WO2022217982A1 - Mobile delivery apparatus capable of multi-arm sorting work, and optimal management system and method - Google Patents
Mobile delivery apparatus capable of multi-arm sorting work, and optimal management system and method Download PDFInfo
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- WO2022217982A1 WO2022217982A1 PCT/CN2022/000059 CN2022000059W WO2022217982A1 WO 2022217982 A1 WO2022217982 A1 WO 2022217982A1 CN 2022000059 W CN2022000059 W CN 2022000059W WO 2022217982 A1 WO2022217982 A1 WO 2022217982A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
Definitions
- the invention relates to the field of artificial intelligence and the field of robots, and in particular to the fields of visual recognition technology, speech recognition, and speech interaction technology, as well as robot action planning and intelligent operation technology.
- the problems existing in the prior art are found in this application.
- the application combines intelligent action planning of the robotic arm with visual recognition, collection and reading of two-dimensional code digital code information, and applies remote control and autonomous movement technology to mobile medicine boxes. Books realize unmanned operation.
- the purpose of the present invention is to overcome the above-mentioned shortcomings and deficiencies of the prior art, and to provide a voice device, which is placed on the mobile medicine box and realizes voice transmission of voice recognition, voice query, voice command, doctor's order, and the like.
- the invention provides a visual device and a scanning device, which can identify medicine boxes, storage outer packaging, and comprehensive information of items, including: color, shape, outline, digital code, trademark pattern, letters, characters, two-dimensional code, etc., scanning
- the digital code and QR code on the goods can be used to query and manage the goods, and double-accurately confirm the automatic dispensing and distribution of the goods information collected by visual inspection, reducing the complexity and complexity of personnel work.
- the invention provides a positioning device, a moving device, a barrier device and a scanning device.
- the invention provides a robotic arm device, which realizes automatic cutting, cutting, sorting, picking, placing, scanning, and other actions.
- the invention provides a cargo working table device, a scanning device, a machine visual identification storage and its packaging, a pushing device and a sub-packaging device.
- the present invention solves the above-mentioned problems, realizes the technical scheme adopted by these functions:
- a dobby operation mobile delivery device includes:
- Main control system the main control system is used to realize the main control of multi-robot arms, voice module, visual recognition module, radar mobile obstacle avoidance module, medicine, storage recognition module, robot arm gripper grab, scan code, Cutting, sorting, placing action planning control module.
- the voice module is used for text-to-speech, voice-to-text, voice guidance, and human-machine voice interaction.
- the visual recognition module is connected with the camera device and the code scanner, and is used to collect the image of the outer packaging of the medicine box storage and identify the trademark, color and text.
- the robotic arm connected with the gripper, realizes grabbing, scanning, cutting, sorting, and placing through motion planning.
- Workbench device used for medicine, storage and packing, cutting and tailoring.
- Cutting, trimmer connected with robotic arm device for cutting, trimming medicine, storage.
- the two-dimensional code digital code scanning device is connected with the workbench, and is used to scan the medicines and storage codes attached to the outer packaging of the medicine box storage.
- the information collection and reading device includes: a medical card, a doctor's card, etc., and is connected to the workbench for scanning and reading information such as the medical card, the doctor's card, the workbench and the location of the mobile medicine box storage box.
- Mobile medicine box storage box positioning and navigation device, barrier device, radar, sensor, etc. are used for positioning and navigation, obstacle avoidance and movement of medicine box storage box.
- Sound acquisition module, microphone and other voice devices are placed on the mobile medicine box storage box, connected to the mobile medicine box storage box, to establish a user-robot voice interaction library, voice acquisition, speech synthesis, text-to-speech conversion, speech recognition, etc., Voice commands, remote voice control of machine actions, voice management of medicines, storage, etc.
- the robotic arm device includes: robotic arm, gripper, cutting and cutting device.
- the robot arm is fixedly connected to the storage rack or workbench, according to the position information of the target medicine and storage, the target medicine and storage are positioned, through the action planning of the robot arm, the parameter setting of the gripper's grasping claw, and the four-way flip.
- the outer packaging of the medicine box storage turn the four sides according to the front and back, scan the QR code and digital code of the outer packaging of the medicine box storage, and read the information of the outer packaging of the medicine box storage.
- the cutting device is composed of cross-cutting and longitudinal-cutting comprehensive slices. It is used to cut the medicine storage according to the horizontal and vertical slices, identify the storage quantity of the medicines, and divide the medicines for storage.
- the visual device and the two-dimensional code digital code scanning device are used to accurately identify information.
- the visual device is placed above the workbench to collect the image of the medicine box and identify the trademark, color, and text.
- the visual identification module includes: medicine box storage outer packaging identification, medicine, storage shape identification, medicine, storage quantity identification, medicine, storage character identification, trademark image identification, and information scanned and read by a code scanner In contrast, the scanner can read medicines, double confirmation of storage information and the word trademark on the outer packaging of the medicine box storage, and identify and manage medical medicines and storage through the improved neural network method.
- the workbench that can be lifted and slid left and right is used to support various operations on the workbench device.
- the workbench can automatically lift and slide to various positions on the storage rack according to the position of the task. Including: push device for storage, scanning device, target storage box device.
- the pushing device is used to push the medicines and storage in the target storage box device on the workbench to the mobile medicine box storage box.
- Scanning device, two-dimensional code digital code scanning and reading device, placed above the workbench, medicine, storage management system is connected with the scanning and reading device, through scanning, reading medicine, storage two-dimensional code, various digital codes information.
- the target storage box device stores medicines without operation requirements, storage or completed medicines, and storage in the target storage box on the workbench. After the medicine box storage box is moved to the corresponding position of the target storage box, Open the target storage box, use the push device to push the medicine, and put the storage into the corresponding mobile medicine box storage box.
- the mobile medicine box storage box controlled by remote control and autonomous control is used to locate the medicine taking table corresponding to each task, move to the position of the target task, dispense medicine, remotely control and autonomously move medicine and store it.
- the mobile medicine box storage box device includes: a positioning and navigation device, a mobile device, a barrier device, an information collection device, a box medicine, and a storage device.
- the information collection device is placed above the storage box of the mobile medicine box, and through the information scanning device, the information of the medical treatment card and the doctor's card is read, and the opening and closing of the storage box of the mobile medicine box is controlled.
- Move the medicine box storage box reach the position of the workbench corresponding to each task in the operation according to the planned path, and scan the information of the workbench corresponding to the workbench and its target storage box through the information scanning device, which is consistent with the mobile medicine box storage box. Match a single target task or multiple target tasks in the job, move the medicine through the opening and closing of the target storage box, and store the medicine in the mobile medicine box storage box.
- Barrier devices including: radars, sensors, etc.
- the barrier devices include one or more of radars or obstacle avoidance sensors, which are used for remote and autonomous positioning and navigation of mobile medicine box storage through radar and obstacle avoidance sensors. box.
- a method for visually identifying medicines, storage, medicines, storage quantity, and operation action method of a robot arm comprising the following steps:
- S3 features such as colors, numbers, letters, words, special trademark identification values, etc. are converted into input data.
- an action planning method for grasping, placing and scanning of a robotic arm includes the following steps:
- the main control system publishes the target medicine, the location information of the storage, the image information of the medicine box, the outer packaging of the storage, and the digital code two-dimensional code information.
- the robot arm and the gripper subscribe to the position information of the target, the image of the outer packaging of the medicine box storage, and the digital code QR code information.
- S3. Create multi-target objects, including: setting the position of the target object, the size of the target object, the pose of the target object, and the color of the target object.
- Multi-target according to the different positions of the multi-target, the multi-target dispensing task is configured to the nearest robotic arm.
- the parameters include: selecting the joint angle, setting the joint limit, moving the robotic arm to the specified joint shape, and the joint limit , joint trajectory position, velocity component, joint velocity.
- S8 initialize the placement and grab, the task position of the object, and grab the gesture object.
- S12 changing the posture to generate a grasping action, including: setting a grasping posture; grasping an ID number; setting an object that is allowed to be touched, and setting a grasping list.
- S15 A method for visually identifying medicines, storage, medicines, and quantity of storages according to claim 8, which identifies the quantity of medicines, storages, and loose pieces of storage that are grabbed.
- the cutting device is composed of cross-cutting and vertical-cutting comprehensive slices. It is used for drug storage to be cut according to the horizontal and vertical slices, to identify the storage quantity of the tablets, and to pack them. The tablet distributes the remaining medicine, and the storage is put into the medicine box storage box.
- An optimized path planning and task configuration method for a mobile medicine box storage box The optimal method is used to plan the dispensing task, the loading and unloading tasks, and the goal is to complete all dispensing tasks and loading and unloading tasks in the shortest time.
- the optimization methods include: genetic calculation method and its improvement method, tabu search calculation method and its improvement method, simulated annealing calculation method and its improvement method, ant colony calculation method and its improvement method, particle beam optimization calculation method and its improvement method.
- the job job m contains n tasks task n for each job job m .
- the time from task n to wait for the previous job to complete is the wait time
- the evolutionary method that removes the core contradiction realizes the optimal method for planning dispensing tasks, and the goal is to complete all dispensing tasks in the shortest time.
- the steps are as follows:
- the initial solution contains multiple jobs, and each job is composed of the tasks it contains.
- the candidate solution is composed of the movement path corresponding to the completed task.
- job m -solution ⁇ job 1 , job 2 , job 3 ,...job m ⁇
- job m -solution ⁇ M 1 , M 5 , M 3 , M 6 ⁇ , ⁇ M 2 , M 5 , M 7 , M 6 ⁇ , ⁇ M 3 , M 5 , M 4 , M 8 ⁇ , .. . ⁇ M 3 , M 5 , M 4 , M 9 ⁇ .
- job m -solution ⁇ job 1 , job 2 , job 3 ,...job n ⁇
- a medical management system includes: medicine storage management, user management, storage location management, medicine storage identification, task management of mobile medicine box storage box, attention alarm management and other modules.
- FIG. 1 is the schematic diagram of the machine module in this application, and accompanying drawing 1 is marked:
- 100-machine main control system 200-workbench device; 300-image acquisition visual recognition module;
- 400-information acquisition and scanning module 500-cutting trimmer module; 600-robot arm device;
- 700-voice module 800-positioning navigation and mobile medicine box;
- Fig. 2 is the machine structure composition diagram in this application, and accompanying drawing 2 is marked:
- 201-Machine main control system 202-Voice device
- the workbench includes: push device, target storage medicine box device, etc.;
- This solution mainly realizes positioning, navigation, remote control and autonomous movement through positioning and navigation and moving the medicine box device.
