Offset medicine box grabbing processing method, system and equipment of intelligent medicine selling machine and medium

Abstract

The invention discloses an offset medicine box grabbing processing method, system and device of an intelligent medicine selling machine and a medium. The method comprises the following steps that whether medicine enters an operation area or not is detected; after the medicine enters the operation area, medicine position information is obtained according to the medicine image information; medicine boxes are grabbed according to the medicine position information; when the medicine boxes fail to be grabbed, medicine box deviation judgment and re-grabbing operation are conducted according to the medicine box position information; according to the invention, when the sucking disc fails to suck the medicine box, after the camera obtains the information of the medicine box, the deviation coordinate is obtained by calculating the coordinate, angle and other data of the medicine box, so that the service is ensured to be continued, the medicine selling efficiency is improved, and the operation and maintenance cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent terminal technology, and in particular to a method, system, device and medium for grasping and processing an offset medicine box of an intelligent medicine vending machine. Background Art

[0002] With the intelligent development of the medical industry, remote medical consultation and unmanned drug sales are becoming a trend. With the combination of medical care and the Internet, hospitals and pharmacies have launched smart drug sales equipment to provide smart service functions. With the help of remote consultation, drugs can be sold self-service on smart drug vending machines.

[0003] When the robotic arm moves the medicine box, there is a probability that the suction cup will fail to absorb the medicine box due to the uneven surface of the medicine box or wrinkles when the printed prescription drug label is affixed to the medicine box, which will affect subsequent business processes. Summary of the invention

[0004] The object of the present invention is to provide a method, system, device and medium for grasping and processing offset medicine boxes of an intelligent medicine vending machine, thereby solving all or one of the above-mentioned problems existing in the prior art.

[0005] In order to solve the above technical problems, the specific technical solutions of the present invention are as follows: In one aspect, the present invention provides a method for grasping and processing an offset medicine box of an intelligent medicine vending machine, comprising the following steps: Check whether the drugs have entered the operation area; After the drug enters the operation area, the drug location information is obtained according to the drug image information; Grab the medicine box according to the medicine location information; When the medicine box grabbing fails, the medicine box offset is determined and the grabbing operation is repeated according to the medicine box position information.

[0006] In one embodiment, the step of detecting whether the drug has entered the operation area includes: When it is detected that the drug enters the operation area through the conveying device, the ideal form is assumed by default.

[0007] In one embodiment, before obtaining the drug location information according to the drug image information, the method includes: The drug image information is obtained through the cooperation of a depth camera and a color camera.

[0008] In one embodiment, the step of obtaining drug location information based on drug image information includes: Perform AI image algorithm calculation based on the drug image information to obtain data information of the medicine box; The data information of the medicine box includes: position, size and rotation angle.

[0009] In one embodiment, grabbing the medicine box according to the medicine location information includes: Call the robotic arm to grab the medicine box at the center point, and the process ends if the grab is successful.

[0010] In one embodiment, the step of determining the deviation of the medicine box according to the medicine box position information includes: Calculate the offset distance fOffset according to the size of the medicine box; Then, the offset coordinates are calculated based on the rotation angle and the half-area position.

[0011] In one embodiment, the re-capture operation includes: The robotic arm is called to grab the medicine box at the offset point according to the offset coordinates.

[0012] On the other hand, the present invention also provides an offset medicine box grabbing and processing system for an intelligent medicine vending machine, comprising: The detection module is used to detect whether the medicine has entered the operation area; A calculation module is used to obtain drug location information according to drug image information after the drug enters the operation area; The robot arm control module is used to: grab the medicine box according to the medicine location information; The offset processing module is used to: when the medicine box grabbing fails, perform medicine box offset judgment and re-grasp operation according to the medicine box position information.

[0013] On the other hand, the present invention also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the offset medicine box grabbing processing method of the intelligent medicine vending machine are implemented.

[0014] On the other hand, the present invention further provides a computer device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: The memory is used to store computer programs; The processor is used to execute the steps of the offset medicine box grabbing processing method of the intelligent medicine vending machine by running the program stored in the memory.

