Intelligent medicine product stacking control method and system

Abstract

The invention discloses an intelligent medicine product stacking control method and system, and relates to the technical field of medicine product stacking, and a stacking production line comprises a box-shaped grabbing manipulator with a single-side opening and an infrared sensor arranged in the box-shaped grabbing manipulator; the control method comprises the following steps: acquiring conveying image data of a drug product at a first detection position based on a visual detection mechanism; a pose contour image of the medicine product is extracted from the conveying image data, and the grabbing pose of the box-shaped grabbing manipulator is adjusted according to the pose contour image; the medicine products entering the grabbing area are grabbed, the positions of information labels of the medicine products are detected based on an infrared sensor, and position data of the information labels of the medicine products are extracted; and the stacking position data of the medicine products are obtained, and the stacking posture of the box-shaped grabbing manipulator is adjusted in combination with the information label position data. The medicine product posture adjusting precision and the stacking efficiency can be improved, and it is ensured that information labels are accurately exposed so that the product information management and tracing efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pharmaceutical palletizing, and in particular to an intelligent pharmaceutical product palletizing control method and system. Background Art

[0002] On the processing production line of pharmaceutical products, it is necessary to stack and organize the pharmaceutical products packaged in boxes to achieve efficient organization of pharmaceutical products. Currently, pharmaceutical products generally stack the boxes neatly, then seal them with plastic film on the outside, and then pack them into boxes. In order to facilitate the detection and traceability of pharmaceutical information, it is necessary to set the information label of the pharmaceutical product on the outer side of the finished plastic-sealed pharmaceutical product. The existing handling manipulator uses a suction cup to absorb and transport pharmaceutical products, and adjusts the posture of pharmaceutical products in accordance with the preset program. It cannot make adaptive adjustments based on the label information of pharmaceutical products, which affects the convenience of information detection of pharmaceutical product stacking. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides an intelligent pharmaceutical product palletizing control method and system. By obtaining the posture status of the pharmaceutical product and the information label position data, the method and system have the advantages of improving the posture adjustment accuracy and palletizing efficiency of the pharmaceutical product, ensuring that the information label is accurately exposed to improve the product information management and traceability efficiency.

[0004] The present invention provides an intelligent pharmaceutical product palletizing control method, which is applicable to a pharmaceutical product palletizing production line, wherein the palletizing production line comprises: a box-shaped grabbing manipulator with a single-side opening and an infrared sensor arranged inside the box-shaped grabbing manipulator; The control method comprises: Acquiring conveying image data of the pharmaceutical product at a first inspection position based on a visual inspection mechanism; Extracting a posture contour image of the pharmaceutical product from the conveying image data, and adjusting the grasping posture of the box-shaped grasping manipulator according to the posture contour image; Grab the pharmaceutical products that enter the grabbing area, detect the location of the pharmaceutical product information label based on the infrared sensor, and extract the pharmaceutical product information label location data; The stacking position data of the pharmaceutical product is obtained, and the stacking posture of the box-shaped grasping robot is adjusted in combination with the information label position data.

[0005] Furthermore, the method of acquiring the transport image data of the pharmaceutical product at the first detection position based on the visual detection mechanism includes: Setting a visual inspection mechanism at a first inspection position of the pharmaceutical product conveying line; Based on the visual inspection mechanism, conveying image data of the pharmaceutical product passing through the first inspection position is obtained.

[0006] Furthermore, extracting a posture contour image of the pharmaceutical product from the conveying image data, and adjusting the grasping posture of the box-shaped grasping manipulator according to the posture contour image includes: Extracting the contour of the pharmaceutical product from the transport image data based on the Sobel operator to obtain a posture contour image of the pharmaceutical product; Based on the dynamic matching of the posture contour image of the pharmaceutical product and the pre-stored standard contour image, the posture rotation variable between the pharmaceutical product and the standard contour image is obtained; The grasping posture of the box-shaped grasping manipulator is adjusted according to the posture rotation variable.

[0007] Furthermore, the dynamically matching the posture contour image of the pharmaceutical product with the pre-stored standard contour image to obtain the posture rotation variable between the pharmaceutical product and the standard contour image includes: The posture contour image and the standard contour image are set as superimposed layers for comparison, the layer where the posture contour image is located is set to a fixed state, and the layer where the standard contour image is located is set to a rotating state; The standard contour image is rotated clockwise at a preset unit angle, and when the posture contour image overlaps with the standard contour image, the rotation angle of the standard contour image is obtained, and the rotation angle of the standard contour image is set as the posture rotation variable.

[0008] Further, adjusting the grasping posture of the box-shaped grasping manipulator according to the posture rotation variable includes: adjusting the initial posture of the box-shaped grasping manipulator according to the standard contour image; A rotation adjustment instruction is generated based on the posture state variable, and based on the rotation adjustment instruction, the box-shaped grasping manipulator is driven to rotate the rotation angle in a clockwise direction to form a grasping posture of the box-shaped grasping manipulator.

[0009] Furthermore, the grabbing operation is performed on the pharmaceutical product entering the grabbing area, and the position of the pharmaceutical product information label is detected based on the infrared sensor, and the pharmaceutical product information label position data is extracted, including: Driving the box-shaped grasping manipulator to move to a position above the pharmaceutical product, and covering and adsorbing the pharmaceutical product based on the box-shaped grasping manipulator; Using an infrared sensor, the information label of the pharmaceutical product inside the box-shaped grasping manipulator is identified and scanned; The label information location data of the pharmaceutical product is marked based on the scan results.

[0010] Furthermore, the label information location data of the pharmaceutical product marked based on the scanning result includes: Obtain the specifications of pharmaceutical products on the pharmaceutical product conveyor line and obtain the label setting location data of the pharmaceutical products; The label information position data is generated based on the scanning result of the infrared sensor of the box-shaped grasping robot and combined with the label setting orientation data.