- This solution connects the mobile medicine box with the voice device, and uses voice recognition, voice-to-text conversion, voice wake-up and other methods to realize human-machine interaction, voice query of goods and medicines, storage information, doctor's orders and other voice interactions.
- This solution mainly uses the camera and the information acquisition and reading device, using the improved machine learning method and neural network method, to identify medicines, storage outer packaging, trademarks, and to identify the number of items, the color, shape, and outline of the tablets, and use the information.
- the collection device inquires about medicine and storage information, and double-checks it with the picture recognition result collected by the camera, so as to improve the efficiency and accuracy of the recognition.
- This scheme mainly completes the sorting, dividing and slicing operation through the cutting and cutting device of the workbench.
- the pushing device pushes the storage, medicine, storage, etc. in the target storage box. to the mobile medicine cabinet.
- an embodiment of an artificial intelligence machine used in a pharmacy, a warehouse, and a library the implementation method includes:
- the machine main control system 100 the machine main control module 100 is used to realize the main control of the machine, the interaction between the voice module 700 and the user, the voice module 700, the visual recognition module 300, the positioning, navigation and obstacle avoidance mobile medicine box 800, medicine, storage Object recognition module, gripper robot arm 600 picking, placing, cutting, scanning code and other action planning modules.
- the voice module 700 is used for text-to-speech, voice-to-text, and human-machine voice interaction.
- the visual recognition module 300 is connected with the camera device and the code scanner, and is used for collecting images of the medicine box and the outer packaging of the storage and identifying the trademark, color and text.
- the robot arm 600 is connected with the gripper, and realizes grabbing, cutting, scanning, and placing through motion planning.
- the workbench device 200 is used for medicines, storage and packaging, cutting and tailoring.
- the cutting and cutting device 500 is connected with the robotic arm 600 for cutting and cutting the medicine.
- the barcode scanner 400 is connected to the workbench device 200 and is placed above the mobile medicine box 800 for scanning the medicines attached to the medicine box and storing codes.
- the mobile medicine box device 800 includes: positioning and navigation device, base moving device, barrier device, including: radar, sensor, etc., two-dimensional code digital code scanning device, information collection and reading device, including: medical card, doctor card, etc., It is used to scan and read the information of the medical card and the doctor's card.
- the robot arm moves to scan the medicine box, the two-dimensional code of the storage outer packaging, the digital code, the cross-cutting of the cutting device, and the longitudinal cutting of the embodiment of the comprehensive sorting and cutting slices.
- the method of implementation is as follows:
- the scene environment module of the target object is set, and the main control system 201 publishes the target medicine, the location information of the storage, the medicine box, the image information of the outer packaging of the storage, and the digital code two-dimensional code information.
- the robot arm 208 and the gripper subscribe to the target's position message, the medicine box, the image of the outer packaging of the storage, and the digital code QR code message.
- the multi-target dispensing tasks are allocated to the nearest robotic arm 208 .
- the parameters include: selecting the joint angle, setting the joint limit, moving the robotic arm 208 to the specified joint shape, the joint Limits, joint trajectory positions, velocity components, joint velocities.
- Robot arm Set the configured robot arm 208 anti-collision matrix, detect other parts of the robot itself, scene obstacles, and detect anti-collision detection.
- Robot arm claw parameter setting, grasping, pick and place, grasping pose parameter setting and matching target pose. Initialize the placement grab, the task position of the object, and grab the pose object. Set the placement position of the object at the target position, and generate the grasping posture (initialize the grasping object, and create the open and closed posture of the folder). Set the desired gripper approach and evacuation target parameters. To set the grabbing attitude, you need to try to change the attitude data list and grab the attitude list. Change the posture to generate the grasping action, including: setting the grasping posture; grasping the ID number; setting the objects that are allowed to be touched, and setting the grasping list.
- the visual device 207 publishes the image of the medicine at the target position, the storage medicine box, the storage outer packaging, extracts the medicine, the color, outline, shape of the storage, the attached digital code, the attached two-dimensional code, the text, and the image corresponding to the special logo image features. Input the created mathematical model, input the feature value, use the improved weight optimizer to quickly train the image, accurately identify the medicine, get the output value of the storage target, and visually identify the number of medicines, storage and loose pieces captured. The camera vision device 207 releases the medicine at the target location, and the image of the storage medicine box is compared with the target medicine, storage location information, medicine box, and storage outer packaging image information released by the main system 201 to confirm whether they are consistent.
- the robot arm and the gripper 207 locate the target position, grab the target and turn over the four-way medicine box, store the outer packaging, flip the four sides according to the front, back, left and right, scan the medicine box, and store the outer packaging QR code, Digital code, read the medicine box, store the outer packaging information.
- Use the scanning device to scan the medicine box, the outer packaging of the storage, read the information of the storage, medicine, storage, etc., to realize the visual identification of the storage medicine, storage and other information and the storage, medicine, storage, etc. Double accurate confirmation of things and other information to realize the identification of storage, medicine, storage, etc.
- the cutting device 204 is composed of cross-cutting and vertical-cutting comprehensive slices, which are used to cut the medicines according to the horizontal and vertical slices, and identify the quantity of the medicines for packing. Target medicines, storage and distribution of remaining medicines in pieces, storage into medicine boxes, storage boxes.
- the method for positioning, navigating, moving, shipping and delivering medicine storage in the mobile medicine box storage box is as follows:
- the management system manages the storage location, identifies the storage, and moves the storage box according to the task requirements.
- the goal is to complete all dispensing tasks in the shortest time
- the goal is to complete all tasks in the shortest time.
- the main system publishes all job information, including the tasks in the job, the start time of each task, the moving path planned according to the optimal method, and the sequence of each task.
- the mobile storage box device 800 is controlled remotely, autonomously locates and navigates, moves to the position corresponding to each task, and the mobile storage box 800 uses the information acquisition device 204 and the scanning device 204 to scan the corresponding task Information on the working table under the storage rack and the target storage box, open the target storage box, and deliver the medicine and storage to the mobile storage box 800 .
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Abstract
A mobile delivery apparatus capable of multi-arm sorting work, and an optimal management system and method, which apparatus, system and method use artificial intelligence technology and autonomous positioning and navigation technology to implement storage, sorting work, goods shipment and reception, and mobile delivery under autonomous control and remote control. The present invention is applied to medicine dispensing, book borrowing and returning, warehouse logistics sorting, and goods shipment and reception work. A machine main system is connected to a management system, and implements storage, sorting work, and goods shipment and reception under autonomous control and remote control. An optimal path planning and task configuration method for a mobile storage box is used, and the mobile storage box completes a medicine dispensing task and a goods shipment and reception task. The target is to complete all the tasks in the shortest time. Various work of packaging, cutting and sorting, autonomous goods delivery and transfer, and goods shipment and reception are implemented, such that the working efficiency is greatly improved, operation with fewer people and unmanned operation are realized, and the present invention is widely applied to medical treatment, campuses, warehouses, factories, logistics and various commercial scenarios.
Description
本发明涉及人工智能领域及机器人领域，具体地涉及视觉识别技术，语音识别，语音交互技术，以及机器人动作规划，智能作业技术领域。The invention relates to the field of artificial intelligence and the field of robots, and in particular to the fields of visual recognition technology, speech recognition, and speech interaction technology, as well as robot action planning and intelligent operation technology.
随着人工智能机器人在医疗机构，商业服务，仓库等的推广，面临着医疗机构存储药品，图书馆存书，仓库储物，存储空间大，种类丰富，储物柜数量多，配药，取药，管理药物成为医疗机构一项费人力，费时间，作业效率低，精准度要求高的作业。智能化高效率的配药，整理药物，高效精准的管理***及高智能化作业成为医疗机构，药局，仓库，图书馆的重大课题。With the promotion of artificial intelligence robots in medical institutions, commercial services, warehouses, etc., it is faced with the problem of medical institutions storing medicines, libraries storing books, warehouse storage, large storage space, rich varieties, large number of lockers, dispensing and taking medicines. , the management of drugs has become a labor-intensive, time-consuming, low-efficiency and high-precision operation in medical institutions. Intelligent and efficient dispensing, arranging drugs, efficient and accurate management systems and highly intelligent operations have become major issues for medical institutions, pharmacies, warehouses, and libraries.
目前市面产品，多为人工作业，工厂，仓库多为流水分拣作业，自动化程度不高。高精准的药品，储物药盒，储物外包装识别，图书信息识别自动化产品在市面上尚无相关在售商品，市面产品尚处于低智能，智能化识别尚需依靠人力作业，识别度及智能化程度低。将高精准的视觉识别与高智能机器臂作业相结合，实现无人化药房，仓库，图书馆减少人员作业量，减少人力作业失误，减少人力成本。At present, most of the products on the market are manual operations, while factories and warehouses are mostly running water sorting operations, and the degree of automation is not high. High-precision medicines, storage medicine boxes, storage outer packaging identification, and book information identification automation products have no related products on the market, and the products on the market are still low-intelligence. Low level of intelligence. Combining high-precision visual recognition with high-intelligence robotic arm operations enables unmanned pharmacies, warehouses, and libraries to reduce personnel workload, reduce labor errors, and reduce labor costs.
本申请中发现现有技术存在的问题，本申请将机器臂智能化动作规划与视觉识别，二维码数字码信息采集读取结合，将远端控制及自主移动技术应用于移动药箱，移动图书实现无人化作业。The problems existing in the prior art are found in this application. The application combines intelligent action planning of the robotic arm with visual recognition, collection and reading of two-dimensional code digital code information, and applies remote control and autonomous movement technology to mobile medicine boxes. Books realize unmanned operation.
发明内容SUMMARY OF THE INVENTION
本发明的目的就在于克服上述现有技术的缺点和不足，提供了一种语音装置，置于移动药箱上，实现语音识别，语音查询，语音指令，医嘱等的语音传递。The purpose of the present invention is to overcome the above-mentioned shortcomings and deficiencies of the prior art, and to provide a voice device, which is placed on the mobile medicine box and realizes voice transmission of voice recognition, voice query, voice command, doctor's order, and the like.