[0015] The beneficial effects of the technical solution of the present invention are: 1. The offset medicine box grabbing and processing method of the intelligent medicine vending machine described in the present invention can be implemented so that when the suction cup fails to suck the medicine box, after the camera obtains the medicine box information, the offset coordinates are calculated on the coordinates, angles and other data of the medicine box to obtain the medicine box again, thereby ensuring the continuation of business, improving medicine selling efficiency and reducing operation and maintenance costs.

[0016] 2. The offset medicine box grabbing and processing system of the intelligent medicine vending machine described in the present invention can realize the offset medicine box grabbing and processing method of the intelligent medicine vending machine described in the present invention through the mutual cooperation of system modules.

[0017] 3. The computer-readable storage medium described in the present invention can realize the cooperation of the guidance system module, and then realize the offset medicine box grabbing and processing method of the smart medicine vending machine described in the present invention, and the computer-readable storage medium described in the present invention also effectively improves the operability of the offset medicine box grabbing and processing method of the smart medicine vending machine.

[0018] 4. The computer device described in the present invention can store and execute the computer-readable storage medium, thereby realizing the offset medicine box grabbing and processing method of the intelligent medicine vending machine described in the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a flowchart of the offset medicine box grabbing processing method of the intelligent medicine vending machine described in Example 1 of the present invention; Figure 2 It is a logical flow diagram of the offset medicine box grabbing processing method of the intelligent medicine vending machine described in Example 1 of the present invention; Figure 3 It is a schematic diagram of the operation area in the technical description points of the intelligent medicine vending machine; Figure 4 It is a schematic diagram of medicine box rotation determination in the technical description points of the intelligent medicine vending machine; Figure 5 It is the first offset relationship diagram in the technical description points of the intelligent medicine vending machine; Figure 6 It is the second offset relationship diagram in the technical description points of the intelligent medicine vending machine; Figure 7 It is the third offset relationship diagram in the technical description points of the intelligent medicine vending machine; Figure 8 It is a schematic diagram of the first offset principle in the technical description points of the intelligent medicine vending machine; Fig. 9 It is a schematic diagram of the second offset principle in the technical description points of the intelligent medicine vending machine; Fig.10It is a schematic diagram of the third offset principle in the technical description points of the intelligent medicine vending machine; Fig.11 It is a schematic diagram of the fourth offset principle in the technical description points of the intelligent medicine vending machine; Fig.12 Schematic diagram of the architecture of the offset medicine box grabbing and processing system of the intelligent medicine vending machine according to Embodiment 2 of the present invention; Fig.13 is a schematic diagram of the structure of the computer device described in Example 4 of the present invention; The symbols in the accompanying drawings are explained as follows: 1501, processor; 1502, communication interface; 1503, memory; 1504, communication bus. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the embodiments described in the present invention are only part of the embodiments of the present invention, rather than all of the embodiments; based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention.

[0023] The terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0024] In the description of the present invention, it should be noted that the offset medicine box grabbing function of the intelligent medicine vending machine involves multiple business links. The following is a brief description of the relevant technical points: 1. Drug entry database: Before using the smart drug vending machine, the information of the drugs sold needs to be entered into the database, mainly including the name, size, picture, etc. The size must meet the condition that the length is greater than or equal to the width is greater than or equal to the height (length>=width>=height).

[0025] 2. Drug identification: After the drug enters the operation area, the depth and color cameras collect image data, and then the algorithm is used to calculate the location coordinates, size, rotation angle and other information of the drug. The shape of the drug is unknown, either lying flat, upright or close to the edge. The following is processed according to the ideal state (the drug completely enters the operation area and lies flat).

[0026] 3. Platform coordinate system: Figure 3 As shown, the operation area is a rectangular area, and the coordinate system is drawn with the center point as the origin. The right is the positive direction of the x-axis, the top is the positive direction of the y-axis, the positive direction of the y-axis is the rotation angle of 0°, the left is positive, and the right is negative.

