CN-121988546-A - Automatic drug sorting and packaging system and method for unmanned retail pharmacy

CN121988546ACN 121988546 ACN121988546 ACN 121988546ACN-121988546-A

Abstract

The invention relates to the technical field of intelligent logistics, in particular to an automatic drug sorting and packaging system and method for an unmanned retail pharmacy. The method comprises the steps of receiving medicine order information, collecting medicine images in an AGV material box, identifying medicine types according to the medicine images, controlling a six-axis cooperative mechanical arm to adaptively and flexibly grasp target medicines and scan tracing codes of the target medicines if the medicine types are consistent with the medicine order information, comparing the tracing codes with the medicine order information, and controlling the six-axis cooperative mechanical arm to input the target medicines into a pre-mounted and opened packing bag if the tracing codes are consistent with expected codes in the medicine order information. The intelligent logistics technology-based automatic sorting and packaging system for the medicines in the unmanned retail pharmacy improves automation accuracy and operation efficiency in the sorting and packaging process of the medicines, and enhances consistency and reliability of the medicine identification, grabbing and packaging process, so that overall sorting and packaging quality and operation stability are improved.

Inventors

ZHANG JING
YUAN XIA
WU JIAQIANG
OUYANG SHUIBING
SUN DAN
WANG XINMING
LIU BIAO

Assignees

湖南兴元科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260325

Claims (10)