本发明提供了一种视觉装置以及扫描装置，识别药盒，储物外包装，物品的综合信息，包括：颜色，形状，轮廓，数字码，商标图案，字母，文字，二维码等，扫描货品上的数字码及二维码，查询管理货品，与视觉采集的货品信息双精准确认自动配药，发放，减少人员工作的繁杂度，复杂度。The invention provides a visual device and a scanning device, which can identify medicine boxes, storage outer packaging, and comprehensive information of items, including: color, shape, outline, digital code, trademark pattern, letters, characters, two-dimensional code, etc., scanning The digital code and QR code on the goods can be used to query and manage the goods, and double-accurately confirm the automatic dispensing and distribution of the goods information collected by visual inspection, reducing the complexity and complexity of personnel work.
本发明提供了一种定位装置，移动装置，壁障装置，扫描装置。The invention provides a positioning device, a moving device, a barrier device and a scanning device.
本发明提供了一种机器臂装置，实现自动切割裁剪分拣，取，放，扫码等动作。The invention provides a robotic arm device, which realizes automatic cutting, cutting, sorting, picking, placing, scanning, and other actions.
本发明提供了一种货物作业台装置，扫描装置，机器视觉识别储物及其包装，推动装置，分装货物。The invention provides a cargo working table device, a scanning device, a machine visual identification storage and its packaging, a pushing device and a sub-packaging device.
本发明解决上述问题，实现这些功能所采用的技术方案：The present invention solves the above-mentioned problems, realizes the technical scheme adopted by these functions:
一种多臂作业移动投递装置包括：A dobby operation mobile delivery device includes:
主控制***，所述主控制***用于实现多机器臂的主控制，语音模块，视觉识别模块，雷达移动避障 模块，药品，储物识别模块，机器臂夹持器抓取，扫码，切割，分拣，放置动作规划控制模块。Main control system, the main control system is used to realize the main control of multi-robot arms, voice module, visual recognition module, radar mobile obstacle avoidance module, medicine, storage recognition module, robot arm gripper grab, scan code, Cutting, sorting, placing action planning control module.
语音模块，所述语音模块用于文字转语音，语音转文字，语音引导，人-机语音交互。The voice module is used for text-to-speech, voice-to-text, voice guidance, and human-machine voice interaction.
视觉识别模块，与摄像头装置，扫码器连接，用于采集药盒储物外包装图像并识别商标，颜色，文字。The visual recognition module is connected with the camera device and the code scanner, and is used to collect the image of the outer packaging of the medicine box storage and identify the trademark, color and text.
机器臂，与夹持器连接，通过动作规划实现抓取，扫码，切割，分拣，放置。The robotic arm, connected with the gripper, realizes grabbing, scanning, cutting, sorting, and placing through motion planning.
作业台装置，用于药品，储物分装，切割，剪裁。Workbench device, used for medicine, storage and packing, cutting and tailoring.
切割，剪裁器，与机器臂装置连接，用于切割，剪裁药品，储物。Cutting, trimmer, connected with robotic arm device for cutting, trimming medicine, storage.
二维码数字码扫描装置，与作业台连接，用于扫描药盒储物外包装上附带的药品，储物编码。The two-dimensional code digital code scanning device is connected with the workbench, and is used to scan the medicines and storage codes attached to the outer packaging of the medicine box storage.
信息采集读取装置包括：就诊卡，医生卡等，与作业台连接，用于扫描读取就诊卡，医生卡，作业台及移动药箱储物箱位置等信息。The information collection and reading device includes: a medical card, a doctor's card, etc., and is connected to the workbench for scanning and reading information such as the medical card, the doctor's card, the workbench and the location of the mobile medicine box storage box.
移动药箱储物箱，定位导航装置，壁障装置，雷达，传感器等用于药箱储物箱的定位导航，避障，移动。Mobile medicine box storage box, positioning and navigation device, barrier device, radar, sensor, etc. are used for positioning and navigation, obstacle avoidance and movement of medicine box storage box.
声音采集模块，麦克等语音装置，置于移动药箱储物箱上，与移动药箱储物箱连接，建立用户-机器人语音交互库，语音采集，语音合成，文字语音转换，语音识别等，语音指令，远程语音控制机器动作，语音管理药品，储物等。Sound acquisition module, microphone and other voice devices are placed on the mobile medicine box storage box, connected to the mobile medicine box storage box, to establish a user-robot voice interaction library, voice acquisition, speech synthesis, text-to-speech conversion, speech recognition, etc., Voice commands, remote voice control of machine actions, voice management of medicines, storage, etc.
多机器臂协作及其动作规划模块，用于抓取，扫描，切割分片药品，分拣储物，放置归还药品，储物。机器臂装置包括：机器臂，夹持器，切割，裁剪装置。机器臂固定连接于储物架或作业台上，按照目标药品，储物的位置信息，定位目标药品，储物，通过机器臂动作规划，夹持器的抓取爪的参数设置，翻转四向药盒储物外包装，按照正反左右四侧翻动，扫描药盒储物外包装二维码，数字码，读取药盒储物外包装信息。分片分发剩余药品，储物装入药盒储物外包装，抓取分片药盒储物外包装归位至储存箱内的目标药品位置，储物位置，散片，散件药盒储物外包装位置。切割装置采用横切，纵切综合切片组成，用于药品储物按横联片及竖联片切割，识别药片储物数量分装药品，储物。Multi-robot collaboration and its motion planning module for grabbing, scanning, cutting and slicing medicines, sorting storage, placing and returning medicines, and storage. The robotic arm device includes: robotic arm, gripper, cutting and cutting device. The robot arm is fixedly connected to the storage rack or workbench, according to the position information of the target medicine and storage, the target medicine and storage are positioned, through the action planning of the robot arm, the parameter setting of the gripper's grasping claw, and the four-way flip. The outer packaging of the medicine box storage, turn the four sides according to the front and back, scan the QR code and digital code of the outer packaging of the medicine box storage, and read the information of the outer packaging of the medicine box storage. Distribute the remaining medicines in pieces, put the storage into the outer packaging of the medicine box, grab the outer packaging of the medicine box and return it to the target medicine position in the storage box, the storage position, the loose pieces, and the medicine box storage Outer packaging location. The cutting device is composed of cross-cutting and longitudinal-cutting comprehensive slices. It is used to cut the medicine storage according to the horizontal and vertical slices, identify the storage quantity of the medicines, and divide the medicines for storage.
采用视觉装置及二维码数字码扫描装置双精准识别信息，所述的视觉装置，置于作业台位置上方，用于采集药盒图像并识别商标，颜色，文字。所述视觉识别模块，包括：药盒储物外包装识别，药品，储物形状识别，药品，储物数量识别，药品，储物文字识别，商标图像识别，与扫码器扫描读取的信息相对比，实现扫码器读取药品，储物信息与药盒储物外包装上文字商标双重确认，通过改进的神经网络方法识别并管理医疗药品，储物。The visual device and the two-dimensional code digital code scanning device are used to accurately identify information. The visual device is placed above the workbench to collect the image of the medicine box and identify the trademark, color, and text. The visual identification module includes: medicine box storage outer packaging identification, medicine, storage shape identification, medicine, storage quantity identification, medicine, storage character identification, trademark image identification, and information scanned and read by a code scanner In contrast, the scanner can read medicines, double confirmation of storage information and the word trademark on the outer packaging of the medicine box storage, and identify and manage medical medicines and storage through the improved neural network method.
可升降左右滑动的作业台，用于支持作业台装置上各种作业，作业台可按照任务的位置自动升降滑动至储物架上各位置。包括：储物的推动装置，扫描装置，目标储物盒装置。The workbench that can be lifted and slid left and right is used to support various operations on the workbench device. The workbench can automatically lift and slide to various positions on the storage rack according to the position of the task. Including: push device for storage, scanning device, target storage box device.
推动装置，用于将作业台上目标储物盒装置内的药品，储物推动至移动药箱储物箱。The pushing device is used to push the medicines and storage in the target storage box device on the workbench to the mobile medicine box storage box.
扫描装置，二维码数字码扫描读取装置，置于作业台上方，药品，储物管理***与扫描读取装置连接，通过扫描，读取药品，储物二维码，数字码的多种信息。Scanning device, two-dimensional code digital code scanning and reading device, placed above the workbench, medicine, storage management system is connected with the scanning and reading device, through scanning, reading medicine, storage two-dimensional code, various digital codes information.
目标储物盒装置，将无作业要求的药品，储物或作业完成的药品，储物贮存在作业台上的目标储物盒内，待移动药箱储物箱到达目标储物盒对应位置，打开目标储物盒，利用推动装置推动药品，储物投至对应的移动药箱储物箱。The target storage box device stores medicines without operation requirements, storage or completed medicines, and storage in the target storage box on the workbench. After the medicine box storage box is moved to the corresponding position of the target storage box, Open the target storage box, use the push device to push the medicine, and put the storage into the corresponding mobile medicine box storage box.
远端控制及自主控制的移动药箱储物箱，用于定位各任务对应的取药作业台，移动至目标任务的位置，配药，远端控制及自主移动输送药品，储物。The mobile medicine box storage box controlled by remote control and autonomous control is used to locate the medicine taking table corresponding to each task, move to the position of the target task, dispense medicine, remotely control and autonomously move medicine and store it.
移动药箱储物箱装置，包括：定位导航装置，移动装置，壁障装置，信息采集装置，箱体药品，储物装置。信息采集装置，置于移动药箱储物箱上方，通过信息扫描装置，读取就诊卡，医生卡的信息，控制移动药箱储物箱开闭。移动药箱储物箱，按规划路径到达作业中各任务对应的作业台位置下方，通过信息扫描装置扫描作业台对应的作业台及其目标储物盒的信息，与移动药箱储物箱的作业内的单个目标任务或多个目标任务匹配，通过目标储物盒开闭移动药品，储物至移动药箱储物箱。The mobile medicine box storage box device includes: a positioning and navigation device, a mobile device, a barrier device, an information collection device, a box medicine, and a storage device. The information collection device is placed above the storage box of the mobile medicine box, and through the information scanning device, the information of the medical treatment card and the doctor's card is read, and the opening and closing of the storage box of the mobile medicine box is controlled. Move the medicine box storage box, reach the position of the workbench corresponding to each task in the operation according to the planned path, and scan the information of the workbench corresponding to the workbench and its target storage box through the information scanning device, which is consistent with the mobile medicine box storage box. Match a single target task or multiple target tasks in the job, move the medicine through the opening and closing of the target storage box, and store the medicine in the mobile medicine box storage box.
