CN113854780A - Intelligent dispensing method and system without cross contamination of materials - Google Patents
Intelligent dispensing method and system without cross contamination of materials Download PDFInfo
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- CN113854780A CN113854780A CN202111162700.7A CN202111162700A CN113854780A CN 113854780 A CN113854780 A CN 113854780A CN 202111162700 A CN202111162700 A CN 202111162700A CN 113854780 A CN113854780 A CN 113854780A
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- 239000000463 material Substances 0.000 title claims abstract description 228
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000012864 cross contamination Methods 0.000 title claims abstract description 28
- 238000002156 mixing Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 27
- 238000005303 weighing Methods 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004806 packaging method and process Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
- 239000003814 drug Substances 0.000 description 30
- 229940126680 traditional chinese medicines Drugs 0.000 description 4
- 238000003062 neural network model Methods 0.000 description 3
- 239000008187 granular material Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 229940126673 western medicines Drugs 0.000 description 2
- 230000008485 antagonism Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 235000013409 condiments Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 235000013599 spices Nutrition 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
- A47F1/00—Racks for dispensing merchandise; Containers for dispensing merchandise
- A47F1/02—Racks for dispensing merchandise; Containers for dispensing merchandise for granulated or powdered materials, i.e. bulk materials
- A47F1/03—Dispensing means, e.g. with buttons or handles
- A47F1/035—Dispensing means, e.g. with buttons or handles having measuring devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/04—Architecture, e.g. interconnection topology
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
- G06N3/08—Learning methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
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Abstract
The invention discloses an intelligent blending method and system without cross contamination of materials, relating to the technical field of material blending, wherein the method comprises the following steps: the lower computer binds the acquired material receiving information with the preprocessed material receiving basket; controlling the bound material receiving basket to a specified material receiving station to receive materials; the method and the system can avoid cross contamination of the materials in the process of dispensing, improve dispensing efficiency of the materials to a great extent, and directly pack the materials after the material receiving basket finishes receiving the materials, thereby avoiding cross contamination and reducing the complexity of dispensing.
Description
Technical Field
The invention relates to the technical field of material blending, in particular to an intelligent blending method and system without cross contamination of materials.
Background art:
at present, the automatic traditional Chinese medicine rooms in the market mainly aim at two types of traditional Chinese medicine formula granules and small-package traditional Chinese medicine decoction pieces. Because the automatic pharmacy of western medicines is mature, and the two types of traditional Chinese medicines are similar to the western medicines, the two types of traditional Chinese medicines can be quantitatively packaged, small-package traditional Chinese medicines with different specifications can be conveniently prepared, and automatic allocation is easy to realize. However, the traditional Chinese medicine is the traditional Chinese medicine in China, and the biggest characteristic of the traditional Chinese medicine is dialectical treatment, a prescription is set out according to the specific condition of each patient, and the weight of the small-package traditional Chinese medicine decoction pieces is only of a plurality of specifications, so that the traditional Chinese medicine cannot be set out according to the state of illness of the patient, the reasonable medicine use of the traditional Chinese medicine is influenced, the characteristics of dialectical treatment of the traditional Chinese medicine cannot be fully exerted, and even the rehabilitation of the patient is possibly influenced. In the traditional Chinese medicine field, whether the efficacy of the traditional Chinese medicine formula granules is the same as that of the decocted traditional Chinese medicine exists.
Nineteen incompatibilities and eighteen antagonisms of the traditional Chinese medicine are incompatibility of the traditional Chinese medicine, are remembered when buying the traditional Chinese medicine and are needed when dispensing the traditional Chinese medicine, so that the situation that various medicinal materials in a traditional Chinese medicine decoction piece dispensing system cannot be subjected to cross contamination in the dispensing process is required.
The dispensing system in the existing market can not thoroughly solve the problem of no cross contamination of the traditional Chinese medicine decoction pieces, and can not meet the market demand in dispensing efficiency and precision. Therefore, the development of an intelligent dispensing system suitable for the traditional Chinese medicine decoction pieces without cross contamination is always the return of hope. Chinese patent document CN211768060U provides a conveyor for bulk herbal pieces prepared for decoction in traditional chinese medicine pharmacy, the utility model discloses a conveyor for bulk herbal pieces prepared for decoction in traditional chinese medicine pharmacy, which comprises a tipping bucket, a chain sprocket, a beam, and a support frame, wherein the support frame is used for supporting the beam and is fixed with the ground or a certain platform. In the technology, a tipping bucket is responsible for taking a plurality of traditional Chinese medicines, and the situation of cross contamination of a system caused by medicine splashing can occur when the medicines fall. Chinese patent document CN209291244U provides a "full-automatic bulk chinese medicine dispensing machine", and the utility model discloses a dispensing device for bulk chinese medicine decoction pieces, but the device has a medicine dropping channel shared by multiple medicinal materials, resulting in cross contamination between the medicinal materials. Therefore, the improvement of the dispensing technology of the bulk traditional Chinese medicine decoction pieces is imperative.
