CN109352665A - A kind of localization method of dispensation apparatus, positioning system and the robot that makes up a prescription - Google Patents
A kind of localization method of dispensation apparatus, positioning system and the robot that makes up a prescription Download PDFInfo
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- CN109352665A CN109352665A CN201811236139.0A CN201811236139A CN109352665A CN 109352665 A CN109352665 A CN 109352665A CN 201811236139 A CN201811236139 A CN 201811236139A CN 109352665 A CN109352665 A CN 109352665A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2055—Connecting means having gripping means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
- A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
- A61J1/14—Details; Accessories therefor
- A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
- A61J1/2003—Accessories used in combination with means for transfer or mixing of fluids, e.g. for activating fluid flow, separating fluids, filtering fluid or venting
- A61J1/2048—Connecting means
- A61J1/2065—Connecting means having aligning and guiding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Pharmacology & Pharmacy (AREA)
- Physics & Mathematics (AREA)
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses localization method, positioning system and the robot that makes up a prescription of a kind of dispensation apparatus, wherein method mainly realizes the positioning of dispensation apparatus, i.e. initial alignment and actual location by two steps.In initial alignment, the position of the crossover location and dosage container that first obtain two groups of detection sensors is located at the coordinate of the first rectangular coordinate system；Then, in actual location, the crossover location for obtaining two groups of detection sensors is located at the coordinate of the second rectangular coordinate system, to be located at the coordinate of the first rectangular coordinate system according to the crossover location of two groups of detection sensors and positioned at the coordinate coordinates computed offset of the second rectangular coordinate system, the coordinate of the second rectangular coordinate system is located at further according to the position that the coordinate that the position of coordinate shift amount and dosage container is located at the first rectangular coordinate system calculates dosage container.The present invention can accurately calculate the coordinate that dosage container is located at the second rectangular coordinate system, solve the problems, such as that the cost of dispensation apparatus positioning in the prior art is excessively high.
Description
Technical field
The present invention relates to make up a prescription robot field more particularly to a kind of localization method of dispensation apparatus, positioning system and
Make up a prescription robot.
Background technique
Existing dispensation apparatus (syringe or dispenser) all has steel needle, and when making up a prescription, robot processing is used for intravenous injection
When medicine is deployed, puncture of steel needles dosage container (such as solvent bag) need to be controlled.However, there are the lesser situations of bore of some solvent bags
(such as hundred special solvent bags), and because steel needle cannot be not at dosage container vertical or steel needle completely dosage container just on
Side, leads to the problem of dispensation apparatus can not be properly inserted dosage container occur.
The prior art provides a kind of solution that dosage container can not be properly inserted for dispensation apparatus, the program
Concrete mode is the associated picture for first passing through camera or video camera acquisition steel needle position, is then handled by preset image algorithm
Associated picture obtains processing result, judges whether steel needle matches with dosage container according to processing result, to whether judge steel needle
It can be properly inserted into dosage container.
However, the program is needed using special light source and video camera or camera, and need special fixing piece to camera shooting
Machine or camera are fixed, therefore the higher cost of this scheme, and structure is complicated, and to environmental requirement height, inconvenient to use.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of dispensation apparatus positioning device, match
Medicine robot and dispensation apparatus positioning method, it is intended to solve the prior art dispensation apparatus positioning it is at high cost, structure is complicated,
The problems such as inconvenient to use.
Technical scheme is as follows:
A kind of localization method of dispensation apparatus comprising:
A, initial alignment: after manipulator clamping lives dispensation apparatus, according to the initial position of manipulator perpendicular to making up a prescription
The first rectangular coordinate system is established in the plane of device, and in the plane setting for dispensation apparatus insertion dosage container with
And the orthogonal detection sensor of at least two groups, it is mobile by dispensation apparatus described in manipulator control, to obtain two groups of detections
The crossover location of sensor and the position of dosage container are located at the coordinate of the first rectangular coordinate system；
B, actual location: after manipulator clamping lives dispensation apparatus, according to the physical location of manipulator perpendicular to making up a prescription
The second rectangular coordinate system is established in the plane of device, the X-axis of the X-axis and the first rectangular coordinate system of second rectangular coordinate system is same
To mobile by dispensation apparatus described in manipulator control, the crossover location for obtaining two groups of detection sensors is located at the second right angle seat
The coordinate for marking system is located at the coordinate of the first rectangular coordinate system according to the crossover location of two groups of detection sensors and is located at second directly
The coordinate coordinates computed offset of angular coordinate system is located at the first right angle according to the position of the coordinate shift amount and dosage container
The position that the coordinate of coordinate system calculates dosage container is located at the coordinate of the second rectangular coordinate system.
Preferably, include: after the step B
C, it is located at the coordinate of the second rectangular coordinate system according to the position of dosage container, control dispensation apparatus is moved to the coordinate
Position, so that dispensation apparatus is in the top of dosage container, and control dispensation apparatus is inserted into the dosage container.
