本文關(guān)鍵詞： 機(jī)器視覺 SIFT圖像匹配 字符識(shí)別 分揀設(shè)計(jì) 運(yùn)動(dòng)仿真　出處：《吉林大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：靜脈滴注是一種重要的臨床藥物治療手段,由此帶來巨大的輸液配藥工作量,為了減輕醫(yī)護(hù)人員的工作負(fù)擔(dān),提高輸液配藥質(zhì)量,一類可以替代醫(yī)務(wù)人員完成輸液藥品配制的自動(dòng)配藥機(jī)器人逐漸被引入各大醫(yī)療機(jī)構(gòu)。針對(duì)自動(dòng)配藥機(jī)器人的藥品標(biāo)簽準(zhǔn)確識(shí)別和對(duì)錯(cuò)誤藥品的有效分揀問題,本文引入機(jī)器視覺技術(shù),對(duì)藥品標(biāo)簽識(shí)別與藥品分揀做了相關(guān)研究。藥品標(biāo)簽識(shí)別分為四個(gè)關(guān)鍵步驟:一、藥瓶輪廓拾取,二、藥瓶圖像平面化矯正,三、國藥準(zhǔn)字編號(hào)定位與提取,四、標(biāo)簽字符識(shí)別。利用Canny算子檢測(cè)藥瓶輪廓邊緣,結(jié)合豎直模板檢測(cè)和圖像投影法分割出藥瓶圖像。根據(jù)小孔成像原理,建立圓柱狀藥瓶成像的平面展開數(shù)學(xué)模型,有效地將相機(jī)視野范圍內(nèi)的藥瓶圖像展開成平面,同時(shí)消除藥品標(biāo)簽字符畸變。利用SIFT圖像匹配算法完成對(duì)標(biāo)簽圖像中國藥準(zhǔn)字編號(hào)的快速定位,結(jié)合字符筆畫連通域的查找與合并算法,實(shí)現(xiàn)國藥準(zhǔn)字編號(hào)字符串圖像提取。提出基于統(tǒng)計(jì)特征的候選字符提取算法以及兩種分別基于BP神經(jīng)網(wǎng)絡(luò)和異或增強(qiáng)算法的字符識(shí)別算法,引入標(biāo)簽字符識(shí)別一票否決制以保證藥品識(shí)別結(jié)果的準(zhǔn)確性,并通過實(shí)驗(yàn)論證藥品標(biāo)簽識(shí)別算法的可行性。針對(duì)錯(cuò)誤藥品的分揀作業(yè)特點(diǎn)展開分揀機(jī)構(gòu)設(shè)計(jì)與仿真分析。根據(jù)藥瓶在傳送帶上的運(yùn)動(dòng)特點(diǎn)以及實(shí)際藥品分揀需求,設(shè)計(jì)出用于拾取藥瓶的抓手和承托抓手移動(dòng)的兩自由度圓柱坐標(biāo)手臂機(jī)器人,并設(shè)計(jì)相應(yīng)的氣動(dòng)系統(tǒng)回路。利用ADAMS對(duì)分揀機(jī)構(gòu)進(jìn)行整體運(yùn)動(dòng)仿真,證明結(jié)構(gòu)設(shè)計(jì)合理,能夠正確執(zhí)行分揀動(dòng)作。對(duì)抓手的閉合速度和夾持力等關(guān)鍵性能參數(shù)進(jìn)行仿真分析,結(jié)果表明抓手結(jié)構(gòu)設(shè)計(jì)可以滿足使用需求,也為下一步的優(yōu)化設(shè)計(jì)奠定基礎(chǔ)。
[Abstract]:Intravenous drip is an important clinical drug treatment method, which brings a huge amount of infusion, in order to reduce the workload of medical staff and improve the quality of infusion. A kind of automatic dispensing robot which can replace the medical personnel to complete the dispensing of infusion drugs is gradually introduced into the major medical institutions. The problem of accurate identification of the drug label and effective sorting of the wrong drugs for the automatic dispensing robot. This paper introduces machine vision technology to study drug label recognition and drug sorting. Drug label recognition is divided into four key steps: first, bottle contour pickup, second, drug bottle image planarization correction, three. Canny operator was used to detect the contour edge of the bottle, combined with vertical template detection and image projection method to segment the bottle image. According to the principle of keyhole imaging. The plane expansion mathematical model of cylindrical bottle imaging is established, and the bottle image in camera field of vision is effectively expanded into a plane. At the same time, the distortion of drug label characters is eliminated. SIFT image matching algorithm is used to complete the fast localization of Chinese drug registration number of label image, combined with the algorithm of searching and merging the connected domain of character strokes. This paper proposes a candidate character extraction algorithm based on statistical features and two character recognition algorithms based on BP neural network and XOR enhancement algorithm respectively. In order to ensure the accuracy of drug identification results, the label character recognition one vote veto system is introduced. The feasibility of drug label identification algorithm is demonstrated through experiments. The sorting mechanism design and simulation analysis are carried out according to the characteristics of the sorting operation of wrong drugs. According to the movement characteristics of drug bottles on the conveyor belt and the actual drug sorting needs, the design and simulation of the sorting mechanism are carried out according to the characteristics of the medicine bottles on the conveyor belt. Beg. A two-degree-of-freedom cylindrical coordinate arm robot is designed for picking up the bottle and supporting the gripper, and the corresponding pneumatic system loop is designed. The whole motion simulation of the sorting mechanism is carried out by using ADAMS. It is proved that the structure design is reasonable and the sorting action can be carried out correctly. The key performance parameters such as the closing speed and holding force of the gripper are simulated and analyzed. The results show that the gripper structure design can meet the need of use. It also lays the foundation for the further optimization design.
【學(xué)位授予單位】：吉林大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：R955;TP391.41

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