[0027] 4. Determination of the rotation angle of the medicine box: Figure 4 As shown, the rotation angle is calculated by the identified long and short sides of the medicine box. When the long side is completely along the y-axis, the rotation angle is 0°, counterclockwise rotation is positive, and clockwise rotation is negative. The value range is -90° to 90°.

[0028] 5. Offset distance: The robot arm suction cup picks up the medicine box at the center point by default. If the suction fails, it is necessary to offset fOffset in the long direction of the medicine box. Since the medicine box has a rotation angle, it is necessary to calculate the offset xOffset and yOffset in the x and y directions respectively to correctly obtain the offset point of the robot arm; fOffset, xOffset, and yOffset satisfy the trigonometric function relationship. For example: at 0°, the first offset relationship is as follows: Figure 5 As shown; when 90° or -90°, the second offset relationship is as follows Figure 6 As shown; at 30°, the third offset relationship is as follows Figure 7 As shown; from the above example, we can see that xOffset=fOffset*sin(rotation angle), yOffset=fOffset*cos(rotation angle).

[0029] 6. Offset direction: In addition to the offset distance, the offset direction is also required to determine the final position when the offset grabs the medicine box. In order for the robot arm to grab the medicine box normally without causing other interference, it is necessary to follow the principle that the robot arm position is offset to the center of the platform, as follows: Figure 8 As shown, when the rotation angle is 0°, the offset direction is on the y-axis. To determine which half of the platform the center point is in, the y-axis of the upper half is offset negatively (minus -), and the y-axis of the lower half is offset positively (plus +), which is the first offset principle; Fig. 9 As shown, when the rotation angle is 90° or -90°, the offset direction is on the x-axis. Determine which half of the platform the center point is on. The x-axis of the right half is offset negatively (minus -), and the x-axis of the left half is offset positively (plus +). This is the second offset principle. Fig.10 As shown, When the rotation angle is 1° to 89°, draw a line connecting the lower left corner and the upper right corner of the platform to determine in which half of the platform the center point is located; the upper left half has a positive x offset (plus +) and a negative y offset (minus -); the lower right half has a negative x offset (minus -) and a positive y offset (plus +), which is the third offset principle; Fig.11 As shown, when the rotation angle is -1° to -89°, draw a line connecting the lower right corner and the upper left corner of the platform to determine in which half of the platform the center point is located. The x and y of the upper right half are both negatively offset (minus -), and the x and y of the lower left half are both positively offset (plus +), which is the fourth offset principle. Example 1

[0030] This embodiment provides a method for grasping and processing an offset medicine box of an intelligent medicine vending machine. Figure 1 and Figure 2 As shown, the following steps are included: S100, detecting whether the medicine has entered the operation area; S200, after the drug enters the operation area, obtaining drug location information according to drug image information; S300, grabbing the medicine box according to the medicine location information; S400: When the medicine box grabbing fails, the medicine box offset is determined and the grabbing operation is repeated according to the medicine box position information.

[0031] In one embodiment, the step of detecting whether the drug has entered the operation area includes: When it is detected that the drug enters the operation area through the conveying device, the ideal form is assumed by default.

[0032] In one embodiment, before obtaining the drug location information according to the drug image information, the method includes: The drug image information is obtained through the cooperation of a depth camera and a color camera.

[0033] In one embodiment, the step of obtaining drug location information based on drug image information includes: Perform AI image algorithm calculation based on the drug image information to obtain data information of the medicine box; The data information of the medicine box includes: position, size and rotation angle.

[0034] In one embodiment, grabbing the medicine box according to the medicine location information includes: Call the robotic arm to grab the medicine box at the center point, and the process ends if the grab is successful.

[0035] In one embodiment, the step of determining the deviation of the medicine box according to the medicine box position information includes: Calculate the offset distance fOffset according to the size of the medicine box; Then, the offset coordinates are calculated based on the rotation angle and the half-area position.