Preferably, at least two groups detection sensor is emission sensor.
Preferably, described mobile by dispensation apparatus described in manipulator control in the step A, to obtain two groups of detections
The step of crossover location of sensor and the position of dosage container are located at the coordinate of the first rectangular coordinate system specifically includes:
A1, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors,
When two groups of orthogonal detection sensors detect transducing signal, the crossover location of two groups of detection sensors is recorded, and
Obtain the coordinate that the crossover location is located at the first rectangular coordinate system；
A2, the top that dosage container is moved to by dispensation apparatus described in manipulator control, record the position of dosage container,
And the position for obtaining dosage container is located at the coordinate of the first rectangular coordinate system.
Preferably, the step A1 is specifically included:
A11, by dispensation apparatus described in manipulator control with the detection light perpendicular to wherein one group of detection sensor
Direction is mobile；
A12, when wherein one group of detection sensor detects transducing signal, by dispensation apparatus described in manipulator control with
It is mobile perpendicular to the direction of the detection light of another group of detection sensor；
A13, when another group of detection sensor detects transducing signal, record the current location of dispensation apparatus, and will work as
Crossover location of the front position as two groups of detection sensors.
Preferably, described mobile by dispensation apparatus described in manipulator control in the step B, it obtains two groups of detections and passes
The crossover location of sensor is located at the coordinate of the second rectangular coordinate system, and it is straight to be located at first according to the crossover location of two groups of detection sensors
It the coordinate of angular coordinate system and is specifically included positioned at the step of coordinate coordinates computed offset of the second rectangular coordinate system:
B1, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors,
When two groups of orthogonal detection sensors detect transducing signal, the crossover location of two groups of detection sensors is recorded, and
Obtain the coordinate that the crossover location is located at the second rectangular coordinate system；
B2, the coordinate that the first rectangular coordinate system is located at according to the crossover location of two groups of detection sensors and to be located at second straight
The coordinate coordinates computed offset of angular coordinate system, the coordinate shift amount include lateral coordinates offset and longitudinal coordinate offset
Amount.
Preferably, described to be located at first directly according to the position of the coordinate shift amount and dosage container in the step B
The step of position that the coordinate of angular coordinate system calculates dosage container is located at the coordinate of the second rectangular coordinate system specifically includes:
According to the lateral coordinates offset and longitudinal coordinate offset, it is straight that first is located to the position of the dosage container
The coordinate of angular coordinate system carries out coordinate compensation, and the position for obtaining dosage container is located at the coordinate of the second rectangular coordinate system.
Preferably, the dispensation apparatus is syringe or dispenser.
The present invention also provides a kind of positioning systems of dispensation apparatus, and the localization method is used to be positioned.
It makes up a prescription robot the present invention also provides one kind comprising the positioning system.
The utility model has the advantages that the present invention mainly realizes the positioning of dispensation apparatus, i.e. initial alignment and reality by two steps
Positioning.The present invention does not need installation video camera, special light source and the fixing seat for fixed setting video camera, and detects sensing
The cost of device is well below video camera and special light source, therefore, solves the cost mistake of dispensation apparatus positioning in the prior art
High, the problem of structure is complicated.Also, requirement of the present invention to environment is lower (not needing traditional shooting environmental), detection algorithm
Also relatively simple, it is easy to implement.
Detailed description of the invention
Fig. 1 is the flow chart of the localization method preferred embodiment of dispensation apparatus of the present invention.
Fig. 2 is the logical schematic in the localization method specific embodiment of dispensation apparatus of the present invention.
Specific embodiment
The present invention provides localization method, positioning system and the robot that makes up a prescription of a kind of dispensation apparatus, of the invention to make
Purpose, technical solution and effect are clearer, clear, and the present invention is described in more detail below.It should be appreciated that this place is retouched
The specific embodiment stated is only used to explain the present invention, is not intended to limit the present invention.
Referring to Fig. 1, a kind of localization method of dispensation apparatus comprising:
S1, initial alignment: after manipulator clamping lives dispensation apparatus, according to the initial position of manipulator perpendicular to making up a prescription
The first rectangular coordinate system is established in the plane of device, and in the plane setting for dispensation apparatus insertion dosage container with
And the orthogonal detection sensor of at least two groups, it is mobile by dispensation apparatus described in manipulator control, to obtain two groups of detections
The crossover location of sensor and the position of dosage container are located at the coordinate of the first rectangular coordinate system；
S2, actual location: after manipulator clamping lives dispensation apparatus, according to the physical location of manipulator perpendicular to making up a prescription
The second rectangular coordinate system is established in the plane of device, the X-axis of the X-axis and the first rectangular coordinate system of second rectangular coordinate system is same
To mobile by dispensation apparatus described in manipulator control, the crossover location for obtaining two groups of detection sensors is located at the second right angle seat
The coordinate for marking system is located at the coordinate of the first rectangular coordinate system according to the crossover location of two groups of detection sensors and is located at second directly
The coordinate coordinates computed offset of angular coordinate system is located at the first right angle according to the position of the coordinate shift amount and dosage container
The position that the coordinate of coordinate system calculates dosage container is located at the coordinate of the second rectangular coordinate system.