壁障装置，包括：雷达，传感器等，所述的壁障装置包括雷达或避障传感器中的一种及多种，用于通过雷达及避障传感器，远端及自主定位导航移动药箱储物箱。Barrier devices, including: radars, sensors, etc. The barrier devices include one or more of radars or obstacle avoidance sensors, which are used for remote and autonomous positioning and navigation of mobile medicine box storage through radar and obstacle avoidance sensors. box.
一种视觉识别药品，储物，药品，储物数量，机器臂作业动作方法，包括以下步骤：A method for visually identifying medicines, storage, medicines, storage quantity, and operation action method of a robot arm, comprising the following steps:
进一步，一种视觉识别药品，储物，药品，储物数量的方法，步骤如下：Further, a method for visually identifying medicines, storage, medicines, and storage quantities, the steps are as follows:
S1、依据药品，储物的特征项包括颜色，轮廓，形状，附属数字码，附属二维码，文字，特殊标识创建数学模型。S1. According to the characteristic items of medicine and storage, including color, outline, shape, attached digital code, attached two-dimensional code, text, and special identification, a mathematical model is created.
S2、抽取颜色，轮廓，数字码，二维码，文字，特殊标识包括颜色，数字，轮廓，数字码，二维码，文字，特殊标识文字标识图像对应的图像特征。S2, extracting color, outline, digital code, two-dimensional code, text, and special identification including color, number, contour, digital code, two-dimensional code, text, and special identification text mark the image features corresponding to the image.
S3、颜色，数字，字母，文字，特殊商标标识值等的特征转化为输入数据。S3, features such as colors, numbers, letters, words, special trademark identification values, etc. are converted into input data.
S4、建立图像的特征的数学模型，输入检测项目特征值。S4, establishing a mathematical model of the characteristics of the image, and inputting the characteristic value of the detection item.
S5、改进权值优化器，快速训练图像，得到输出值。S5. Improve the weight optimizer, quickly train the image, and obtain the output value.
S6、依据输出颜色，数字，字母，文字，特殊标识识别结果，精准识别药品，储物目标，定位目标返回抓取目标位置包括：药品，储物放置位置等。S6. According to the output color, numbers, letters, characters, and special identification results, accurately identify medicines and storage targets, and locate the target and return to the grab target position, including: medicines, storage placement positions, etc.
又进一步，一种机器臂抓取，放置，扫描的动作规划方法，所述方法包括以下步骤：Still further, an action planning method for grasping, placing and scanning of a robotic arm, the method includes the following steps:
S1、设置目标物的场景环境模块。主控制***发布目标药品，储物所在位置消息，药盒，储物外包装图像消息，数字码二维码消息。S1. Set the scene environment module of the target object. The main control system publishes the target medicine, the location information of the storage, the image information of the medicine box, the outer packaging of the storage, and the digital code two-dimensional code information.
S2、机器臂及夹持器订阅目标的位置消息，药盒储物外包装图像，数字码二维码消息。S2. The robot arm and the gripper subscribe to the position information of the target, the image of the outer packaging of the medicine box storage, and the digital code QR code information.
S3、创建多目标物，包括：设置目标物体所在的位置，目标物体尺寸，目标物***姿，目标物体颜色。S3. Create multi-target objects, including: setting the position of the target object, the size of the target object, the pose of the target object, and the color of the target object.
S4、多目标，依照多目标所在不同的位置，多目标配药任务配置至距离最近的机器臂。S4. Multi-target, according to the different positions of the multi-target, the multi-target dispensing task is configured to the nearest robotic arm.
S5、依照机器臂及其夹持器的运动规划的方法，设置每个机器臂的运动规划参数，参数包括：选择关节角度，关节限位设置，机械臂移动到指定的关节位形，关节限制，关节轨迹位置，速度分量，关节速度。 设置运动约束，目标轨迹，速度设置，执行规划的轨迹。关节位置设置，关节角度设置。S5. According to the motion planning method of the robotic arm and its gripper, set the motion planning parameters of each robotic arm. The parameters include: selecting the joint angle, setting the joint limit, moving the robotic arm to the specified joint shape, and the joint limit , joint trajectory position, velocity component, joint velocity. Set motion constraints, target trajectories, speed settings, and execute planned trajectories. Joint position setting, joint angle setting.
S6、设置配置的机械臂防碰撞矩阵，机器人自身其他部位检测，场景障碍物，检测防碰撞检测。S6. Set the configured anti-collision matrix of the robotic arm, detect other parts of the robot itself, detect obstacles in the scene, and detect anti-collision detection.
S7、机械臂，爪参数设置，抓握，取放，抓取位姿参数设置与匹配目标位姿。S7. Robot arm, claw parameter setting, grasping, pick-and-place, grasping pose parameter setting and matching target pose.
S8、初始化放置抓取，物体的task位置，抓取姿态对象。S8, initialize the placement and grab, the task position of the object, and grab the gesture object.
S9、设置目标位置物体的放置位置，生成抓取姿态，包括：初始化抓取对象，创建夹瓜张开闭合的姿态。S9, setting the placement position of the object at the target position, and generating a grasping posture, including: initializing the grasping object, and creating a posture of opening and closing the folder.
S10、设置期望的夹爪靠近，撤离目标的参数。S10, set the desired parameters of the gripper approaching and withdrawing the target.
S11、设置抓取姿态，需求尝试改变姿态的数据列表，抓取姿态列表。S11. Set the grabbing posture, and it is required to try to change the data list of the posture, and the grabbing posture list.
S12、改变姿态，生成抓取动作，包括：设置抓取姿态；抓取ID号；设置允许接触的物体，设置抓取列表。S12 , changing the posture to generate a grasping action, including: setting a grasping posture; grasping an ID number; setting an object that is allowed to be touched, and setting a grasping list.
S13、抓取目标翻转四向药盒储物外包装，按照正反左右四侧翻动，扫描药盒储物外包装二维码，数字码，读取药盒储物外包装信息。S13. Grab the target and flip the four-way storage outer packaging of the medicine box, and turn the outer packaging of the medicine box according to the positive, negative, left and right sides, scan the two-dimensional code and digital code of the outer packaging of the medicine box storage, and read the information of the outer packaging of the medicine box storage.
S14、扫码药品，储物信息与目标是否一致，如果匹配放置在作业台。S14, scan the code for medicines, whether the storage information is consistent with the target, and if they match, place them on the workbench.
S15、根据权利要求8所述的一种视觉识别药品，储物，药品，储物数量识别方法，识别抓取的药品，储物及散片储物散件的数量。S15. A method for visually identifying medicines, storage, medicines, and quantity of storages according to claim 8, which identifies the quantity of medicines, storages, and loose pieces of storage that are grabbed.
S16、依照S5规划的动作，切割装置采用横切，纵切综合切片组成，用于药物储物按横联片及竖联片切割，识别药片储物数量分装，目标药品，储物，分片分发剩余药品，储物装入药盒储物箱。S16. According to the action planned in S5, the cutting device is composed of cross-cutting and vertical-cutting comprehensive slices. It is used for drug storage to be cut according to the horizontal and vertical slices, to identify the storage quantity of the tablets, and to pack them. The tablet distributes the remaining medicine, and the storage is put into the medicine box storage box.
一种最优化的移动药箱储物箱的路径规划，任务配置方法，采用最优化的方法规划配药任务，出入货任务，目标为最短的时间完成所有配药任务出入货任务。最优化的方法包括：遗传计算方法及其改进方法，禁忌搜索计算方法及其改进方法，模拟退火计算方法及其改进方法，蚁群计算方法及其改进方法，粒子束最优化的计算方法及其改进方法，神经网络计算方法及其改进方法，进化方法及其改进方法中的一种及多种联合方法。An optimized path planning and task configuration method for a mobile medicine box storage box. The optimal method is used to plan the dispensing task, the loading and unloading tasks, and the goal is to complete all dispensing tasks and loading and unloading tasks in the shortest time. The optimization methods include: genetic calculation method and its improvement method, tabu search calculation method and its improvement method, simulated annealing calculation method and its improvement method, ant colony calculation method and its improvement method, particle beam optimization calculation method and its improvement method. The improvement method, the neural network calculation method and the improvement method thereof, the evolution method and the improvement method thereof, and one or more combined methods.
所述的最优化方法，步骤如下：The described optimization method, the steps are as follows:
S1.数学模型如下：S1. The mathematical model is as follows:
作业job
m，对每个作业job
m包含n个任务task
n。
The job job m contains n tasks task n for each job job m .
任务task n的机器臂抓取，视觉识别，放置作业台，裁剪作业完成的操作时间
Operation time for robotic arm grabbing, visual recognition, placement of workbench, and cutting job completion for task n
任务task n的扫描时间
机器移动的速度
scan time of task n the speed at which the machine moves
任务task
n所在位置的坐标(task
n
x，task
n
Y)。
The coordinates of the location of task n (task n x , task n Y ).
job
m作业中从task
N移动到task
L的行走时间
Travel time from task N to task L in job m
从task
n等待前面的作业完成的时间为等待时间
The time from task n to wait for the previous job to complete is the wait time
job
m到达第D个区域时间job
m
D当task
n正在作业中，完成作业剩余的时间为
When job m arrives at the D-th area, job m D When task n is working, the remaining time to complete the job is
从task
n开始作业时间task
n
starttime，从task
n完成作业时间task
n
finiishtime。
Start job time task n starttime from task n , finish job time task n finishtime from task n .
在job
m作业中从task
N移动到task
L，task
N移动到task
L的行走时间。
The travel time for moving from task N to task L and task N to task L in job m job.
S2.目标函数：S2. Objective function:
Max{job
1
total，job
2
total，job
3
total....job
m
total}
Max{job 1 total , job 2 total , job 3 total ....job m total }
去核心矛盾的进化方法实现最优的方法规划配药任务，目标为最短的时间完成所有配药任务，步骤如下：The evolutionary method that removes the core contradiction realizes the optimal method for planning dispensing tasks, and the goal is to complete all dispensing tasks in the shortest time. The steps are as follows:
S3.初始解包含多个作业，每个作业是由其包含的任务组成。S3. The initial solution contains multiple jobs, and each job is composed of the tasks it contains.