1. An automatic drug sorting and packaging method for an unmanned retail pharmacy, which is characterized by being applied to a six-axis cooperative mechanical arm, and comprising the following steps of: Step S1, receiving medicine order information, collecting a medicine image in an AGV material box, identifying a medicine type according to the medicine image, controlling a six-axis cooperative mechanical arm to adaptively and flexibly grasp a target medicine if the medicine type is consistent with the medicine order information, and scanning a tracing code of the target medicine; S2, comparing the traceability code with the medicine order information, and controlling the six-axis cooperative mechanical arm to put the target medicine into the pre-mounted and opened packing bag if the traceability code is consistent with the expected code in the medicine order information; And S3, controlling the six-axis cooperative mechanical arm to grasp the medicine package, and delivering the medicine package to the target grid entrance so as to complete the automatic sorting and packaging task of the medicine.
2. The automated drug sorting and packaging method for an unmanned retail pharmacy according to claim 1, wherein step S1 comprises: Receiving medicine order information, controlling a top global camera to acquire medicine images in an AGV box, extracting medicine packaging characteristics according to the medicine images, classifying and identifying based on the medicine packaging characteristics, recording identification results, and determining medicine types according to the identification results; And if the type of the medicine is consistent with the order information of the medicine, controlling the six-axis cooperative mechanical arm to adaptively and flexibly grasp the target medicine, and scanning the traceability code of the target medicine.
3. The automated drug sorting and packaging method for an unmanned retail pharmacy according to claim 2, wherein controlling the six-axis cooperative mechanical arm to adaptively and flexibly grasp a target drug and scanning a traceability code of the target drug if the drug type is consistent with drug order information comprises: If the order medicine type identification is consistent with the medicine type, acquiring space pose information; The method comprises the steps of generating a grabbing track and a tail end gesture parameter according to space gesture information, generating a control instruction according to the grabbing track and the tail end gesture parameter, driving a six-axis cooperative mechanical arm to adaptively and flexibly grab a target medicine based on the control instruction, and scanning a tracing code of the target medicine.
4. The automated drug sorting and packaging method for an unmanned retail pharmacy of claim 3, wherein generating a grasp trajectory and end pose parameters from spatial pose information comprises: determining a medicine orientation state according to the space pose information, identifying a grippable surface according to the medicine orientation state, and generating a gripping track according to the grippable surface; The method comprises the steps of calculating medicine size according to space pose information, obtaining medicine package material data, determining a grabbing mode according to the medicine package material data and the medicine size, wherein the grabbing mode comprises at least one of a pneumatic two-finger clamping jaw, a pneumatic three-finger clamping jaw or a vacuum chuck combination, and generating tail end pose parameters according to the grabbing mode.
5. The automated drug sorting and packaging method for an unmanned retail pharmacy of claim 4, wherein identifying the grippable surface based on the drug orientation status comprises: determining a medicine orientation angle according to the medicine orientation state, identifying a plurality of candidate surfaces of the medicine according to the medicine orientation state, and calculating the attitude included angles of the candidate surfaces and the six-axis cooperative mechanical arm; Comparing the attitude included angle with a preset included angle threshold value, and marking the candidate surface as a grippable surface if the attitude included angle is smaller than or equal to the preset included angle threshold value.
6. The automated drug sorting and packaging method for an unmanned retail pharmacy of claim 3, wherein generating control instructions based on the grasping trajectory and the end pose parameters comprises: The method comprises the steps of decomposing a grabbing track into joint motion paths of a six-axis cooperative mechanical arm, calculating joint acceleration according to the joint motion paths, and executing safety constraint control by utilizing the joint acceleration to generate joint control instructions; Calculating a gesture offset according to a preset target terminal gesture and terminal gesture parameters, determining a gesture adjustment parameter by using the gesture offset, and generating a gesture adjustment instruction according to the gesture adjustment parameter; and fusing the joint control instruction and the posture adjustment instruction and taking the joint control instruction and the posture adjustment instruction as control instructions.
7. The automated drug sorting and packaging method for an unmanned retail pharmacy of claim 3, wherein scanning the traceability code of the target drug comprises: The method comprises the steps of moving a target medicine to a rotary scanning station, controlling the target medicine to execute multi-axis rotation at the rotary scanning station, and enabling a traceability code in any surface of an outer package of the target medicine to enter an effective reading area; In the effective reading area, the target medicine is scanned by utilizing a pre-fixed code scanner so as to acquire the traceability code of the target medicine.
8. The automatic drug sorting and packaging method for the unmanned retail pharmacy according to claim 1, wherein comparing the traceability code with the drug order information in step S2, and controlling the six-axis cooperative mechanical arm to throw the target drug into the pre-mounted and opened bagging bag if the traceability code is consistent with the expected code in the drug order information comprises: Extracting a medicine coding field according to the traceability code, wherein the medicine coding field comprises one or more of medicine name coding, specification coding, production batch number and validity period information; And performing field-level consistency matching on order fields and medicine coding fields in the expected codes, and controlling the six-axis cooperative mechanical arm to input the target medicine into the pre-mounted and opened packing bag if the order fields and the medicine coding fields are consistent.
9. The automated drug sorting and packaging method for an unmanned retail pharmacy according to claim 8, wherein controlling the six-axis co-operating robotic arm to deposit the target drug into the pre-mounted and opened bagging comprises: the method comprises the steps of obtaining the central position of a bag opening of a pre-mounted and opened bag, planning a throwing motion track according to the central position of the bag opening, controlling a six-axis cooperative mechanical arm to execute throwing alignment action according to the throwing motion track, and throwing a target medicine into the pre-mounted and opened bag.
10. An automated drug sorting and packaging system for an unmanned retail pharmacy, for performing the automated drug sorting and packaging method for an unmanned retail pharmacy of claim 1, the automated drug sorting and packaging system for an unmanned retail pharmacy comprising: The order comparison module is used for receiving medicine order information, collecting medicine images in the AGV material box, identifying the medicine type according to the medicine images, controlling the six-axis cooperative mechanical arm to adaptively and flexibly grasp target medicines and scanning the traceability codes of the target medicines if the medicine type is consistent with the medicine order information; The medicine packaging module is used for comparing the traceability code with medicine order information, and controlling the six-axis cooperative mechanical arm to input the target medicine into the pre-mounted and opened packing bag if the traceability code is consistent with the expected code in the medicine order information; and the sorting and packaging module is used for controlling the six-axis cooperative mechanical arm to grasp the medicine packages and delivering the medicine packages to the target grid entrance so as to complete the automatic sorting and packaging task of the medicines.

