is located on one side of the bottom of the frame (2). A lidar (22) is provided at the end of the frame (2) in the forward direction. Open MV cameras are respectively located on both sides of the frame (2) in the forward direction. The lifting mechanism includes a fixed platform (31), a lifting platform (32) and a lifting motor (33). Each side of the frame (2) is provided with two guide rails (34). One end of the guide rail (34) is fixedly connected to the frame (2), and each guide rail (34) is slidably provided with a slider (341). The fixed platform (31) is fixedly connected to the end of the guide rail (34) away from the frame (2); The lifting platform (32) is located between the guide rails (34) on both sides of the frame (2), and the lifting platform (32) is fixedly connected to the slider (341) through the connecting support (321); The lifting motor (33) is fixedly connected to the fixed platform (31), and the lifting motor (33) drives the connecting support (321) through the lifting drive assembly so that the lifting platform (32) moves up and down along the guide rail (34); The clamping mechanism includes a clamping arm (41), a gripper (42), and a translation motor (43). Optical shafts (44) are respectively provided on both sides of the lifting platform (32) facing the frame (2). The clamping arm (41) is slidably connected to the optical shafts (44) through a fixed support (441). Two grippers (42) are provided, and the two grippers (42) are respectively connected to the two ends of the gripping arm (41) via servo motors (421); The translation motor (43) is fixedly connected to the lifting platform (32), and the translation motor (43) drives the gripping arm (41) through the translation drive assembly so that the gripping arm (41) can move along the fixed support (441), and the translation direction of the gripping arm (41) is perpendicular to the forward direction of the frame (2). The height of the gripper (42) is controlled by the lifting motor (33) so that the gripper (42) is raised or lowered to the required height for storing or retrieving medicines. The translation motor (43) controls the translation of the gripper (42) so that the gripper (42) extends into the medicine compartment to retrieve or discharge medicines. The lifting drive assembly includes a first synchronous belt (35) and a first drive block (351). There are two first synchronous belts (35), which are respectively located on both sides of the fixed platform (31) and between the two guide rails (34). The two ends of the first synchronous belt (35) are rotatably connected to the fixed platform (31) and one of the guide rails (34), and the first synchronous belt (35) is drive-connected to the lifting motor (33). The first drive block (351) is fixedly connected to one of the connecting supports (321) on one side and fixedly connected to the first synchronous belt (35) on the other side; The first coding module (11) is used for number marking of the medicine shelf (101) and the medicine cabinet (102) in the medicine shelf (101); The second encoding module (12) is used for marking the QR code of medicines and prescriptions, and the QR code of the medicine includes the name of the medicine, the medicine cabinet number where the medicine is located and the medicine compartment where the medicine is located, and the QR code of the prescription includes the information of the medicine in the prescription; The identification module (13) is used to identify prescriptions and medicines through an Open MV camera to obtain information on the medicines to be taken out or stored. The path planning module (14) is used for data acquisition by the identification module (13), and plans the starting path, storage point, storage height and return path of the picking robot (1) according to the information of the medicine to be taken out or stored, so as to drive the picking robot (1) to work according to the plan, so as to take out the required medicine from the medicine cabinet or store the required medicine in the corresponding medicine compartment of the medicine cabinet (102). The medicine rack (101) is provided with several columns, each medicine rack (101) is provided with several rows, each row of medicine rack (101) is provided with medicine cabinets (102) on opposite sides, and each medicine cabinet (102) is provided with multiple layers of medicine compartments; The medicine rack (101) has longitudinal lanes on both sides for the picking robot (1) to walk on, and transverse lanes at both ends for the picking robot (1) to walk on. The first encoding module (11) sequentially numbers the longitudinal lanes to obtain D1, D2, D3...Di; the first encoding module (11) sequentially numbers the transverse lanes to obtain d1 and d2, where i is the total number of longitudinal lanes, so that the picking robot (1) passes through D1, d1, D2, d2, D3, d1, Di sequentially when it moves forward; The first encoding module (11) numbers each medicine cabinet (102) according to the number of medicine shelves (101) and medicine cabinets (102), and each longitudinal lane is provided with a tracking block (103). The number of tracking blocks (103) is the same as the number of medicine cabinets (102) on one side of the medicine shelf (101), and the tracking blocks (103) in each column are located on the same side of the forward direction of the picking robot (1), so that the grayscale sensor of the picking robot (1) can identify the tracking block (103) when the picking robot (1) moves forward. The numbering method for the medicine cabinet (102) includes the following steps: S1. Based on the number of medicine shelves (101), sequentially number the medicine shelves (101) to obtain K1, K2, K3...K Q Where Q is the total number of the medicine shelves (101); the medicine cabinets (102) in each column of the medicine shelves (101) are numbered sequentially to obtain G1, G2, G3...G R , where R is the total number of columns in the medicine cabinet (102); S2. When At that time, along the forward path of the picking robot (1), G1, G3, G4, G7, G8...G are sequentially processed. R-3 G R-2 The Chinese medicine cabinets (102) are numbered in ascending order; G2, G5, G6…G R-1 The number of the Chinese medicine cabinet (102) is associated with the number of the medicine cabinet (102) located opposite it, and the difference between them is 1 / 2. Where L is half the number of medicine cabinets (102) in each of the aforementioned medicine shelves (101); G R The Chinese medicine cabinets (102) are numbered in descending order along the backward direction of the picking robot (1) and based on the maximum total number of the medicine cabinets (102); S3. When Q=2, the medicine cabinets (102) G1, G3 and G4 are numbered in ascending order along the forward path of the picking robot (1); the medicine cabinet (102) G1 is numbered in descending order along the backward direction of the picking robot (1) and based on the maximum total number of medicine cabinets (102). S4. When Q=1, the G1 and G2 Chinese medicine cabinets (102) are sequentially numbered in ascending order along the forward path of the picking robot (1).