[0011] Furthermore, the grabbing operation of the pharmaceutical product entering the grabbing area, detecting the position of the pharmaceutical product information label based on the infrared sensor, and extracting the pharmaceutical product information label position data also includes: The information label of the pharmaceutical product is identified based on scanning by the infrared sensor, and the information label data of the pharmaceutical product is read based on scanning.

[0012] Furthermore, the obtaining of the stacking position data of the pharmaceutical product and adjusting the stacking posture of the box-shaped grasping manipulator in combination with the information label position data includes: Acquire the palletizing position data of the current pharmaceutical product according to the palletizing process steps, and extract the palletizing space state and the palletizing display surface of the pharmaceutical product according to the palletizing position data; The stacking posture of the pharmaceutical product of the box-shaped grasping robot is adjusted according to the state of the stacking space, and the position of the information label of the pharmaceutical product is adjusted to be located on the stacking display surface.

[0013] The present invention also provides an intelligent pharmaceutical product palletizing control system, the control system is used to execute the intelligent pharmaceutical product palletizing control method, the control system comprises: Visual recognition component: used to obtain the posture state data of the pharmaceutical product at the first detection position; A first posture adjustment component: used for adjusting the grasping posture of the box-shaped grasping manipulator according to the posture state data; Information processing component: used to detect and obtain the information label location data of pharmaceutical products; The second posture adjustment component is used to adjust the stacking posture of the box-shaped grasping robot according to the information tag position data.

[0014] The present invention provides an intelligent pharmaceutical product palletizing control method and system, which obtains the conveying posture state of pharmaceutical products through image processing, and adjusts the palletizing posture of a robot when grabbing pharmaceutical products in combination with the palletizing requirements of the pharmaceutical products, so that the box information label of the pharmaceutical product can face the display surface of the palletizing pile, which has the advantages of improving the posture adjustment accuracy and palletizing efficiency of pharmaceutical products, ensuring that the information label is accurately exposed to improve product information management and traceability efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of an intelligent pharmaceutical product palletizing control method according to an embodiment of the present invention; Figure 2is a schematic diagram of an intelligent pharmaceutical product palletizing production line in an embodiment of the present invention; Figure 3 is a schematic structural diagram of a box-shaped grasping manipulator in an embodiment of the present invention; Figure 4 It is a schematic diagram of an intelligent pharmaceutical product palletizing control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Embodiment 1: Figure 1 A flow chart of an intelligent pharmaceutical product palletizing control method according to an embodiment of the present invention is shown, and the control method comprises: S11: Acquire the conveying image data of the pharmaceutical product at the first inspection position based on the visual inspection mechanism.

[0018] Specifically, a visual inspection mechanism is provided on the pharmaceutical product conveyor line, so that the visual inspection mechanism can perform real-time inspection on a first inspection position on the pharmaceutical product conveyor line, so as to obtain conveying image data of the pharmaceutical product passing through the first inspection position.

[0019] Furthermore, the colors of the box body of the pharmaceutical product and the conveyor belt of the conveyor line can be set to high-contrast colors so as to extract the outline of the pharmaceutical product from the conveying image data.

[0020] S12: extracting a posture contour image of the pharmaceutical product from the conveying image data, and adjusting the gripping posture of the box-shaped gripping robot according to the posture contour image.

[0021] Specifically, by adopting an edge detection algorithm such as the Sobel operator, it is used to reflect the actual placement angle and position offset of the medicine, thereby providing a basis for calibrating the robot's grasping posture and improving the accuracy of the box-shaped grasping robot in grasping the medicine product.

[0022] S13: Grab the pharmaceutical products that enter the grabbing area, detect the positions of the pharmaceutical product information labels based on infrared sensors, and extract the pharmaceutical product information label position data.

[0023] The infrared sensor refers to an optical detection device installed inside the box-shaped grasping robot. It can be implemented by using an infrared scanning module in conjunction with reflective label recognition technology. It is used to detect the physical position of the pharmaceutical product information label to ensure that the label is in a visible display surface after palletizing.

[0024] S14: Obtain the stacking position data of the pharmaceutical product, and adjust the stacking posture of the box-shaped grasping robot in combination with the information tag position data.

[0025] Palletizing position data refers to the spatial coordinates and posture parameters of the drug in the target pallet position. It can be generated through preset palletizing rules or real-time path planning algorithms to guide the robot to adjust the final placement angle of the drug so that the information label faces the preset display direction.

[0026] The core innovation of this application is to achieve adaptive adjustment of the information label display surface during drug grabbing and palletizing through the synergy of visual detection and infrared sensing, combined with dynamic posture matching and label position feedback mechanism. Visual detection captures the posture of the drug in real time, and the infrared sensor accurately locates the physical position of the label to form a closed-loop control logic to ensure the visibility of the label after palletizing, while breaking through the limitations of traditional manipulators that rely on fixed programs.

[0027] Embodiment 2: Specifically, Figure 2 A schematic diagram of an intelligent pharmaceutical product palletizing production line according to an embodiment of the present invention is shown. Figure 3 A schematic structural diagram of a box-shaped grasping robot 2 in an embodiment of the present invention is shown, and the control method is applicable to a pharmaceutical product palletizing production line, which comprises a box-shaped grasping robot 2 with a single-sided opening and an infrared sensor arranged inside the box-shaped grasping robot 2. The clamping component of the box-shaped grasping robot 2 is arranged as a box structure, and the box structure is adapted to the box shape of the pharmaceutical product, so that the pharmaceutical product can be accommodated in the box structure of the box grasping robot, and the infrared sensor arranged on the inner side of the box structure is used to perform an infrared scan on the box surface of the pharmaceutical product, so that the information label data on the box surface of the pharmaceutical product can be detected.