[0036] In one embodiment, the re-capture operation includes: The robotic arm is called to grab the medicine box at the offset point according to the offset coordinates.

[0037] In the above implementation, the calling of components such as the camera and the robotic arm and the processing of the image algorithm are not described in detail here. Only the steps of calculating the offset of the medicine box according to the medicine box position information when the medicine box grabbing fails are described in the following pseudo code: fun test() { / / Convert angle to radians var xOffset = (offset * sin(Math.toRadians(src.rx.toDouble()))).roundToInt() var yOffset = (offset * cos(Math.toRadians(src.rx.toDouble()))).roundToInt() / / Take the absolute value xOffset = abs(xOffset) yOffset = abs(yOffset) var x = src.x var y = src.y when (src.rx) { in (-89..-1) -> { / / Diagonal ↖-1 val x1 = leftTop.x val y1 = leftTop.y val x2 = rightBottom.x val y2 = rightBottom.y / / y-y1=(y1-y2) / (x1-x2)*(x-x1) Two-point type: big on top and small on bottom val f = (y1 - y2) / (x1 - x2) * (x - x1) + y1 if (y < f) { x += xOffset y += yOffset } else { x -= xOffset y -= yOffset } } 0 -> { / / cy<=0,y+;cy>0,y- if (y > centerYMm) { y -= yOffset } else { y += yOffset } } in (1..89) -> { / / Change↗1 val x1 = rightBottom.x val y1 = leftTop.y val x2 = leftTop.x val y2 = rightBottom.y / / y-y1=(y1-y2) / (x1-x2)*(x-x1). val f = (y1 − y2) / (x1 − x2) * (x − x1) + y1 if (y > f) { x += xOffset y -= yOffset } else { x -= xOffset y += yOffset } } 90, −90 −> { / / cx<=0,x+;cx>0,x- if (x > centerXMm) { x -= xOffset } else { x += xOffset } } } return Position(x, y, src.z, src.rx) } It should be noted that the above examples are only for explaining the present invention and cannot limit the protection scope of the present invention. Example 2

[0038] This embodiment is based on the same inventive concept as the method for grasping and processing an offset medicine box of an intelligent medicine vending machine described in Embodiment 1, and provides a system for grasping and processing an offset medicine box of an intelligent medicine vending machine, such as Fig.12 As shown, including: The detection module is used to detect whether the medicine has entered the operation area; A calculation module is used to obtain drug location information according to drug image information after the drug enters the operation area; The robot arm control module is used to: grab the medicine box according to the medicine location information; The offset processing module is used to: when the medicine box grabbing fails, perform medicine box offset judgment and re-grasp operation according to the medicine box position information. Example 3

[0039] This embodiment provides a computer-readable storage medium, including: The storage medium is used to store computer software instructions used to implement the offset medicine box grabbing and processing method of the smart medicine vending machine described in the above-mentioned Example 1, which includes a program for executing the above-mentioned offset medicine box grabbing and processing method for the smart medicine vending machine; specifically, the executable program can be built into the offset medicine box grabbing and processing system of the smart medicine vending machine described in Example 2, so that the offset medicine box grabbing and processing system of the smart medicine vending machine can implement the offset medicine box grabbing and processing method of the smart medicine vending machine described in Example 1 by executing the built-in executable program.

[0040] In addition, the computer-readable storage medium of this embodiment may adopt any combination of one or more computer-readable storage media, wherein the computer-readable storage medium includes electrical, optical, electromagnetic, infrared or semiconductor systems, devices or components, or any combination thereof. Example 4

[0041] This embodiment provides an electronic device, such as Fig.13 As shown, the electronic device may include: a processor 1501 , a communication interface 1502 , a memory 1503 and a communication bus 1504 , wherein the processor 1501 , the communication interface 1502 , and the memory 1503 communicate with each other via the communication bus 1504 .

