Research On Detection And Sorting Technology Of Small Packing Medicine Bag Based On Vision

In recent years,small packing Chinese Herbal Pieces have gradually replaced the original bulk Chinese herbal pieces,but major medical institutions still use the traditional manual way to dispense them,the pharmacist still repeats the process of finding,counting,and packing medicines among the medicine cabinets,which is time-consuming and errorprone.The above phenomenon is particularly prominent in large hospitals.Realizing the automatic sorting of small packing traditional Chinese medicine can improve the speed and accuracy of prescription dispensing,reduce the labor cost of the pharmacy and the time of patients to queue up for medicine,accelerate the pace of automation and information construction of the Chinese pharmacy.Aiming at the shape characteristics of small packing traditional Chinese medicines,this paper proposes a detection and positioning algorithm for stacked medicine bags with contour segmentation as the core;according to the packaging material and weight characteristics of small packing traditional Chinese medicines,a XYZ three-degree-offreedom suction manipulator was designed to grasp and place them,so as to realize the rapid sorting of small packing Chinese medicinesFirst of all,this paper uses Zhang Zhengyou calibration method to complete the calibration of the camera,and preprocess the images collected by the camera including morphological operations;next,the improved contour tracking algorithm is used to obtain the outer contour of the image and fit the contour,then judge the unevenness of the vertices of the polygon formed after fitting;finally,starting from the basis that the image of a single medicine bag is a convex polygon after fitting,the medicine bag image in the stacking situation is segmented,so as to determine which medicine bag is most suitable for grabbing,and obtain the grab point coordinates of the medicine bag.In addition,due to the small package of Chinese medicine is light in weight and the package is thin and flexible,this article uses a synchronous belt linear module and an air cylinder to form a XYZ three-degree-of-freedom manipulator,and uses a double-layer silicone suction cup,a vacuum generator,and a small non-display pressure switch compose its end effector.This manipulator can efficiently complete the grasping and placing of the medicine bag,and at the same time can detect whether each grasping is successful.Finally,this paper built an experimental platform to verify small packing traditional Chinese medicine sorting technology with medicine bag detection and positioning algorithm as the core,tested the positioning accuracy of the grab points,the sorting efficiency and the sorting success rate.Experimental data shows that the positioning accuracy of the grasping point can be controlled within 1.8 mm,and the sorting work of7 packages can be completed in 18.2 seconds on average,which meets the needs of most hospitals.