Disclosure of Invention
The invention aims to provide an intelligent dispensing method and system without cross contamination of materials, so as to overcome the defect that cross contamination is easy to occur during material grabbing in the prior art.
The invention is set forth below in terms of two aspects:
in a first aspect, the invention provides an intelligent blending method for materials without cross contamination, which comprises the following steps:
the lower computer binds the acquired material receiving information with the preprocessed material receiving basket;
controlling the bound material receiving basket to a specified material receiving station to receive materials;
and the materials are identified and judged and then fall into a receiving basket.
In combination with the first aspect, the method for binding the acquired material receiving information with the preprocessed material receiving basket by the lower computer comprises the following steps:
the lower computer receives material receiving information from the cloud and matches the material receiving information with the material receiving basket;
the material receiving basket is cleaned by high-pressure air flow before material receiving and then is paved with a packaging bag.
With reference to the first aspect, the method for controlling the bound material receiving basket to receive the materials at the specified material receiving station comprises the following steps:
the receiving basket is transmitted to the bottom of the corresponding receiving station through a conveying belt;
a material storage mechanism on the material receiving station opens a valve of a material storage port, and the material falls into a weighing mechanism;
the weighing mechanism weighs a certain weight of materials according to the material receiving information.
According to the first aspect, when the material receiving basket receives materials, the material receiving basket is lifted to the position below a blanking port of the weighing mechanism through the lifting mechanism arranged at the bottom of the material receiving station, and after the materials are received, the material receiving basket is placed back to the original position through the lifting mechanism.
According to the first aspect, the material receiving station is at least provided with four material storing mechanisms, and the bottom of each material storing mechanism is provided with a weighing mechanism.
With reference to the first aspect, the method for identifying and judging the materials and then dropping the materials into the receiving basket comprises the following steps:
after the materials are weighed, the materials which are symmetrical through the camera device are shot to obtain a picture or a video;
analyzing and judging the shot picture or video;
if the materials are judged to be correct, the materials fall into the material receiving basket, otherwise, the materials are discarded.
With reference to the first aspect, the method for analyzing and judging the shot photo or video includes the following steps:
transmitting the pictures or videos to a trained analysis model;
the analysis model is used for segmenting, classifying and comparing the pictures or videos and then judging the types of the materials.
In a second aspect, an intelligent dispensing system without cross contamination of materials, the system comprising:
a material storage module: the material receiving device is used for storing materials and releasing the materials according to the material receiving information;
connect the material module: comprises a receiving basket for receiving materials;
a transmission module: the material receiving basket is used for conveying the material receiving basket to the bottom of the material storage module to receive the material;
a weighing module: the device is used for weighing the materials falling from the material storage module and controlling the weight of the materials;
an identification module: the system comprises a camera, a weighing device and a control device, wherein the camera is used for shooting pictures or videos of weighed materials;
an analysis module: the method comprises the steps that an identification module is obtained to shoot pictures and videos, and materials in the pictures and the videos are segmented, classified and compared, so that judgment is made;
a lower computer module: the storage module, the receiving module, the transmission module, the weighing module and the analysis module are connected and used for receiving and judging data, and issuing operation instructions to the modules according to the data to complete the functions of the modules.
The invention has the advantages that: the intelligent dispensing method and system without cross contamination of materials adopts the unique material receiving basket to receive the materials related to the material without secondary collection, and when receiving the materials, the material receiving basket is lifted to the position close to the blanking port to prevent the falling materials from splashing and falling into other material receiving baskets, simultaneously, the waste of materials can be reduced, the situation that the weighed materials can not reach the corresponding weight after splashing is avoided, after the materials are weighed, the materials are identified by camera shooting through the arranged identification model, thereby avoiding the materials from being crossed due to the error of the received materials or the mixture of other materials in the materials, the method and the system can not only avoid cross contamination of materials in the process of dispensing, but also improve dispensing efficiency of the materials to a great extent, and the material receiving basket is directly packed after completing material receiving, thereby avoiding cross contamination and reducing dispensing complexity.
Drawings
FIG. 1 is a schematic view of the process flow structure of the present invention.