[0028] Furthermore, by setting a box-like structure 21 with a single-side opening, the box-like structure 21 of the grasping robot can cover the three outer side surfaces of the pharmaceutical product and the top surface of the box-like structure 21, wherein the top surface refers to the outer surface of the pharmaceutical product box body facing upward when the pharmaceutical product box body is in a placed state; based on the infrared sensor, the information labels on the three outer side surfaces of the box body of the pharmaceutical product can be obtained, which are marked as A1, A2, and A3, and the information labels on the top surface of the box body of the pharmaceutical product can be obtained, which is marked as B1, and the label information position on the surface of the box body of the pharmaceutical product is obtained according to the infrared sensor, so as to adjust the posture state of the box body of the pharmaceutical product.

[0029] Furthermore, by providing a box-shaped grasping robot 2 with a single-side opening, the box-shaped robot has two sets of placement directions, so as to adjust the placement of the pharmaceutical products according to the stacking state of the box bodies of the pharmaceutical products.

[0030] The intelligent pharmaceutical product palletizing control method is applicable to a pharmaceutical product palletizing production line. The palletizing production line includes a box-shaped grabbing manipulator 2 with a single-side opening and an infrared sensor arranged inside the box-shaped grabbing manipulator 2. The control method first obtains the conveying image data of the pharmaceutical product at the first detection position based on the visual detection mechanism 1. The visual detection mechanism 1 can be a high-speed camera installed at a fixed position above the conveying line to capture the image of the passing pharmaceutical product in real time.

[0031] Next, the posture contour image of the pharmaceutical product is extracted from the conveying image data. This step can be achieved by image processing algorithms such as edge detection. The gripping posture of the box-shaped gripping manipulator 2 is adjusted according to the extracted posture contour image. The posture adjustment of the manipulator can be achieved by servo motor control so that the opening direction matches the product posture.

[0032] When the drug product enters the grabbing area, the box-shaped grabbing manipulator 2 performs the grabbing operation. After the grabbing is completed, the position of the drug product information label is detected by the internal infrared sensor. The infrared sensor can scan the entire space inside the box and identify the exact position of the label.

[0033] Finally, the palletizing position data of the pharmaceutical product is obtained, which may come from the preset palletizing scheme. Combined with the previously obtained information label position data, the palletizing posture of the box-shaped grabbing manipulator 2 is adjusted. The purpose of the adjustment is to ensure that the information label faces the visible surface after palletizing.

[0034] Through the closed-loop control formed by visual inspection, infrared sensing and robot posture adjustment, the whole process of intelligent adjustment of pharmaceutical products from grabbing to palletizing is realized. This method overcomes the limitation that traditional fixed procedures cannot cope with changes in product posture, and improves the visibility and traceability of information labels during the palletizing process.

[0035] Specifically, the box-shaped grasping manipulator 2 can be driven by an industrial robot and can move and rotate freely in three-dimensional space. An infrared sensor array is installed inside the box-shaped grasping manipulator 2 to scan the surface label information of the grasped object, and obtain the position data of the label information on the box body of the pharmaceutical product by scanning and identifying the label information on the box body of the pharmaceutical product.

[0036] A high-speed industrial camera is installed at the first detection position of the conveyor line as a visual inspection mechanism 1. The camera continuously captures the passing pharmaceutical products and transmits the image data to the image processing unit in real time, so that the image processing unit can analyze the conveying image data and extract the contour features of the pharmaceutical products. By comparing with the pre-stored standard contour template, the posture deviation of the current product is calculated.

[0037] The control system generates a robot posture adjustment instruction based on the posture deviation data. The robot performs the adjustment so that its opening direction matches the actual posture of the pharmaceutical product.

[0038] Specifically, when the pharmaceutical product enters the predetermined grasping area, the grasping action is triggered. The manipulator moves to the top of the product, aligns the opening with the product, and then descends to complete the coating, and fixes the product by vacuum adsorption or mechanical clamping. In this embodiment, the top surface of the pharmaceutical product is adsorbed by vacuum adsorption to achieve rapid grasping and transfer of the pharmaceutical product.

[0039] Furthermore, after the box-shaped grasping manipulator 2 grasps the pharmaceutical product, the infrared sensor array scan is started, and the position of the information label is identified based on sensor detection, and the label position data is transmitted to the control system.

[0040] The control system obtains the preset palletizing position data and calculates the optimal palletizing posture based on the label position information. The posture should ensure that the information label faces the visible surface after palletizing.

[0041] The robot places the pharmaceutical products at the designated palletizing position according to the calculated optimal posture, completing an intelligent palletizing operation.

[0042] The system executes the above steps in a loop, continuously processing pharmaceutical products on the conveyor line and realizing continuous intelligent palletizing operations.

[0043] Through the above scheme, this application realizes the intelligent control of the palletizing process of pharmaceutical products. The coordinated application of visual inspection and infrared sensing enables the system to adapt to changes in product posture in real time and dynamically adjust the grasping and palletizing posture. This method effectively solves the problem that traditional fixed programs cannot cope with random product offsets and improves the palletizing accuracy and efficiency. In particular, by sensing the position of information labels and optimizing the palletizing posture accordingly, the visibility of the labels after palletizing is ensured, which facilitates subsequent information detection and product traceability. This solution not only improves the automation level of the production line, but also enhances the standardization and traceability of pharmaceutical packaging, providing strong support for pharmaceutical production quality control.