S4.候选解是由完成任务对应的移动路径构成。S4. The candidate solution is composed of the movement path corresponding to the completed task.
job
m-solution＝{job
1，job
2，job
3，...job
m}
job m -solution={job 1 , job 2 , job 3 ,...job m }
job
m-solution＝{{M
1，M
5，M
3，M
6}，{M
2，M
5，M
7，M
6}，{M
3，M
5，M
4，M
8}，...{M
3，M
5，M
4，M
9}}。
job m -solution={{M 1 , M 5 , M 3 , M 6 }, {M 2 , M 5 , M 7 , M 6 }, {M 3 , M 5 , M 4 , M 8 }, .. .{M 3 , M 5 , M 4 , M 9 }}.
S5.计算各任务task
n的位置坐标(task
n
x，task
n
Y)所在区域M。
S5. Calculate the area M where the position coordinates (task n x , task n Y ) of each task task n are located.
S6.计算区域不同M
m内需完成的任务数，并按照区域内任务数从多到少的顺序进行排序，设定job
m中任务数最多的区域为core conflict points(核心矛盾点)。
S6. Calculate the number of tasks that need to be completed in different M m areas, and sort them in descending order of the number of tasks in the area, and set the area with the largest number of tasks in job m as core conflict points.
S7.设定为矛盾点最多的区域M为M-max，矛盾点最少的区域M为M-min。S7. Set the area M with the most contradictory points as M-max, and the area M with the least contradictory points as M-min.
S8.对于每个候选解，计算并找到job
m中最长的完成时间的候选解job
m。
S8. For each candidate solution, calculate and find the candidate solution job m with the longest completion time in job m .
job
m-solution＝{job
1，job
2，job
3，...job
n}
job m -solution={job 1 , job 2 , job 3 ,...job n }
job
m-solution＝{{M
1，M
5，M
3，M
6}，{M
2，M
5，M
7，M
6}，{M
3，M
5，M
4，M
8}，...{M
3，M
5，M
4，M
9}}
job m -solution={{M 1 , M 5 , M 3 , M 6 }, {M 2 , M 5 , M 7 , M 6 }, {M 3 , M 5 , M 4 , M 8 }, .. .{M 3 , M 5 , M 4 , M 9 }}
对job
m候选解的移动路径交换M-max与M-min的移动先后次序。
Swap the moving order of M-max and M-min for the moving path of the candidate solution of job m .
S9.产生新的候选解Solution-new。S9. Generate a new candidate solution Solution-new.
S10.与原候选解Solution-old比较，S10. Compared with the original candidate solution Solution-old,
当Solution-new＜Solution-old，When Solution-new＜Solution-old,
将Solution-new作为新的候选解进入进化迭代。Enter Solution-new as a new candidate solution into the evolutionary iteration.
S11.按照迭代次数输出最优解。S11. Output the optimal solution according to the number of iterations.
一种医疗管理***，所述的***包括：药品储物管理，用户管理，储物定位管理，药品储物识别，移动药箱储物箱任务管理，注意警报管理等多个模块。A medical management system includes: medicine storage management, user management, storage location management, medicine storage identification, task management of mobile medicine box storage box, attention alarm management and other modules.
图1是本申请中机器模块示意图，附图1标记：Fig. 1 is the schematic diagram of the machine module in this application, and accompanying drawing 1 is marked:
100-机器主控制***； 200-作业台装置； 300-图像采集视觉识别模块；100-machine main control system; 200-workbench device; 300-image acquisition visual recognition module;
400-信息采集扫描模块； 500-切割剪裁器模块； 600-机器臂装置；400-information acquisition and scanning module; 500-cutting trimmer module; 600-robot arm device;
700-语音模块； 800-定位导航及移动药箱；700-voice module; 800-positioning navigation and mobile medicine box;
图2是本申请中机器结构组成图，附图2标记：Fig. 2 is the machine structure composition diagram in this application, and accompanying drawing 2 is marked:
201-机器主控制***； 202-语音装置；201-Machine main control system; 202-Voice device;
203-定位导航/移动药箱装置 204-扫描装置；203-positioning navigation/mobile medicine box device 204-scanning device;
205-切割分拣装置；205 - cutting and sorting device;
206-作业台包括：推动装置，目标储物药盒装置等；206- The workbench includes: push device, target storage medicine box device, etc.;
207-视觉装置； 208-机器臂装置；207-Vision device; 208-Robot arm device;
本申请实施中的技术方案为解决上述技术问题的总体思路如下：The technical solution in the implementation of the present application is the general idea of solving the above-mentioned technical problems as follows:
本方案主要是通过定位导航，移动药箱装置，实现定位，导航，远端控制与自主移动。This solution mainly realizes positioning, navigation, remote control and autonomous movement through positioning and navigation and moving the medicine box device.
本方案通过移动药箱与语音装置连接，利用语音识别，语音文字转换，语音唤醒等方法，实现人-机器交互，语音查询货物药品，储物信息，医嘱等语音交互。This solution connects the mobile medicine box with the voice device, and uses voice recognition, voice-to-text conversion, voice wake-up and other methods to realize human-machine interaction, voice query of goods and medicines, storage information, doctor's orders and other voice interactions.
本方案主要是通过摄像头与信息采集读取装置，利用改进的机器学习方法及神经网络方法，识别药品，储物外包装，商标，通过抽取物品，药片颜色，形状，轮廓识别其数量，利用信息采集装置查询药品，储物信息，与摄像头采集的图片识别结果双重核对，提高识别的效率，准确率。This solution mainly uses the camera and the information acquisition and reading device, using the improved machine learning method and neural network method, to identify medicines, storage outer packaging, trademarks, and to identify the number of items, the color, shape, and outline of the tablets, and use the information. The collection device inquires about medicine and storage information, and double-checks it with the picture recognition result collected by the camera, so as to improve the efficiency and accuracy of the recognition.
本方案主要是通过作业台切割裁剪装置完成分拣分割分片作业，当移动药箱定位导航至对应任务的作业台下方取药位置，推动装置推动目标储物盒内储物，药品，储等至移动药箱。利用机器取代人完成繁杂的分拣，出货作业，提高效率，节省人力成本。大大减轻了人员作业压力，提高了工作效率。This scheme mainly completes the sorting, dividing and slicing operation through the cutting and cutting device of the workbench. When the mobile medicine box is positioned and navigated to the medicine taking position under the workbench corresponding to the task, the pushing device pushes the storage, medicine, storage, etc. in the target storage box. to the mobile medicine cabinet. Use machines to replace people to complete complicated sorting and shipping operations, improve efficiency and save labor costs. It greatly reduces the pressure of personnel work and improves work efficiency.
为了更好的理解上述技术方案，下面结合实施例及附图，对本发明作进一步地的详细说明，但本发明的实施方式不限于此。In order to better understand the above technical solutions, the present invention is further described in detail below with reference to the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.
实施例1：Example 1:
如图1，图2所示，一种用于药房，仓库，图书馆的人工智能机器实施例，实施的方法包括：As shown in Figure 1 and Figure 2, an embodiment of an artificial intelligence machine used in a pharmacy, a warehouse, and a library, the implementation method includes:
机器主控制***100，所述机器主控制模块100用于实现机器的主控制，语音模块700和用户间交互，语音模块700，视觉识别模块300，定位导航避障移动药箱800，药品，储物识别模块，夹持器机器臂600拾取，放置，切割，扫码等动作规划模块。The machine main control system 100, the machine main control module 100 is used to realize the main control of the machine, the interaction between the voice module 700 and the user, the voice module 700, the visual recognition module 300, the positioning, navigation and obstacle avoidance mobile medicine box 800, medicine, storage Object recognition module, gripper robot arm 600 picking, placing, cutting, scanning code and other action planning modules.
语音模块700，所述语音模块用于文字转语音，语音转文字，人-机语音交互。The voice module 700 is used for text-to-speech, voice-to-text, and human-machine voice interaction.
视觉识别模块300，与摄像头装置，扫码器连接，用于采集药盒，储物外包装图像并识别商标，颜色，文字。The visual recognition module 300 is connected with the camera device and the code scanner, and is used for collecting images of the medicine box and the outer packaging of the storage and identifying the trademark, color and text.
机器臂600，与夹持器连接，通过动作规划实现抓取，切割，扫码，放置。The robot arm 600 is connected with the gripper, and realizes grabbing, cutting, scanning, and placing through motion planning.
作业台装置200，用于药品，储物分装，切割，剪裁。The workbench device 200 is used for medicines, storage and packaging, cutting and tailoring.
切割，剪裁器500，与机器臂600装置连接，用于切割，剪裁药物。The cutting and cutting device 500 is connected with the robotic arm 600 for cutting and cutting the medicine.
扫码器400，与作业台装置200连接，置于移动药箱上方800，用于扫码药盒上附带的药品，储物编码。The barcode scanner 400 is connected to the workbench device 200 and is placed above the mobile medicine box 800 for scanning the medicines attached to the medicine box and storing codes.
移动药箱装置800，包括：定位导航装置，底座移动装置，壁障装置，包括：雷达，传感器等，二维码数字码扫描装置，信息采集读取装置，包括：就诊卡，医生卡等，用于扫描读取就诊卡，医生卡的信息。The mobile medicine box device 800 includes: positioning and navigation device, base moving device, barrier device, including: radar, sensor, etc., two-dimensional code digital code scanning device, information collection and reading device, including: medical card, doctor card, etc., It is used to scan and read the information of the medical card and the doctor's card.
实施例2：Example 2:
如图1，图2所示，机器臂动作扫描药盒，储物外包装二维码，数字码，切割装置横切，纵切综合分拣切割切片的实施例，实施的方法如下：As shown in Figure 1 and Figure 2, the robot arm moves to scan the medicine box, the two-dimensional code of the storage outer packaging, the digital code, the cross-cutting of the cutting device, and the longitudinal cutting of the embodiment of the comprehensive sorting and cutting slices. The method of implementation is as follows:
设置目标物的场景环境模块，主控制***201发布目标药品，储物所在位置消息，药盒，储物外包装图像消息，数字码二维码消息。机器臂208及夹持器订阅目标的位置消息，药盒，储物外包装图像，数字码二维码消息。The scene environment module of the target object is set, and the main control system 201 publishes the target medicine, the location information of the storage, the medicine box, the image information of the outer packaging of the storage, and the digital code two-dimensional code information. The robot arm 208 and the gripper subscribe to the target's position message, the medicine box, the image of the outer packaging of the storage, and the digital code QR code message.