Description

Automatic drug sorting and packaging system and method for unmanned retail pharmacy Technical Field The invention relates to the technical field of intelligent logistics, in particular to an automatic drug sorting and packaging system and method for an unmanned retail pharmacy. Background In the existing unmanned retail pharmacy or automatic medicine distribution scene, medicine sorting and packing are finished by relying on manual or semi-automatic equipment, even if a mechanical arm is introduced, only single grabbing or carrying action is usually needed, and cooperative control on the whole process of identification, verification and packing is lacking. The method has the obvious defects that on one hand, the existing scheme has limited state sensing capability on bulk medicines, generally requires the medicines to be regularly placed, is difficult to accurately identify and stably grasp under the conditions of random stacking and inconsistent postures, influences the applicability of the system in a high-dynamic unmanned environment, and on the other hand, the links of grasping, order checking and packaging are mutually split, and lack of an error-proofing checking mechanism throughout the whole process, so that the problems of medicine mistakes, medicine leakage or single mistakes are easy to occur, and the distribution safety and reliability are reduced. Aiming at the defects, the invention realizes accurate grabbing under irregular postures by comprehensively identifying the bulk medicine images and the space postures, and carries out overall process verification on medicine identities, thereby effectively reducing the risk of sorting errors. The grabbing strategy can be dynamically adjusted according to the medicine size and the packing characteristics, and the adaptability and the operation stability of the medicine to multiple types are improved. Disclosure of Invention Accordingly, there is a need for an automated drug sorting and packaging system and method for an unmanned retail pharmacy that solves at least one of the above-mentioned problems. To achieve the above object, an automatic drug sorting and packaging method for an unmanned retail pharmacy includes the steps of: Step S1, receiving medicine order information, collecting a medicine image in an AGV material box, identifying a medicine type according to the medicine image, controlling a six-axis cooperative mechanical arm to adaptively and flexibly grasp a target medicine if the medicine type is consistent with the medicine order information, and scanning a tracing code of the target medicine; S2, comparing the traceability code with the medicine order information, and controlling the six-axis cooperative mechanical arm to put the target medicine into the pre-mounted and opened packing bag if the traceability code is consistent with the expected code in the medicine order information; And S3, controlling the six-axis cooperative mechanical arm to grasp the medicine package, and delivering the medicine package to the target grid entrance so as to complete the automatic sorting and packaging task of the medicine. Preferably, the present specification further provides an automatic drug sorting and packaging system for an unmanned retail pharmacy, for executing the automatic drug sorting and packaging method for the unmanned retail pharmacy, the automatic drug sorting and packaging system for the unmanned retail pharmacy comprising: The order comparison module is used for receiving medicine order information, collecting medicine images in the AGV material box, identifying the medicine type according to the medicine images, controlling the six-axis cooperative mechanical arm to adaptively and flexibly grasp target medicines and scanning the traceability codes of the target medicines if the medicine type is consistent with the medicine order information; The medicine packaging module is used for comparing the traceability code with medicine order information, and controlling the six-axis cooperative mechanical arm to input the target medicine into the pre-mounted and opened packing bag if the traceability code is consistent with the expected code in the medicine order information; and the sorting and packaging module is used for controlling the six-axis cooperative mechanical arm to grasp the medicine packages and delivering the medicine packages to the target grid entrance so as to complete the automatic sorting and packaging task of the medicines. The beneficial effects of the invention are as follows: (1) Through carrying out multimode perception collection and packaging characteristic analysis on bulk medicines and combining medicine external packing form, size parameter and surface characteristic information, the accurate identification and type judgment of medicines with random stacking and different postures are realized, the automatic identification capability and grabbing reliability of the medicines in an unmanned retail pharmacy sce