FIG. 2 is a schematic diagram of the system operation process of the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
As shown in fig. 1 to 2, an intelligent dispensing method without cross contamination of materials comprises the following steps:
the method comprises the following steps: the lower computer binds the acquired material receiving information with the preprocessed material receiving basket;
the upper computer receives the material receiving information from the cloud, and the material receiving information is sent to the lower computer to be arranged in sequence;
the lower computer receives the material receiving information from the upper computer and matches the material receiving information with the material receiving frame;
the material receiving basket is cleaned by high-pressure air flow before material receiving and then is paved with a packaging bag;
step two: controlling the bound material receiving basket to a specified material receiving station to receive materials;
the receiving basket is transmitted to the bottom of the corresponding receiving station through a conveying belt;
a material storage mechanism on the material receiving station opens a valve of a material storage port, and the material falls into a weighing mechanism;
the weighing mechanism weighs a certain weight of materials according to the material receiving information;
when the material receiving basket receives materials, the material receiving basket is lifted to the position below a blanking port of the weighing mechanism through a lifting mechanism arranged at the bottom of the material receiving station, and after the materials are received, the material receiving basket is placed back to the original position through the lifting mechanism;
the material receiving station is at least provided with four material storage mechanisms, and the bottom parts of the material storage mechanisms are provided with weighing mechanisms;
step three: the materials are identified and judged and then fall into a receiving basket;
after the materials are weighed, the materials which are symmetrical through the camera device are shot to obtain a picture or a video;
analyzing and judging the shot picture or video;
if the materials are judged to be correct, the materials fall into the material receiving basket, otherwise, the materials are discarded;
transmitting the pictures or videos to a trained analysis model;
the analysis model is used for segmenting, classifying and comparing the pictures or videos and then judging the types of the materials.
Wherein, the analysis working process of the analysis module comprises the following steps:
the method comprises the following steps of processing and analyzing the collected material images by images, and judging whether the weighed materials are accurate according to the analysis result, wherein the method specifically comprises the following steps:
(1) the method comprises the steps of cutting an acquired material image in a rectangular mode with the center of the image as a central point, only keeping the material-containing part in the center of the image, and removing background noise at the edge;
(2) carrying out noise reduction processing on the acquired material image by adopting median filtering, and further adjusting the image resolution;
(3) inputting the processed image into a trained AlexNet neural network model for recognition to obtain the material information of the blending agent;
(4) returning the identified material information to the intelligent dispensing system for comparison with a database stored by the intelligent dispensing system;
(5) the intelligent dispensing system compares the material information returned by the analysis module with the stored batching information, if the information is consistent, the material is accurately weighed, the weighing hopper baffle is opened, the material falls into the receiving basket, and enters the next station for receiving the material; if the information is inconsistent, the weighing hopper baffle is opened, the wrong material falls into the receiving basket, the formula is subjected to waste treatment, and the receiving basket directly leaves the dispensing system.
The training sample sources of the AlexNet neural network model are as follows:
the analysis module continuously collects multiple material images under the actual working condition so as to form an original training sample, and the images in the original training sample library form a training sample of the AlexNet neural network model after mirror image, random shielding and stretching rotation.
The invention also provides an intelligent dispensing system for materials without cross contamination, which is related to the dispensing method, and the system comprises:
a material storage module: the material receiving device is used for storing materials and releasing the materials according to the material receiving information;
connect the material module: comprises a receiving basket for receiving materials;
a transmission module: the material receiving basket is used for conveying the material receiving basket to the bottom of the material storage module to receive the material;
a weighing module: the device is used for weighing the materials falling from the material storage module and controlling the weight of the materials;
an identification module: the system comprises a camera, a weighing device and a control device, wherein the camera is used for shooting pictures or videos of weighed materials;
an analysis module: the method comprises the steps that an identification module is obtained to shoot pictures and videos, and materials in the pictures and the videos are segmented, classified and compared, so that judgment is made;
a lower computer module: the storage module, the receiving module, the transmission module, the weighing module and the analysis module are connected and used for receiving and judging data, and issuing operation instructions to the modules according to the data to complete the functions of the modules.
The materials involved in the dispensing method and system of the invention comprise the dispensing matching of hotpot condiment, traditional Chinese medicine decoction pieces, spice essence and the like.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.
Claims (8)
1. An intelligent dispensing method without cross contamination of materials is characterized by comprising the following steps:
the lower computer binds the acquired material receiving information with the preprocessed material receiving basket;
controlling the bound material receiving basket to a specified material receiving station to receive materials;
and the materials are identified and judged and then fall into a receiving basket.
2. The intelligent blending method without cross contamination of materials according to claim 1, characterized in that: the method for binding the acquired material receiving information with the preprocessed material receiving basket by the lower computer comprises the following steps:
the lower computer receives material receiving information from the cloud and matches the material receiving information with the material receiving basket;
the material receiving basket is cleaned by high-pressure air flow before material receiving and then is paved with a packaging bag.