[0042] Memory 1503, used for storing computer programs; The processor 1501 is used to implement the steps of the offset medicine box grabbing processing method of the intelligent medicine vending machine described in the above-mentioned embodiment 1 when executing the computer program stored in the memory 1503.

[0043] As an embodiment of the present invention, the communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.13 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0044] As an implementation mode of the present invention, the communication interface is used for communication between the above-mentioned terminal and other devices.

[0045] As an embodiment of the present invention, the memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0046] As an embodiment of the present invention, the above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0047] Different from the prior art, the present application discloses a method, system, device and medium for grasping and processing offset medicine boxes of an intelligent medicine vending machine. When the suction cup fails to suck the medicine box, after the camera obtains the medicine box information, the offset coordinates can be obtained by calculating the coordinates, angles and other data of the medicine box to absorb it again, thereby ensuring the continuation of business, improving medicine sales efficiency and reducing operation and maintenance costs.

[0048] It should be understood that in the various embodiments of this document, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this document.

[0049] It should also be understood that in the embodiments of this article, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0050] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this article.

[0051] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0052] In the several embodiments provided herein, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or can be electrical, mechanical or other forms of connection.

[0053] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of this article.

[0054] In addition, each functional unit in each embodiment of this invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional unit.

[0055] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this article is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of this article. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0056] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for grabbing and processing an offset medicine box of an intelligent medicine vending machine, characterized in that: The following steps are involved: Check whether the drugs have entered the operation area; After the drug enters the operation area, the drug location information is obtained according to the drug image information; Grab the medicine box according to the medicine location information; When the medicine box grabbing fails, the medicine box offset is determined and the grabbing operation is repeated according to the medicine box position information.

2. The offset medicine box grabbing and processing method of the intelligent medicine vending machine according to claim 1 is characterized in that: The step of detecting whether the drug has entered the operation area includes: When it is detected that the drug enters the operation area through the conveying device, the ideal form is assumed by default.

3. The method for grabbing and processing an offset medicine box of an intelligent medicine vending machine according to claim 1, characterized in that: Before obtaining the drug location information according to the drug image information, the method includes: The drug image information is obtained through the cooperation of a depth camera and a color camera.

4. The method for grabbing and processing an offset medicine box of an intelligent medicine vending machine according to claim 1, characterized in that: The step of obtaining drug location information according to drug image information includes: Perform AI image algorithm calculation based on the drug image information to obtain data information of the medicine box; The data information of the medicine box includes: position, size and rotation angle.

5. The method for grabbing and processing an offset medicine box of an intelligent medicine vending machine according to claim 1, characterized in that: The method of grabbing the medicine box according to the medicine location information includes: Call the robotic arm to grab the medicine box at the center point, and the process ends if the grab is successful.

6. The method for grabbing and processing an offset medicine box of an intelligent medicine vending machine according to claim 1, characterized in that: The step of determining the deviation of the medicine box according to the medicine box position information includes: Calculate the offset distance fOffset according to the size of the medicine box; Then, the offset coordinates are calculated based on the rotation angle and the half-area position.

7. The method for grabbing and processing an offset medicine box of an intelligent medicine vending machine according to claim 6, characterized in that: The re-crawl operation includes: The robotic arm is called to grab the medicine box at the offset point according to the offset coordinates.

8. An offset medicine box grabbing and processing system for an intelligent medicine vending machine, characterized in that: include: The detection module is used to detect whether the medicine has entered the operation area; A calculation module is used to obtain drug location information according to drug image information after the drug enters the operation area; The robot arm control module is used to: grab the medicine box according to the medicine location information; The offset processing module is used to: when the medicine box grabbing fails, perform medicine box offset judgment and re-grasp operation according to the medicine box position information.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the offset medicine box grabbing processing method of the smart medicine vending machine described in any one of claims 1 to 7 are implemented.

10. A computer device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: The memory is used to store computer programs; The processor is used to execute the steps of the offset medicine box grabbing processing method of the intelligent medicine vending machine according to any one of claims 1 to 7 by running the program stored in the memory.

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