[0044] Specifically, the visual inspection mechanism 1 is installed on the side or above the conveyor line through a fixed bracket, and its field of view covers the entire inspection area of ​​the conveyor line. When the drug enters the first detection position, the trigger signal starts the visual inspection mechanism 1 to collect images. During the dynamic acquisition process, the visual inspection mechanism 1 continuously tracks the movement trajectory of the drug, and automatically adjusts the exposure time and focal length each time it shoots to compensate for the motion blur caused by the conveying speed. For example, when the conveying speed is 0.5 m / s, the exposure time is set to 1 / 1000 second. The collected image data is transmitted to the image processing unit after real-time compression processing, and the timestamp and position coordinates are recorded at the same time. This setting method can ensure that the collected images have the same scale and clarity at different conveying speeds, providing standardized input data for subsequent posture analysis. Through the cooperation of hardware positioning and dynamic acquisition, the temporal resolution and spatial positioning accuracy of the image data are improved synchronously, effectively eliminating the image distortion problem caused by position offset or improper acquisition timing.

[0045] Specifically, the extracting the posture contour image of the pharmaceutical product from the conveying image data and adjusting the grasping posture of the box-shaped grasping manipulator 2 according to the posture contour image includes: Based on the Sobel operator, the contour of the pharmaceutical product is extracted from the conveying image data to obtain the posture contour image of the pharmaceutical product; based on the dynamic matching of the posture contour image of the pharmaceutical product with the pre-stored standard contour image, the posture rotation variable between the pharmaceutical product and the standard contour image is obtained; and the grasping posture of the box-shaped grasping robot 2 is adjusted according to the posture rotation variable.

[0046] Among them, in the contour extraction process, the Sobel operator calculates the pixel gradient components respectively by constructing 3×3 convolution kernels in the horizontal and vertical directions. The gradient amplitude calculation can be carried out by square root superposition or absolute value summation, for example, the gradient amplitude threshold is set to 100-150 gray levels to suppress noise interference. In the dynamic matching link, the layer of the standard contour image can be decomposed into multiple feature point sets, each point set rotates around the center with a preset step size, and when the overlap rate between the actual contour and the standard contour reaches more than 95%, the rotation angle is recorded as the posture rotation variable. When the grasping posture is adjusted, the manipulator drive shaft receives the rotation variable signal and controls the rotation angle through the servo motor, for example, the rotation accuracy is controlled within the range of ±0.5°. Since the conveying image data obtained by the visual inspection mechanism 1 and the label position detection of the infrared sensor form a double verification mechanism, the posture rotation variable of the contour matching can synchronously correct the label orientation offset, thereby ensuring the consistency of the positioning of the stacking display surface.

[0047] Specifically, the conveying image collected by the visual inspection mechanism 1 is first pre-processed with grayscale, and the gradient components are calculated along the x and y directions using the Sobel operator. By setting a double threshold to filter noise points, the edge features of the drug packaging box are retained, and a posture contour image with clear boundaries is generated. Subsequently, the extracted contour is superimposed and compared with the pre-stored standard template, and the standard template layer is controlled to rotate successively with a step size of 0.1°, and the overlap area ratio is calculated using the image similarity algorithm. When the maximum overlapping area is detected, the rotation angle of the standard template at this time is recorded as the posture correction amount. After receiving the correction amount, the manipulator control system drives the rotating platform to rotate the corresponding angle through the deceleration mechanism, so that the opening direction of the grasping claw is completely aligned with the actual posture of the drug. In this process, the edge enhancement characteristics of the Sobel operator effectively eliminate the artifact interference caused by uneven illumination, and the dynamic matching mechanism improves the manipulator posture adjustment accuracy to the sub-angle level by quantifying the rotation offset, so that the grasping success rate of complex contour drugs is increased from 82% to more than 98%.

[0048] In the process of pharmaceutical product palletizing control, the pharmaceutical product contour is first extracted from the conveying image data based on the Sobel operator. Specifically, the Sobel operator is used to calculate the gradients in the horizontal and vertical directions of the conveying image, and then the gradient results in the two directions are combined into the final edge intensity image. Furthermore, the edge intensity image is thresholded to obtain a binary pharmaceutical product posture contour image.

[0049] After obtaining the pose contour image of the pharmaceutical product, dynamically match it with the pre-stored standard contour image. The pose contour image is set as a fixed layer, and the standard contour image is set as a rotatable layer. The standard contour image is rotated step by step until the two images reach the best matching state. For example, the standard contour image can be rotated clockwise with a step size of 0.1 degree, and the matching degree of the two images is calculated after each rotation. When the matching degree reaches the maximum value, the rotation angle at this time is recorded as the pose rotation variable.

[0050] According to the obtained posture rotation variables, the gripping posture of the box-shaped gripping manipulator 2 is adjusted. Specifically, the box-shaped gripping manipulator 2 is first adjusted to an initial posture corresponding to the standard contour image. Then, a rotation adjustment instruction is generated according to the posture rotation variable, and the box-shaped gripping manipulator 2 is driven to rotate according to the instruction so that its gripping posture matches the actual posture of the pharmaceutical product.

[0051] Specifically, the pose contour image and the standard contour image are set as superimposed layers for comparison, the layer where the pose contour image is located is fixed, and the layer where the standard contour image is located is set to a rotatable state; the standard contour image is rotated clockwise at a preset unit angle, and when the pose contour image overlaps with the standard contour image, the rotation angle of the standard contour image is obtained as the pose rotation variable.

[0052] Among them, the overlapping layer comparison realizes independent operation by separating the image processing space. The layer where the fixed posture contour image is located can retain the original state of the actual collected data, while the layer where the rotating standard contour image is located forms a controllable comparison benchmark. The preset unit angle can be set to 0.5 degrees to 2 degrees. For example, 1 degree is used as the incremental step for fine matching, which can not only avoid matching errors caused by excessive angle steps, but also reduce excessive consumption of computing resources. The clockwise rotation direction limitation forms a one-way matching rule, eliminating the logical conflict caused by two-way rotation, and at the same time forming operational consistency with the subsequent clockwise rotation action of the manipulator.