创建多目标物，包括：设置目标物体所在的位置，目标物体尺寸，目标物***姿，目标物体颜色等。依照多目标所在不同的位置，多目标配药任务配置至距离最近的机器臂208。依照机器臂208及其夹持器的运动规划的方法，设置每个机器臂208的运动规划参数，参数包括：选择关节角度，关节限位设置，机械臂208移动到指定的关节位形，关节限制，关节轨迹位置，速度分量，关节速度。设置运动约束，目标 轨迹，速度设置，执行规划的轨迹。关节位置设置，关节角度设置。设置配置的机械臂208防碰撞矩阵，机器人自身其他部位检测，场景障碍物，检测防碰撞检测。机械臂，爪参数设置，抓握，取放，抓取位姿参数设置与匹配目标位姿。初始化放置抓取，物体的task位置，抓取姿态对象。设置目标位置物体的放置位置，生成抓取姿态(初始化抓取对象，创建夹瓜张开闭合的姿态)。设置期望的夹爪靠近，撤离目标的参数。设置抓取姿态，需求尝试改变姿态的数据列表，抓取姿态列表。改变姿态，生成抓取动作，包括：设置抓取姿态；抓取ID号；设置允许接触的物体，设置抓取列表。Create multi-target objects, including: setting the position of the target object, the size of the target object, the pose of the target object, the color of the target object, etc. According to different positions of the multi-targets, the multi-target dispensing tasks are allocated to the nearest robotic arm 208 . According to the motion planning method of the robotic arm 208 and its gripper, set the motion planning parameters of each robotic arm 208, the parameters include: selecting the joint angle, setting the joint limit, moving the robotic arm 208 to the specified joint shape, the joint Limits, joint trajectory positions, velocity components, joint velocities. Set motion constraints, target trajectories, speed settings, and execute planned trajectories. Joint position setting, joint angle setting. Set the configured robot arm 208 anti-collision matrix, detect other parts of the robot itself, scene obstacles, and detect anti-collision detection. Robot arm, claw parameter setting, grasping, pick and place, grasping pose parameter setting and matching target pose. Initialize the placement grab, the task position of the object, and grab the pose object. Set the placement position of the object at the target position, and generate the grasping posture (initialize the grasping object, and create the open and closed posture of the folder). Set the desired gripper approach and evacuation target parameters. To set the grabbing attitude, you need to try to change the attitude data list and grab the attitude list. Change the posture to generate the grasping action, including: setting the grasping posture; grasping the ID number; setting the objects that are allowed to be touched, and setting the grasping list.
利用摄像头207，视觉装置207发布目标位置药品，储物药盒，储物外包装图像，抽取药品，储物的颜色，轮廓，形状，附属数字码，附属二维码，文字，特殊标识图像对应的图像特征。输入创建的数学模型，输入特征值，利用改进权值优化器，快速训练图像，精准识别药品，储物目标得到输出值，视觉识别抓取的药品，储物及散片的数量。摄像头视觉装置207发布目标位置的药品，储物药盒图像与主***201发布的目标药品，储物所在位置消息，药盒，储物外包装图像消息对比，确认是否一致。Using the camera 207, the visual device 207 publishes the image of the medicine at the target position, the storage medicine box, the storage outer packaging, extracts the medicine, the color, outline, shape of the storage, the attached digital code, the attached two-dimensional code, the text, and the image corresponding to the special logo image features. Input the created mathematical model, input the feature value, use the improved weight optimizer to quickly train the image, accurately identify the medicine, get the output value of the storage target, and visually identify the number of medicines, storage and loose pieces captured. The camera vision device 207 releases the medicine at the target location, and the image of the storage medicine box is compared with the target medicine, storage location information, medicine box, and storage outer packaging image information released by the main system 201 to confirm whether they are consistent.
按照机器臂及夹持器207设置的参数，定位目标位置，抓取目标翻转四向药盒，储物外包装，按照正反左右四侧翻动，扫描药盒，储物外包装二维码，数字码，读取药盒，储物外包装信息。精准识别药品，储物储物目标的药盒，储物外包装信息，药名，商标，目标定位目标返回抓取目标位置包括储物药品，储物放置位置等。利用扫描装置扫描药盒，储物外包装，读取储物，药品，储物等的信息，实现视觉识别储物药品，储物等的信息与扫码扫描读取的储物，药品，储物等信息双精准确认，实现储物，药品，储物等识别。According to the parameters set by the robot arm and the gripper 207, locate the target position, grab the target and turn over the four-way medicine box, store the outer packaging, flip the four sides according to the front, back, left and right, scan the medicine box, and store the outer packaging QR code, Digital code, read the medicine box, store the outer packaging information. Accurately identify medicines, medicine boxes for storage storage targets, storage outer packaging information, medicine names, trademarks, target positioning targets and return to grab target positions including storage medicines, storage placement positions, etc. Use the scanning device to scan the medicine box, the outer packaging of the storage, read the information of the storage, medicine, storage, etc., to realize the visual identification of the storage medicine, storage and other information and the storage, medicine, storage, etc. Double accurate confirmation of things and other information to realize the identification of storage, medicine, storage, etc.
利用信息采集装置204及扫描装置204读取数字码二维码，扫码药品，储物信息与目标是否一致，如果匹配放置在作业台。Use the information collection device 204 and the scanning device 204 to read the two-dimensional code of the digital code, scan the code, whether the storage information is consistent with the target, and place it on the workbench if it matches.
依照规划的动作，切割装置204采用横切，纵切综合切片组成，用于药物按横联片及竖联片切割，识别药片数量分装。目标药品，储物与分片分发剩余药品，储物装入药盒，储物箱。According to the planned action, the cutting device 204 is composed of cross-cutting and vertical-cutting comprehensive slices, which are used to cut the medicines according to the horizontal and vertical slices, and identify the quantity of the medicines for packing. Target medicines, storage and distribution of remaining medicines in pieces, storage into medicine boxes, storage boxes.
实施例3：Example 3:
如图1，图2所示，移动药箱储物箱定位，导航，移动，出货投递药物储物的方法，具体的实施方法如下：As shown in Figure 1 and Figure 2, the method for positioning, navigating, moving, shipping and delivering medicine storage in the mobile medicine box storage box is as follows:
管理***，按照用户的任务要求，管理储物定位，识别储物，按照任务要求，移动储物箱。The management system, according to the user's task requirements, manages the storage location, identifies the storage, and moves the storage box according to the task requirements.
采用最优化的移动药箱储物箱的路径规划，任务配置方法，采用最优化的方法规划配药任务，出入货任务，目标为最短的时间完成所有配药任务目标为最短的时间完成所有任务。主***发布所有作业信息，包括作业内的任务，各任务的开始时间点，按照最优方法规划的移动路径，各任务的先后次序。Using the optimal path planning and task configuration method of the mobile medicine box storage box, using the optimal method to plan the dispensing tasks, loading and unloading tasks, the goal is to complete all dispensing tasks in the shortest time The goal is to complete all tasks in the shortest time. The main system publishes all job information, including the tasks in the job, the start time of each task, the moving path planned according to the optimal method, and the sequence of each task.
按照主***发布的各任务的位置信息，移动储物箱装置800远端控制，自主定位导航，移动至各任务对应的位置，移动储物箱800利用信息采集装置204及扫描装置204扫描任务对应储物架下方作业台及目 标储物盒信息，打开目标储物盒，将药物，储物投递至移动储物箱800。According to the position information of each task released by the main system, the mobile storage box device 800 is controlled remotely, autonomously locates and navigates, moves to the position corresponding to each task, and the mobile storage box 800 uses the information acquisition device 204 and the scanning device 204 to scan the corresponding task Information on the working table under the storage rack and the target storage box, open the target storage box, and deliver the medicine and storage to the mobile storage box 800 .
Claims (9)
- 一种多臂分拣作业移动投递装置、最优化的管理***及方法，一种多臂作业移动投递装置，其特征在于，包括：A mobile delivery device for multi-arm sorting operations, an optimized management system and method, and a mobile delivery device for multi-arm operations, characterized in that it includes:主控制***，所述主控制***用于实现多机器臂的主控制，语音模块，视觉识别模块，雷达移动避障模块，药品，储物识别模块，机器臂夹持器抓取，扫码，切割，分拣，放置动作规划控制模块。Main control system, the main control system is used to realize the main control of multi-robot arms, voice module, visual recognition module, radar mobile obstacle avoidance module, medicine, storage recognition module, robot arm gripper grab, scan code, Cutting, sorting, placing action planning control module.语音模块，所述语音模块用于文字转语音，语音转文字，语音引导，人-机语音交互。The voice module is used for text-to-speech, voice-to-text, voice guidance, and human-machine voice interaction.视觉识别模块，与摄像头装置，扫码器连接，用于采集药盒储物外包装图像并识别商标，颜色，文字。The visual recognition module is connected with the camera device and the code scanner, and is used to collect the image of the outer packaging of the medicine box storage and identify the trademark, color and text.机器臂，与夹持器连接，通过动作规划实现抓取，扫码，切割，分拣，放置。The robotic arm, connected with the gripper, realizes grabbing, scanning, cutting, sorting, and placing through motion planning.作业台装置，用于药品，储物分装，切割，剪裁。Workbench device, used for medicine, storage and packing, cutting and tailoring.切割，剪裁器，与机器臂装置连接，用于切割，剪裁药品，储物。Cutting, trimmer, connected with robotic arm device for cutting, trimming medicine, storage.二维码数字码扫描装置，与作业台连接，用于扫描药盒储物外包装上附带的药品，储物编码。The two-dimensional code digital code scanning device is connected with the workbench, and is used to scan the medicines and storage codes attached to the outer packaging of the medicine box storage.信息采集读取装置，就诊卡，医生卡等，与作业台连接，用于扫描读取就诊卡，医生卡，作业台及移动药箱储物箱位置等信息。Information collection and reading device, medical card, doctor card, etc., are connected to the workbench, and are used to scan and read information such as the medical card, doctor card, workbench and the location of the mobile medicine box storage box.移动药箱储物箱，定位导航装置，壁障装置包括：雷达，传感器等，用于药箱储物箱的定位导航，避障，移动。Mobile medicine box storage boxes, positioning and navigation devices, and barrier devices include: radar, sensors, etc., which are used for positioning and navigation, obstacle avoidance, and movement of medicine box storage boxes.