3. The intelligent blending method without cross contamination of materials as claimed in claim 2, wherein: the method for controlling the bound material receiving basket to receive the materials to the appointed material receiving station comprises the following steps:
the receiving basket is transmitted to the bottom of the corresponding receiving station through a conveying belt;
a material storage mechanism on the material receiving station opens a valve of a material storage port, and the material falls into a weighing mechanism;
the weighing mechanism weighs a certain weight of materials according to the material receiving information.
4. The intelligent blending method without cross contamination of materials according to claim 3, characterized in that: when the material receiving basket receives materials, the material receiving basket is lifted to the position below a blanking port of the weighing mechanism through a lifting mechanism arranged at the bottom of the material receiving station, and after the materials are received, the material receiving basket is put back to the original position through the lifting mechanism.
5. The intelligent blending method without cross contamination of materials as claimed in claim 4, wherein: connect and be equipped with four storage mechanisms on the material station at least, the storage mechanism bottom all is equipped with weighing mechanism.
6. The intelligent blending method without cross contamination of materials according to claim 5, wherein: the method for identifying and judging the materials and then dropping the materials into the receiving basket comprises the following steps:
after the materials are weighed, the materials which are symmetrical through the camera device are shot to obtain a picture or a video;
analyzing and judging the shot picture or video;
if the materials are judged to be correct, the materials fall into the material receiving basket, otherwise, the materials are discarded.
7. The intelligent blending method without cross contamination of materials according to claim 6, wherein: the method for analyzing and judging the shot picture or video comprises the following steps:
transmitting the pictures or videos to a trained analysis model;
the analysis model is used for segmenting, classifying and comparing the pictures or videos and then judging the types of the materials.
8. The utility model provides a material does not have cross contamination intelligence dispensing system which characterized in that: the system comprises:
a material storage module: the material receiving device is used for storing materials and releasing the materials according to the material receiving information;
connect the material module: comprises a receiving basket for receiving materials;
a transmission module: the material receiving basket is used for conveying the material receiving basket to the bottom of the material storage module to receive the material;
a weighing module: the device is used for weighing the materials falling from the material storage module and controlling the weight of the materials;
an identification module: the system comprises a camera, a weighing device and a control device, wherein the camera is used for shooting pictures or videos of weighed materials;
an analysis module: the method comprises the steps that an identification module is obtained to shoot pictures and videos, and materials in the pictures and the videos are segmented, classified and compared, so that judgment is made;
a lower computer module: the storage module, the receiving module, the transmission module, the weighing module and the analysis module are connected and used for receiving and judging data, and issuing operation instructions to the modules according to the data to complete the functions of the modules.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162700.7A CN113854780A (en) | 2021-09-30 | 2021-09-30 | Intelligent dispensing method and system without cross contamination of materials |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111162700.7A CN113854780A (en) | 2021-09-30 | 2021-09-30 | Intelligent dispensing method and system without cross contamination of materials |
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| CN113854780A true CN113854780A (en) | 2021-12-31 |
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| CN111874501A (en) * | 2020-07-14 | 2020-11-03 | 发泰（天津）科技有限公司 | City intelligence exempts from to fry in shallow oil granule drugstore |
| TW202116625A (en) * | 2019-10-23 | 2021-05-01 | 余東霖 | Multiplex intelligent dispensing device for bulk drug which is simple and quick to operate and has high dispensing efficiency |
| CN113223070A (en) * | 2021-05-13 | 2021-08-06 | 深圳地理人和科技有限公司 | Depth image enhancement processing method and device |
-
2021
- 2021-09-30 CN CN202111162700.7A patent/CN113854780A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109492714A (en) * | 2018-12-29 | 2019-03-19 | 同方威视技术股份有限公司 | Image processing apparatus and its method |
| CN110481878A (en) * | 2019-08-29 | 2019-11-22 | 遵义诚华科技有限公司 | A kind of prepared slices of Chinese crude drugs auto-scheduling system |
| TW202116625A (en) * | 2019-10-23 | 2021-05-01 | 余東霖 | Multiplex intelligent dispensing device for bulk drug which is simple and quick to operate and has high dispensing efficiency |
| CN111046213A (en) * | 2019-12-18 | 2020-04-21 | 电子科技大学 | Knowledge base construction method based on image recognition |
| CN211768060U (en) * | 2020-01-15 | 2020-10-27 | 遵义诚华科技有限公司 | Bulk traditional Chinese medicine decoction piece conveying device for traditional Chinese medicine pharmacy |
| CN111874501A (en) * | 2020-07-14 | 2020-11-03 | 发泰（天津）科技有限公司 | City intelligence exempts from to fry in shallow oil granule drugstore |
| CN113223070A (en) * | 2021-05-13 | 2021-08-06 | 深圳地理人和科技有限公司 | Depth image enhancement processing method and device |
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Application publication date: 20211231 |