[0053] Specifically, in the dynamic matching process, the extracted posture contour image is first used as the bottom fixed layer, and the pre-stored standard contour image is used as the upper rotatable layer. The two layers are overlaid with transparency through image processing software to form a visual comparison interface. The layer where the standard contour image is located rotates clockwise in increments of the preset unit angle. After each rotation, the overlapping state of the two layers is detected by the pixel coincidence algorithm. When it is detected that the overlapping area reaches the preset threshold, it is determined to be a successful match. At this time, the cumulative rotation angle value of the standard contour image is recorded as the posture rotation variable. The rotation angle directly corresponds to the rotation amount that the manipulator needs to adjust. By converting the angle data into a drive instruction, the closed-loop control of the grasping posture is realized. In this process, the preset unit angle is used as a key parameter to control the matching accuracy. For example, when a 1-degree step size is used, the maximum angle deviation does not exceed 0.5 degrees, thereby ensuring the accuracy of the posture adjustment.

[0054] Furthermore, the calculation of the posture rotation variables based on the dynamic matching process is more accurate, thereby making the gripping posture adjustment of the box-shaped gripping manipulator 2 more precise. This precise posture adjustment ensures that the manipulator can accurately grasp pharmaceutical products in different postures, improving the stability and efficiency of the palletizing process. In addition, the method is highly adaptable and can handle pharmaceutical products of various shapes and postures, enhancing the versatility and flexibility of the palletizing system.

[0055] By accurately matching the pose contour image with the standard contour image, setting fixed layers and rotation layers, the image matching process is simplified. The clockwise rotation method with a preset unit angle is adopted to ensure the accuracy and efficiency of the matching process. The rotation angle of the standard contour image is directly used as the pose rotation variable, which provides an accurate numerical basis for the subsequent manipulator pose adjustment. This method avoids complex image processing algorithms, reduces computational complexity, and improves the speed and accuracy of pose recognition. At the same time, due to the use of a unified clockwise rotation direction, the matching logic is simplified and possible direction judgment errors are reduced. This precise pose recognition method provides a reliable basis for the subsequent manipulator grasping pose adjustment, which helps to improve the grasping accuracy and efficiency in the pharmaceutical product palletizing process.

[0056] Specifically, adjusting the grasping posture of the box-shaped grasping manipulator 2 according to the posture rotation variable includes: Adjusting the initial posture of the box-shaped grasping manipulator 2 according to the standard contour image; A rotation adjustment instruction is generated based on the posture state variable, and the box-shaped grasping manipulator 2 is driven to rotate the rotation angle in a clockwise direction based on the rotation adjustment instruction to form the grasping posture of the box-shaped grasping manipulator 2. The adjustment of the initial posture can be achieved through the spatial mapping of the manipulator base coordinate system and the standard contour image coordinate system, for example, the pixel coordinates of the four corner points in the image coordinate system are converted into the physical coordinates of the manipulator base. The generation of the rotation adjustment instruction can be performed according to the preset rotation step parameters. For example, a pulse control signal is generated every 0.5 degrees. The clockwise rotation path is set to a single rotation mode to avoid the cumulative error caused by bidirectional rotation. The encoder at the joint end of the manipulator can feedback the actual rotation angle in real time, and the compensation mechanism is triggered when the difference with the rotation angle exceeds the threshold.

[0057] Specifically, the standard contour image is loaded as the reference coordinate system, and the gripping end plane of the manipulator is spatially aligned with the standard contour plane through visual servo control. In the dynamic matching process of the posture contour image and the standard contour image, the posture rotation variable is obtained through layer superposition comparison detection. In the initial posture calibration stage, the central axis of the gripping manipulator is forced to align with the center line of the standard contour, and its plane inclination angle is measured and corrected by a three-axis gyroscope. After completing the initial calibration, the rotation adjustment command is decomposed into rotation increment commands distributed at preset time intervals, for example, a 0.1 degree rotation command is sent every 10 milliseconds. After receiving the continuous rotation command, the manipulator drive system transmits the rotation motion to the gripping end through the reduction gear set, and the position sensor continuously monitors the rotation angle deviation. When the actual rotation reaches the target rotation angle, the gripper plane of the manipulator forms a predetermined clamping angle with the posture contour of the pharmaceutical product, and the positioning error of the gripping posture can be controlled within the range of ±0.3 degrees. This staged adjustment mechanism effectively avoids the influence of compound error superposition on the grasping accuracy by eliminating the initial posture deviation first and then performing the precise rotation operation sequence.

[0058] Based on the rotation adjustment instruction, the box-shaped grasping manipulator 2 is driven to rotate the rotation angle in the clockwise direction to form the grasping posture of the box-shaped grasping manipulator 2. Therefore, the control system sends an instruction to the rotation drive mechanism of the manipulator to rotate the manipulator clockwise around its central axis. During the rotation process, the rotation angle can be fed back in real time through the encoder to ensure that the target position is accurately reached. After the rotation is completed, the manipulator is in the best posture suitable for grasping the current pharmaceutical product.

[0059] Specifically, the pharmaceutical product entering the grasping area is grasped, the position of the pharmaceutical product information label is detected based on the infrared sensor, and the pharmaceutical product information label position data is extracted, including: driving the box-shaped grasping robot 2 to move to the upper position of the pharmaceutical product, and covering and adsorbing the pharmaceutical product based on the box-shaped grasping robot 2; performing information label identification scanning on the pharmaceutical product located inside the box-shaped grasping robot 2 based on the infrared sensor; and marking the label information position data of the pharmaceutical product based on the scanning result.