- 根据权利要求1所述的一种多臂分拣作业移动投递装置、其特征在于，声音采集模块，麦克等语音装置，置于移动药箱储物箱上，与移动药箱储物箱连接，建立用户-机器人语音交互库，语音采集，语音合成，文字语音转换，语音识别等，语音指令，远程语音控制机器动作，语音管理药品，储物等。A mobile delivery device for multi-arm sorting operations according to claim 1, characterized in that the sound acquisition module, the voice device such as a microphone, etc. are placed on the mobile medicine box storage box, and are connected to the mobile medicine box storage box, Build user-robot voice interaction library, voice acquisition, voice synthesis, text-to-speech conversion, voice recognition, etc., voice commands, remote voice control of machine actions, voice management of medicines, storage, etc.
- 根据权利要求1所述的一种多臂分拣作业移动投递装置、其特征在于，多机器臂协作及其动作规划模块，用于抓取，扫描，切割分片药品，分拣储物，放置归还药品，储物。机器臂装置包括：机器臂，夹持器，切割，裁剪装置。机器臂固定连接于储物架或作业台上，按照目标药品，储物的位置信息，定位目标药品，储物，通过机器臂动作规划，夹持器的抓取爪的参数设置，翻转四向药盒储物外包装，按照正反左右四侧翻动，扫描药盒储物外包装二维码，数字码，读取药盒储物外包装信息。分片分发剩余药品，储物装入药盒储物外包装，抓取分片药盒储物外包装归位至储存箱内的目标药品位置，储物位置，散片，散件药盒储物外包装位置。切割装置采用横切，纵切综合切片组成，用于药品储物按横联片及竖联片切割，识别药片储物数量分装药品，储物。A mobile delivery device for multi-arm sorting operations according to claim 1, characterized in that the multi-arm cooperation and its action planning module are used for grabbing, scanning, cutting and slicing medicines, sorting and storing, placing Return medicines, storage. The robotic arm device includes: robotic arm, gripper, cutting and cutting device. The robot arm is fixedly connected to the storage rack or workbench, according to the position information of the target medicine and storage, the target medicine and storage are positioned, through the action planning of the robot arm, the parameter setting of the gripper's grasping claw, and the four-way turning The outer packaging of the medicine box storage, turn the four sides according to the front and back, scan the QR code and digital code of the outer packaging of the medicine box storage, and read the information of the outer packaging of the medicine box storage. Distribute the remaining medicines in pieces, put the storage into the outer packaging of the medicine box, grab the outer packaging of the medicine box and return it to the target medicine position in the storage box, the storage position, the loose pieces, and the medicine box storage. Outer packaging location. The cutting device is composed of cross-cutting and vertical-cutting comprehensive slices. It is used to cut the medicine storage according to the horizontal and vertical slices, identify the storage quantity of the medicines, and divide the medicines for storage.
- 根据权利要求1所述的一种多臂分拣作业移动投递装置、其特征在于，采用视觉装置及二维码数字码扫描装置双精准识别信息，所述的视觉装置，置于作业台位置上方，用于采集药盒图像并识别商标，颜色，文字。所述视觉识别模块，包括：药盒储物外包装识别，药品，储物形状识别，药品，储物数量识别，药品，储物文字识别，商标图像识别，与扫码器扫描读取的信息相对比，实现扫码器读取药品，储物信息与药盒储物外包装上文字商标双重确认，通过改进的神经网络方法识别并管理医疗药品，储物。A mobile delivery device for multi-arm sorting operations according to claim 1, characterized in that a visual device and a two-dimensional code digital code scanning device are used to accurately identify information, and the visual device is placed above the workbench. , used to capture images of pill boxes and identify trademarks, colors, and text. The visual identification module includes: medicine box storage outer packaging identification, medicine, storage shape identification, medicine, storage quantity identification, medicine, storage character identification, trademark image identification, and information scanned and read by a code scanner In contrast, the scanner can read medicines, double confirmation of storage information and the word trademark on the outer packaging of the medicine box storage, and identify and manage medical medicines and storage through the improved neural network method.
- 根据权利要求1所述的一种多臂分拣作业移动投递装置、其特征在于，可升降左右滑动的作业台，用于支持作业台装置上各种作业，作业台可按照任务的位置自动升降滑动至储物架上各位置。包括：储物的推动装置，扫描装置，目标储物盒装置。A multi-arm sorting operation mobile delivery device according to claim 1, characterized in that the work table that can be lifted and lowered left and right is used to support various operations on the work table device, and the work table can be automatically raised and lowered according to the position of the task Slide to various positions on the shelf. Including: push device for storage, scanning device, target storage box device.推动装置，用于将作业台上目标储物盒装置内的药品，储物推动至移动药箱储物箱。The pushing device is used to push the medicines and storage in the target storage box device on the workbench to the mobile medicine box storage box.扫描装置，二维码数字码扫描读取装置，置于作业台上方，药品，储物管理***与扫描读取装置连接，通过扫描，读取药品，储物二维码，数字码的多种信息。Scanning device, two-dimensional code digital code scanning and reading device, placed above the workbench, medicine, storage management system is connected with the scanning and reading device, through scanning, reading medicine, storage two-dimensional code, various digital codes information.目标储物盒装置，将无作业要求的药品，储物或作业完成的药品，储物贮存在作业台上的目标储物盒内，待移动药箱储物箱到达目标储物盒对应位置，打开目标储物盒，利用推动装置推动药品，储物投至对应的移动药箱储物箱。The target storage box device stores medicines without operation requirements, storage or completed medicines, and storage in the target storage box on the workbench. After the medicine box storage box is moved to the corresponding position of the target storage box, Open the target storage box, use the push device to push the medicine, and put the storage into the corresponding mobile medicine box storage box.
- 根据权利要求1所述的一种多臂分拣作业移动投递装置、其特征在于，远端控制及自主控制的移动药箱储物箱，用于定位各任务对应的取药作业台，移动至目标任务的位置，配药，远端控制及自主移动输送药品，储物。The mobile delivery device for multi-arm sorting operations according to claim 1, wherein the mobile medicine box storage box controlled by remote control and autonomous control is used to locate the medicine taking table corresponding to each task, and move to The location of the target task, dispensing, remote control and autonomous movement to deliver medicines and storage.移动药箱储物箱装置，包括：定位导航装置，移动装置，壁障装置，信息采集装置，箱体药品，储物装置。信息采集装置，置于移动药箱储物箱上方，通过信息扫描装置，读取就诊卡，医生卡的信息，控制移动药箱储物箱开闭。移动药箱储物箱，按规划路径到达作业中各任务对应的作业台位置下方，通过信息扫描装置扫描作业台对应的作业台及其目标储物盒的信息，与移动药箱储物箱的作业内的单个目标任务或多个目标任务匹配，通过目标储物盒开闭移动药品，储物至移动药箱储物箱。The mobile medicine box storage box device includes: a positioning and navigation device, a mobile device, a barrier device, an information collection device, a box medicine, and a storage device. The information collection device is placed above the storage box of the mobile medicine box, and through the information scanning device, the information of the medical treatment card and the doctor's card is read, and the opening and closing of the storage box of the mobile medicine box is controlled. The mobile medicine box storage box, according to the planned path, arrives under the position of the workbench corresponding to each task in the operation, and scans the information of the workbench corresponding to the workbench and its target storage box through the information scanning device, which is consistent with the information of the mobile medicine box storage box. Match a single target task or multiple target tasks in the job, move the medicine through the opening and closing of the target storage box, and store the medicine in the mobile medicine box storage box.壁障装置，雷达，传感器等，所述的壁障装置包括雷达或避障传感器中的一种及多种，用于通过雷达及避障传感器，远端及自主定位导航移动药箱储物箱。Barrier devices, radars, sensors, etc., the barrier devices include one or more of radar or obstacle avoidance sensors, used for remote and autonomous positioning and navigation of mobile medicine box storage boxes through radar and obstacle avoidance sensors .