2. The automated drug picking system based on OpenMV QR code recognition according to claim 1, characterized in that: The path planning module (14) calculates the number of times the tracking block (103) passes through the grayscale sensor to determine the number of the medicine cabinet (102) on both sides of the current position of the picking robot (1); After the picking robot (1) completes the removal or storage of medicine, the path planning module (14) receives a return signal and controls the picking robot (1) to continue moving forward and return to D1 after moving to d1 or d2.

3. The automated drug picking system based on OpenMV QR code recognition according to claim 1, characterized in that: A buffer block (36) is fixedly provided at one end of the guide rail (34) near the fixed platform (31). A tensioning member (37) is provided at one end of the guide rail (34) near the frame (2). The tensioning member (37) is slidably connected to the guide rail (34) and is fixed to the guide rail (34) by screws. The tensioning member (37) is rotatably connected to the end of the first synchronous belt (35) away from the fixed platform (31).

4. The automated drug picking system based on OpenMV QR code recognition according to claim 1, characterized in that: The translation drive assembly includes a second synchronous belt (45) and a second drive block (451). The second synchronous belt (45) is located on the side of the lifting platform (32) facing the frame (2). The two ends of the second synchronous belt (45) are rotatably connected to the lifting platform (32) respectively, and the second synchronous belt (45) is drive-connected to the translation motor (43). One end of the second drive block (451) is fixedly connected to the fixed support (441), and the other end is fixedly connected to the second synchronous belt (45).

5. An automated drug picking system based on OpenMV QR code recognition according to claim 1, characterized in that: The picking robot (1) also includes a transport mechanism for transporting medicine baskets, and the opening of the medicine baskets is provided with a protruding edge. There are two transport mechanisms, and the two transport mechanisms are arranged opposite to each other on the frame (2). The transport mechanism includes an X-axis platform (5) and a Y-axis frame (6). The X-axis platform (5) is located at one end of the vehicle frame (2) in the forward direction and is slidably connected to the vehicle frame (2) via an X-axis rod (51). The X-axis platform (5) is driven by an X-axis motor (52) so that the movement direction of the X-axis platform (5) is perpendicular to the forward direction of the vehicle frame (2). Limiting strips (501) are respectively provided at both ends of the X-axis platform (5) along its movement direction, and a guide plate (502) is inclined on one side of the X-axis platform (5) facing the vehicle frame (2). The Y-axis rack (6) is located on one side of the vehicle frame (2) in the forward direction. The Y-axis rack (6) is slidably connected to the vehicle frame (2) through a Y-axis rod (61), and the Y-axis rod (61) is located on the side of the X-axis rod (51) facing the vehicle frame (2). The Y-axis rack (6) is driven by a Y-axis motor (62) so that the moving direction of the Y-axis rack (6) is parallel to the forward direction of the vehicle frame (2). Support members (601) are respectively provided at both ends of the Y-axis rack (6) along its moving direction.

6. An automated drug picking system based on OpenMV QR code recognition according to claim 5, characterized in that: An X-axis lead screw (53) is provided on one side of the X-axis rod (51). The two ends of the X-axis lead screw (53) are rotatably connected to the frame (2). The nut of the X-axis lead screw (53) is fixedly connected to the bottom of the X-axis platform (5). The X-axis lead screw (53) is also connected to the X-axis motor (52) for transmission. A Y-axis lead screw (63) is provided on one side of the Y-axis rod (61). The two ends of the Y-axis lead screw (63) are rotatably connected to the frame (2). The nut of the Y-axis lead screw (63) is fixedly connected to the bottom of the Y-axis load cell (6), and the Y-axis lead screw (63) is connected to the Y-axis motor (62) for transmission.

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