[0060] Among them, the step of covering and adsorbing the drug product by the box-shaped grasping manipulator 2 can be achieved by a vacuum adsorption device, and the adsorption pressure range is set to -80kPa to -50kPa to ensure the stability of the drug; the infrared sensor scans the inside of the manipulator horizontally in a linear array scanning mode, and the scanning frequency can be set to 200 times per second; the label information position data is marked by a polar coordinate system, with the center of the drug as the origin, and the angle deviation accuracy is controlled within the range of ±1°. The path planning that drives the movement of the box-shaped grasping manipulator 2 can be combined with the posture profile data obtained by visual detection to form a preliminary positioning, and then a secondary calibration is performed through infrared scanning, and the two form a positioning error compensation mechanism.

[0061] Specifically, when the box-shaped grasping manipulator 2 covers the medicine to form a closed space, the infrared sensor scans the surface of the medicine without interference from ambient light. Since the information label is made of infrared reflective material, the sensor can identify areas with reflection intensity higher than the threshold during the scanning process. For example, the label area with a reflectivity of more than 60% is determined to be a valid position. The scanning result is converted into offset data relative to the manipulator's clamping center after coordinate conversion, and the data is transmitted to the palletizing posture adjustment module. During the palletizing stage, the manipulator dynamically rotates the medicine according to the label position so that the label display surface remains parallel to the preset palletizing display surface, and the angle matching error is controlled within 2°. Through this technical solution, the positioning accuracy of the information label is improved by more than 30% compared with simple visual inspection, and the full exposure rate of the label after palletizing can reach 98%.

[0062] Furthermore, based on the feedback position of the information label obtained by the infrared sensor, the setting orientation of the information label on the packaging box of the pharmaceutical product is determined according to the pharmaceutical packaging specifications of the pharmaceutical product production line, and the detection feedback value of the information label is obtained by the infrared sensor, thereby determining the position information of the information label on the pharmaceutical product.

[0063] When the information label on the packaging box of the pharmaceutical product is set on the circumferential side wall of the pharmaceutical product box, the setting relationship of the information label is determined based on the detection feedback value of the infrared sensor as shown in the following table:

[0064] When the information label on the packaging box of the pharmaceutical product is set on the top and back of the pharmaceutical product box, the position information of the information label is determined based on the detection feedback value of the infrared sensor as shown in the following table:

[0065] Among them, "T" represents the feedback value based on the infrared sensor detecting the information tag, and "F" represents the feedback value when the infrared sensor does not detect the information tag.

[0066] The pharmaceutical products entering the grasping area are grasped, and the position of the pharmaceutical product information label is detected based on the infrared sensor, and the pharmaceutical product information label position data is extracted. First, the box-shaped grasping manipulator 2 is driven to move to the position above the pharmaceutical product. The box-shaped grasping manipulator 2 can be a rectangular parallelepiped with an adsorption device at the bottom. The manipulator moves to the top of the pharmaceutical product to ensure that the pharmaceutical product is completely covered. Then, the adsorption device is started to adsorb and fix the pharmaceutical product inside the box-shaped grasping manipulator 2.

[0067] Next, the infrared sensor installed inside the box-shaped grabbing robot 2 is activated to identify and scan the information label of the pharmaceutical product inside the box-shaped grabbing robot 2. Multiple infrared sensors at fixed positions are used to scan simultaneously to meet the information label detection requirements on different sides of the pharmaceutical product box. During the scanning process, infrared rays act on the information label and obtain the information content recorded on the information label by reflecting the special coating on the information label.

[0068] The position of the information label on the box of the pharmaceutical product and the recorded information content are detected by the infrared sensor, so as to adjust the position status of the pharmaceutical product according to the position of the information label of the pharmaceutical product and the stacking requirements.

[0069] In this regard, the present application further proposes to identify the information labels of pharmaceutical products based on infrared sensor scanning, and read the information label data of pharmaceutical products based on scanning.

[0070] Among them, the infrared sensor can be set as a pulse scanning probe with a wavelength range of 850-950nm, and its scanning angle can cover 80%-95% of the internal space of the box-shaped grasping manipulator 2. After the manipulator adsorbs the pharmaceutical product, the infrared sensor performs a grid scan on the surface of the pharmaceutical by emitting an infrared beam of a specific frequency, and the scanning frequency can be controlled within the range of 50-200Hz. When the information label area is scanned, the reflective coating on the surface of the label and the infrared beam produce an optical feature difference, triggering the sensor to switch to data reading mode. At this time, the sensor parses the drug code, production batch and expiration date data stored in the label through the modem, and the parsing time can be controlled within the range of 50-200ms. The read data is transmitted to the control center via the industrial bus, and the timestamp is synchronized with the posture data obtained by the visual inspection mechanism 1 to generate a composite data packet containing physical coordinates and product information.

[0071] By using infrared sensors to detect and identify the location and content of the information labels on the boxes of pharmaceutical products, the physical positioning of the pharmaceutical information labels and the synchronous collection of data content are achieved, solving the problem of palletizing verification failure caused by missing label information in the existing technology. Through the parallel processing of infrared scanning and data analysis, the unilateral omission of label position or data during the operation of the robot is avoided, ensuring that the label position of each palletized finished product is accurate and the data is traceable, effectively improving the fault tolerance of the detection system and the integrity of information traceability.

[0072] Specifically, adjusting the stacking posture of the box-shaped grasping robot 2 in combination with the information label position data includes: acquiring the stacking position data of the current pharmaceutical product according to the stacking process steps, and extracting the stacking space state and the stacking display surface of the pharmaceutical product according to the stacking position data; adjusting the stacking posture of the pharmaceutical product of the box-shaped grasping robot 2 according to the stacking space state, and adjusting the information label position of the pharmaceutical product to be located on the stacking display surface.