- 一种多臂分拣作业移动投递装置、最优化的管理***及方法，其特征在于，一种视觉识别药品，储物，药品，储物数量，机器臂作业动作方法，包括以下步骤：A mobile delivery device, optimized management system and method for multi-arm sorting operations, characterized in that a method for visually identifying medicines, storage, medicines, storage quantities, and robotic arm operations, comprising the following steps:一种视觉识别药品，储物，药品，储物数量的方法，步骤如下：A method for visually identifying medicines, storage, medicines, and storage quantities, the steps are as follows:S1、依据药品，储物的特征项包括颜色，轮廓，形状，附属数字码，附属二维码，文字，特殊标识创建数学模型。S1. According to the characteristic items of medicine and storage, including color, outline, shape, attached digital code, attached two-dimensional code, text, and special identification, a mathematical model is created.S2、抽取颜色，轮廓，数字码，二维码，文字，特殊标识包括颜色，数字，轮廓，数字码，二维码，文字，特殊标识文字标识图像对应的图像特征。S2, extracting color, outline, digital code, two-dimensional code, text, and special identification including color, number, contour, digital code, two-dimensional code, text, and special identification text mark the image features corresponding to the image.S3、颜色，数字，字母，文字，特殊商标标识值等的特征转化为输入数据。S3, features such as colors, numbers, letters, words, special trademark identification values, etc. are converted into input data.S4、建立图像的特征的数学模型，输入检测项目特征值。S4, establishing a mathematical model of the characteristics of the image, and inputting the characteristic value of the detection item.S5、改进权值优化器，快速训练图像，得到输出值。S5. Improve the weight optimizer, quickly train the image, and obtain the output value.S6、依据输出颜色，数字，字母，文字，特殊标识识别结果，精准识别药品，储物目标，定位目标返 回抓取目标位置，药品，储物等的放置位置。S6. According to the output color, numbers, letters, characters, and special identification results, accurately identify medicines and storage targets, and locate the target and return to the grab target position, the placement position of medicines, storage, etc.一种机器臂抓取，放置，扫描的动作规划方法，所述方法包括以下步骤：An action planning method for grasping, placing and scanning of a robotic arm, the method comprises the following steps:S1、设置目标物的场景环境模块。主控制***发布目标药品，储物所在位置消息，药盒，储物外包装图像消息，数字码二维码消息。S1. Set the scene environment module of the target object. The main control system publishes the target medicine, the location information of the storage, the image information of the medicine box, the outer packaging of the storage, and the digital code two-dimensional code information.S2、机器臂及夹持器订阅目标的位置消息，药盒储物外包装图像，数字码二维码消息。S2. The robot arm and the gripper subscribe to the position information of the target, the image of the outer packaging of the medicine box storage, and the digital code QR code information.S3、创建多目标物，设置目标物体所在的位置，目标物体尺寸，目标物***姿，目标物体颜色。S3. Create multi-target objects, set the position of the target object, the size of the target object, the pose of the target object, and the color of the target object.S4、多目标，依照多目标所在不同的位置，多目标配药任务配置至距离最近的机器臂。S4. Multi-target, according to the different positions of the multi-target, the multi-target dispensing task is configured to the nearest robotic arm.S5、依照机器臂及其夹持器的运动规划的方法，设置每个机器臂的运动规划参数，参数包括：选择关节角度，关节限位设置，机械臂移动到指定的关节位形，关节限制，关节轨迹位置，速度分量，关节速度。设置运动约束，目标轨迹，速度设置，执行规划的轨迹。关节位置设置，关节角度设置。S5. According to the motion planning method of the robotic arm and its gripper, set the motion planning parameters of each robotic arm. The parameters include: selecting the joint angle, setting the joint limit, moving the robotic arm to the specified joint shape, and the joint limit , joint trajectory position, velocity component, joint velocity. Set motion constraints, target trajectories, speed settings, and execute planned trajectories. Joint position setting, joint angle setting.S6、设置配置的机械臂防碰撞矩阵，机器人自身其他部位检测，场景障碍物，检测防碰撞检测。S6. Set the configured anti-collision matrix of the robotic arm, detect other parts of the robot itself, detect obstacles in the scene, and detect anti-collision detection.S7、机械臂，爪参数设置，抓握，取放，抓取位姿参数设置与匹配目标位姿。S7. Robot arm, claw parameter setting, grasping, pick-and-place, grasping pose parameter setting and matching target pose.S8、初始化放置抓取，物体的task位置，抓取姿态对象。S8, initialize the placement and grab, the task position of the object, and grab the gesture object.S9、设置目标位置物体的放置位置，生成抓取姿态，初始化抓取对象，创建夹瓜张开闭合的姿态。S9. Set the placement position of the object at the target position, generate a grasping posture, initialize the grasping object, and create an open and closed posture of the folder.S10、设置期望的夹爪靠近，撤离目标的参数。S10, set the desired parameters of the gripper approaching and withdrawing the target.S11、设置抓取姿态，需求尝试改变姿态的数据列表，抓取姿态列表。S11. Set the grabbing posture, and it is required to try to change the data list of the posture, and the grabbing posture list.S12、改变姿态，生成抓取动作，参数包括：设置抓取姿态；抓取ID号；设置允许接触的物体，设置抓取列表。S12 , changing the posture, and generating a grasping action. The parameters include: setting the grasping posture; grasping the ID number; setting the objects allowed to be contacted, and setting the grasping list.S13、抓取目标翻转四向药盒储物外包装，按照正反左右四侧翻动，扫描药盒储物外包装二维码，数字码，读取药盒储物外包装信息。S13. Grab the target and flip the four-way storage outer packaging of the medicine box, and turn the outer packaging of the medicine box according to the positive, negative, left and right sides, scan the two-dimensional code and digital code of the outer packaging of the medicine box storage, and read the information of the outer packaging of the medicine box storage.S14、扫码药品，储物信息与目标是否一致，如果匹配放置在作业台。S14, scan the code for medicines, whether the storage information is consistent with the target, and if they match, place them on the workbench.S15、根据权利要求8所述的一种视觉识别药品，储物，药品，储物数量识别方法，识别抓取的药品，储物及散片储物散件的数量。S15. A method for visually identifying medicines, storage, medicines, and quantity of storages according to claim 8, which identifies the quantity of medicines, storages, and loose pieces of storage that are grabbed.S16、依照S5规划的动作，切割装置采用横切，纵切综合切片组成，用于药物储物按横联片及竖联片切割，识别药片储物数量分装，目标药品，储物，分片分发剩余药品，储物装入药盒储物箱。S16. According to the action planned in S5, the cutting device is composed of cross-cutting and vertical-cutting comprehensive slices. It is used for drug storage to be cut according to the horizontal and vertical slices, to identify the storage quantity of the tablets, and to pack them. The tablet distributes the remaining medicine, and the storage is put into the medicine box storage box.
- 一种多臂分拣作业移动投递装置、最优化的管理***及方法，其特征在于，一种最优化的移动药箱储物箱的路径规划，任务配置方法，采用最优化的方法规划配药任务，目标为最短的时间完成所有配药任务。最优化的方法包括：遗传计算方法及其改进方法，禁忌搜索计算方法及其改进方法，模拟退火计算方法及其改进方法，蚊群计算方法及其改进方法，粒子束最优化的计算方法及其改进方法，神经网络计算方法及其改进方法，进化方法及其改进方法中的一种及多种联合方法。A mobile delivery device for multi-arm sorting operations, an optimized management system and method, characterized in that an optimized path planning and task configuration method for a mobile medicine box storage box is adopted, and an optimized method is used to plan a dispensing task , the goal is to complete all dispensing tasks in the shortest time. The optimization methods include: genetic calculation method and its improvement method, tabu search calculation method and its improvement method, simulated annealing calculation method and its improvement method, mosquito swarm calculation method and its improvement method, particle beam optimization calculation method and its improvement method. The improvement method, the neural network calculation method and the improvement method thereof, the evolution method and the improvement method thereof, and one or more combined methods.所述的最优化方法，步骤如下：The described optimization method, the steps are as follows:S1.数学模型如下：S1. The mathematical model is as follows:作业job m，对每个作业job m包含n个任务task n。 The job job m contains n tasks task n for each job job m .任务task n的机器臂抓取，视觉识别，放置作业台，裁剪作业完成的操作时间Operation time for robotic arm grabbing, visual recognition, placement of workbench, and cutting job completion for task n
任务task n的扫描时间机器移动的速度
scan time of task n
the speed at which the machine moves任务task n所在位置的坐标(task n x，task n Y)。 The coordinates of the location of task n (task n x , task n Y ).job m作业中从task N移动到task L的行走时间Travel time from task N to task L in job m
从task n等待前面的作业完成的时间为等待时间task n waitingtime。 The time from task n to wait for the previous job to complete is the waiting time task n waitingtime .job m到达第D个区域时间job m D当task n正在作业中，完成作业剩余的时间为 When job m arrives at the D-th area, job m D When task n is working, the remaining time to complete the job is
从task n开始作业时间task n starttime，从task n完成作业时间task n finiishtime。 Start job time task n starttime from task n , finish job time task n finishtime from task n .在job m作业中从task N移动到task L，task N移动到task L的行走时间。 The travel time for moving from task N to task L and task N to task L in job m job.
S2.目标函数：S2. Objective function:Max{job 1 total，job 2 total，job 3 total....job m total} Max{job 1 total , job 2 total , job 3 total ....job m total }去核心矛盾的进化方法实现最优的方法规划配药任务，目标为最短的时间完成所有配药任务，步骤如下：The evolutionary method that removes the core contradiction realizes the optimal method for planning dispensing tasks, and the goal is to complete all dispensing tasks in the shortest time. The steps are as follows:S3.初始解包含多个作业，每个作业是由其包含的任务组成。S3. The initial solution contains multiple jobs, and each job is composed of the tasks it contains.S4.候选解是由完成任务对应的移动路径构成。S4. The candidate solution is composed of the movement path corresponding to the completed task.job m-solution＝{job 1，job 2，job 3，...job m} job m -solution={job 1 , job 2 , job 3 ,...job m }job m-solution＝{{M 1，M 5，M 3，M 6}，{M 2，M 5，M 7，M 6}，{M 3，M 5，M 4，M 8}，...{M 3，M 5，M 4，M 9}}。 job m -solution={{M 1 , M 5 , M 3 , M 6 }, {M 2 , M 5 , M 7 , M 6 }, {M 3 , M 5 , M 4 , M 8 }, .. .{M 3 , M 5 , M 4 , M 9 }}.S5.计算各任务task n的位置坐标(task n x，task n Y)所在区域M。 S5. Calculate the area M where the position coordinates (task n x , task n Y ) of each task task n are located.S6.计算区域不同M m内需完成的任务数，并按照区域内任务数从多到少的顺序进行排序，设定job m中任务数最多的区域为core conflict points(核心矛盾点)。 S6. Calculate the number of tasks that need to be completed in different M m areas, and sort them in descending order of the number of tasks in the area, and set the area with the largest number of tasks in job m as core conflict points.S7.设定为矛盾点最多的区域M为M-max，矛盾点最少的区域M为M-min。S7. Set the area M with the most contradictory points as M-max, and the area M with the least contradictory points as M-min.S8.对于每个候选解，计算并找到job m中最长的完成时间的候选解job m。 S8. For each candidate solution, calculate and find the candidate solution job m with the longest completion time in job m .job m-solution＝{job 1，job 2，job 3，...job n} job m -solution={job 1 , job 2 , job 3 ,...job n }job m-solution＝{{M 1，M 5，M 3，M 6}，{M 2，M 5，M 7，M 6}，{M 3，M 5，M 4，M 8}，...{M 3，M 5，M 4，M 9}} job m -solution={{M 1 , M 5 , M 3 , M 6 }, {M 2 , M 5 , M 7 , M 6 }, {M 3 , M 5 , M 4 , M 8 }, .. .{M 3 , M 5 , M 4 , M 9 }}对job m候选解的移动路径交换M-max与M-min的移动先后次序。 Swap the moving order of M-max and M-min for the moving path of the candidate solution of job m .S9.产生新的候选解Solution-new。S9. Generate a new candidate solution Solution-new.S10.与原候选解Solution-old比较，S10. Compared with the original candidate solution Solution-old,当Solution-new＜Solution-old，When Solution-new＜Solution-old,将Solution-new作为新的候选解进入进化迭代。Enter Solution-new as a new candidate solution into the evolutionary iteration.S11.按照迭代次数输出最优解。S11. Output the optimal solution according to the number of iterations. - 一种多臂分拣作业移动投递装置、最优化的管理***及方法，其特征在于，一种医疗管理***，所述的***包括：药品储物管理，用户管理，储物定位管理，药品储物识别，移动药箱储物箱任务管理，注意警报管理等多个模块。A mobile delivery device for multi-arm sorting operations, an optimized management system and method, characterized in that it is a medical management system, the system includes: medicine storage management, user management, storage positioning management, medicine storage management Object identification, mobile medicine box storage box task management, attention alarm management and other modules.
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