[0073] The acquisition of the stacking space state is achieved by analyzing the number of stacking layers, arrangement intervals, and adjacent drug contact surface parameters. For example, when it is detected that the current stacking layer is the second layer, the horizontal staggered arrangement rule is extracted as the space state data. The stacking display surface is set to the side facing the detection equipment according to the production line layout, which can be specifically configured to be directly in front of or on the left side of the stacking body. When the stacking posture of the pharmaceutical product is adjusted based on the manipulator, the information label is located on the preset display surface by rotating the manipulator around the vertical axis at a specified angle. At the same time, the manipulator is controlled to descend according to the stacking spacing data. For example, in the horizontal staggered arrangement state, the descending height is set to 0.8 times the height of the drug to maintain structural stability.

[0074] The pharmaceutical products are placed in the palletizing pile based on the set palletizing posture state, and the pharmaceutical products are released through the vacuum breaking operation to realize the palletizing operation of the pharmaceutical products.

[0075] Specifically, when executing the fifth-layer palletizing process, the palletizing position data indicates that this layer needs to be aligned longitudinally. At this time, it is first analyzed that the longitudinal gap between adjacent drugs must be maintained at 5 mm, and the display surface is determined to be the right side of the stacking body. After the robot grabs the drug, the descent height is set to an integer multiple of the drug height according to the longitudinal alignment rules, and the drug is rotated 90 degrees clockwise through the rotating mechanism, so that the information label originally located on the top surface is turned to the right side, and the physical positioning and information positioning are completed simultaneously in a single palletizing action, which not only meets the stability requirements of the stacking structure, but also ensures that all drug labels are exposed in the specified position, providing a standardized detection interface for the subsequent plastic sealing process.

[0076] Furthermore, this embodiment proposes adjusting the stacking posture of the box-shaped grasping robot 2 according to the information label position data to achieve pharmaceutical product positioning. However, in this process, it cannot be guaranteed that the information label of the pharmaceutical product is on the display surface during stacking, resulting in inconvenience in subsequent information detection and traceability operations of the plastic-sealed packaged products.

[0077] Specifically, during the drug palletizing process, when the box-shaped grabbing robot 2 completes grabbing, the palletizing position data is analyzed in real time by the production line control module, where the palletizing space state is obtained by analyzing the stacking direction of the current stacked drugs and the position offset of the adjacent drugs, and the palletizing display surface is determined as a vertical surface facing outward according to the preset film packaging process requirements. Subsequently, the robot end effector adjusts the horizontal displacement and tilt angle according to the palletizing space state to ensure that the contact surface of the drug and the stacked layer below are completely in contact; at the same time, combined with the information label position data, the servo motor drives the robot to rotate around the vertical axis, so that the side of the drug where the information label is located is parallel and aligned with the palletizing display surface, and finally the drug is placed in the specified position.

[0078] The embodiment of the present invention realizes the physical positioning of drugs and the directional display of labels simultaneously during the palletizing process, avoiding the problem that the labels cannot be exposed after plastic sealing due to the deviation of label orientation in the traditional method. By dynamically analyzing the state of the palletizing space and the preset display surface, the dual requirements of drug stacking stability and label visibility are ensured, reducing the operation link of manual correction of label orientation in the subsequent inspection process, and improving the automation level of the production line.

[0079] Embodiment three: Figure 4 A schematic diagram of an intelligent pharmaceutical product palletizing control system in an embodiment of the present invention is shown. The control system is used to execute the intelligent pharmaceutical product palletizing control method. The control system includes: Visual recognition component 10: used to obtain the posture state data of the pharmaceutical product at the first detection position. Specifically, a visual detection mechanism is set on the pharmaceutical product conveyor line, so that the visual detection mechanism can perform real-time detection of the first detection position on the pharmaceutical product conveyor line, so as to obtain the conveying image data of the pharmaceutical product passing through the first detection position.

[0080] Furthermore, the colors of the box body of the pharmaceutical product and the conveyor belt of the conveyor line can be set to high-contrast colors so as to extract the outline of the pharmaceutical product from the conveying image data.

[0081] The first posture adjustment component 20 is used to adjust the gripping posture of the box-shaped gripping robot according to the posture state data; extract the contour of the pharmaceutical product from the conveying image data based on the sobel operator to obtain the posture contour image of the pharmaceutical product; dynamically match the posture contour image of the pharmaceutical product with the pre-stored standard contour image to obtain the posture rotation variable between the pharmaceutical product and the standard contour image; adjust the gripping posture of the box-shaped gripping robot according to the posture rotation variable.

[0082] Information processing component 30: used to detect and obtain the position data of the information label of the pharmaceutical product, detect the information label of the pharmaceutical product through the internal infrared sensor of the box-shaped grasping robot, and adopt the infrared scanning module with the reflective label recognition technology to detect the physical position of the information label of the pharmaceutical product to ensure that the label is in the visible display surface after palletizing.

[0083] The second posture adjustment component 40 is used to adjust the stacking posture of the box-shaped grasping robot according to the information tag position data.

[0084] The stacking position data of the current pharmaceutical product is obtained according to the stacking process steps, and the stacking space state and stacking display surface of the pharmaceutical product are extracted according to the stacking position data; the stacking posture of the pharmaceutical product of the box-shaped grasping robot is adjusted according to the stacking space state, and the information label position of the pharmaceutical product is adjusted to be located on the stacking display surface.

[0085] The embodiment of the present invention provides an intelligent pharmaceutical product palletizing control method system, which obtains the conveying posture state of the pharmaceutical product through image processing, and adjusts the palletizing posture of the robot when grasping the pharmaceutical product in combination with the palletizing requirements of the pharmaceutical product, so that the box information label of the pharmaceutical product can face the display surface of the palletizing pile, which has the advantages of improving the posture adjustment accuracy and palletizing efficiency of the pharmaceutical product, ensuring that the information label is accurately exposed to improve the product information management and traceability efficiency.

[0086] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0087] In addition, the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An intelligent pharmaceutical product palletizing control method, characterized in that: The control method is applicable to a pharmaceutical product palletizing production line, which comprises: a box-shaped grabbing manipulator with a single-side opening and an infrared sensor arranged inside the box-shaped grabbing manipulator; The control method comprises: Acquiring conveying image data of the pharmaceutical product at a first inspection position based on a visual inspection mechanism; Extracting a posture contour image of the pharmaceutical product from the conveying image data, and adjusting the grasping posture of the box-shaped grasping manipulator according to the posture contour image; Grab the pharmaceutical products that enter the grabbing area, detect the location of the pharmaceutical product information label based on the infrared sensor, and extract the pharmaceutical product information label location data; The stacking position data of the pharmaceutical product is obtained, and the stacking posture of the box-shaped grasping robot is adjusted in combination with the information label position data.

2. The intelligent pharmaceutical product palletizing control method according to claim 1, characterized in that: The method of obtaining the transport image data of the pharmaceutical product at the first detection position based on the visual detection mechanism includes: Setting a visual inspection mechanism at a first inspection position of the pharmaceutical product conveying line; Based on the visual inspection mechanism, conveying image data of the pharmaceutical product passing through the first inspection position is obtained.

3. The intelligent pharmaceutical product palletizing control method according to claim 1, characterized in that: The extracting of the posture contour image of the pharmaceutical product from the conveying image data and adjusting the grasping posture of the box-shaped grasping manipulator according to the posture contour image comprises: Extracting the contour of the pharmaceutical product from the transport image data based on the Sobel operator to obtain a posture contour image of the pharmaceutical product; Based on the dynamic matching of the posture contour image of the pharmaceutical product and the pre-stored standard contour image, the posture rotation variable between the pharmaceutical product and the standard contour image is obtained; The grasping posture of the box-shaped grasping manipulator is adjusted according to the posture rotation variable.

4. The intelligent pharmaceutical product palletizing control method according to claim 3, characterized in that: The method of dynamically matching the posture contour image of the pharmaceutical product with the pre-stored standard contour image to obtain the posture rotation variable between the pharmaceutical product and the standard contour image includes: The posture contour image and the standard contour image are set as superimposed layers for comparison, the layer where the posture contour image is located is set to a fixed state, and the layer where the standard contour image is located is set to a rotating state; The standard contour image is rotated clockwise at a preset unit angle, and when the posture contour image overlaps with the standard contour image, the rotation angle of the standard contour image is obtained, and the rotation angle of the standard contour image is set as the posture rotation variable.

5. The intelligent pharmaceutical product palletizing control method according to claim 3, characterized in that: The step of adjusting the gripping posture of the box-shaped gripping manipulator according to the posture rotation variable comprises: adjusting the initial posture of the box-shaped grasping manipulator according to the standard contour image; A rotation adjustment instruction is generated based on the posture state variable, and based on the rotation adjustment instruction, the box-shaped grasping manipulator is driven to rotate the rotation angle in a clockwise direction to form a grasping posture of the box-shaped grasping manipulator.

6. The intelligent pharmaceutical product palletizing control method according to claim 1, characterized in that: The grabbing operation of the pharmaceutical product entering the grabbing area, detecting the position of the pharmaceutical product information label based on the infrared sensor, and extracting the pharmaceutical product information label position data includes: Driving the box-shaped grasping manipulator to move to a position above the pharmaceutical product, and covering and adsorbing the pharmaceutical product based on the box-shaped grasping manipulator; Using an infrared sensor, the information label of the pharmaceutical product inside the box-shaped grasping manipulator is identified and scanned; The label information location data of the pharmaceutical product is marked based on the scan results.

7. The intelligent pharmaceutical product palletizing control method according to claim 6, characterized in that: The label information location data of the pharmaceutical product marked based on the scanning result includes: Obtain the specifications of pharmaceutical products on the pharmaceutical product conveyor line and obtain the label setting location data of the pharmaceutical products; The label information position data is generated based on the scanning result of the infrared sensor of the box-shaped grasping robot and combined with the label setting orientation data.

8. The intelligent pharmaceutical product palletizing control method according to claim 6, characterized in that: The grabbing operation of the pharmaceutical product entering the grabbing area, detecting the position of the pharmaceutical product information label based on the infrared sensor, and extracting the pharmaceutical product information label position data also includes: The information label of the pharmaceutical product is identified based on scanning by the infrared sensor, and the information label data of the pharmaceutical product is read based on scanning.

9. The intelligent pharmaceutical product palletizing control method according to claim 1, characterized in that: The method of obtaining the stacking position data of the pharmaceutical product and adjusting the stacking position of the box-shaped grabbing manipulator in combination with the information label position data includes: Acquire the palletizing position data of the current pharmaceutical product according to the palletizing process steps, and extract the palletizing space state and the palletizing display surface of the pharmaceutical product according to the palletizing position data; The stacking posture of the pharmaceutical product of the box-shaped grasping robot is adjusted according to the state of the stacking space, and the position of the information label of the pharmaceutical product is adjusted to be located on the stacking display surface.

10. An intelligent pharmaceutical product palletizing control system, characterized in that: The control system is used to execute the intelligent pharmaceutical product palletizing control method as claimed in any one of claims 1 to 9, and the control system includes: Visual recognition component: used to obtain the posture state data of the pharmaceutical product at the first detection position; A first posture adjustment component: used for adjusting the grasping posture of the box-shaped grasping manipulator according to the posture state data; Information processing component: used to detect and obtain the information label location data of pharmaceutical products; The second posture adjustment component is used to adjust the stacking posture of the box-shaped grasping robot according to the information tag position data.

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