The method provided through the invention, it is thus only necessary to install detection sensor, just dispensation apparatus can be positioned, nothing
The equipment such as video camera need to be installed, cost is thus greatly reduced, structure is more firm.Also, method provided by the invention and logical
The method for crossing Camera Positioning is compared, and logical algorithm of the invention is simpler, only need to be obtained multiple coordinates, can be realized standard
Determine the purpose of position.Therefore, the present invention has the characteristics that efficient, convenient and accurate.
Preferably, the dispensation apparatus is syringe or dispenser.
The syringe is a kind of injector for medical purpose, and head is provided with steel needle (syringe needle), and the both ends of the dispenser are equal
It is provided with steel needle.The manipulator clamping syringe or dispenser provided through the invention, and be inserted into steel needle by manipulator
Dosage container, to complete to make up a prescription.Dosage container in the present invention specifically can be solvent container, subsequent with molten such as solvent bag
It is illustrated for matchmaker's container.
Preferably, at least two groups detection sensor is emission sensor.
Emission sensor refers to correlation type photoelectric sensor, wherein the transmitting terminal of emission sensor can issue red
Light or infrared light (detection light)；The receiving end of emission sensor receives feux rouges or infrared light.When object contacts detection light
When, emission sensor just generates transducing signal.
Can be two groups of detection sensors in the present invention, detection sensor that can also be more than two, when use two groups with
On detection sensor when, detection efficiency can be improved, i.e., quickening location efficiency, the present invention by taking two groups of detection sensors as an example into
Row explanation, it will be clear that detection sensor more than two can be used also to realize goal of the invention of the invention, inspection more than two
Surveying its crossover location of sensor is same (being also likely to be different location), within this is all belonged to the scope of protection of the present invention.
In the step S1, the manipulator refers to a kind of fixed device, can effectively clamp the dispensation apparatus.
The initial position of the manipulator can be any position, then according to the initial position of manipulator perpendicular to matching
The first rectangular coordinate system is established in the plane of medicine device (specifically perpendicular to steel needle).Wherein, the coordinate of the first rectangular coordinate system
Origin can be according to coordinate origin included inside manipulator, be also possible to any position in the plane.For example, by machine
Coordinate origin of the tool hand following location directly as the first rectangular coordinate system.
Emission sensor described at least two groups is set in the plane, wherein two groups of emission sensors hang down mutually
Directly, in this way, the detection light of emission sensor transmitting is also orthogonal.
By dispensation apparatus described in manipulator control upwards, downwards, be moved to the left or right or move by other means,
So that dispensation apparatus contact detection light, to obtain the crossover location of two groups of detection sensors and the position position of solvent container
In the coordinate of the first rectangular coordinate system, specific acquisition modes will be described in detail in the next steps.
Preferably, described mobile by dispensation apparatus described in manipulator control in the step S1, to obtain two groups of detections
The step of crossover location of sensor and the position of solvent container are located at the coordinate of the first rectangular coordinate system specifically includes:
S11, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors,
When two groups of orthogonal detection sensors detect transducing signal, the crossover location of two groups of detection sensors is recorded, and
Obtain the coordinate that the crossover location is located at the first rectangular coordinate system；
S12, the top that solvent container is moved to by dispensation apparatus described in manipulator control record the position of solvent container
The position set, and obtain solvent container is located at the coordinate of the first rectangular coordinate system.
It is mobile by control manipulator in the step S11, so that it is mobile to control the dispensation apparatus.Specifically, control
The direction of dispensation apparatus towards the crossover location of two groups of detection sensors is mobile, i.e. friendship of the control dispensation apparatus towards detection light
Vent sets movement.
For example, the initial position of manipulator is in the first quartile of the first rectangular coordinate system, the intersection position of light is detected
It sets in the fourth quadrant in the first rectangular coordinate system, then control dispensation apparatus moves downward；For another example manipulator is initial
Position is in the fourth quadrant of the first rectangular coordinate system, and the crossover location for detecting light is in the first of the first rectangular coordinate system
In quadrant, then control dispensation apparatus moves upwards.
It should be noted that two groups of orthogonal emission sensors specifically include: " left side " correlation goes out sensor, " right side "
Emission sensor, "upper" emission sensor and "lower" emission sensor.Wherein one group of emission sensor includes
" left side " and " right side " two emission sensors, another group of emission sensor include two emission sensors of "up" and "down".
So the detection light of this two groups of emission sensors transmitting will include horizontal detection light and vertical detection light.Wherein, water
Flat detection light is emitted to obtain by " left side " and " right side " two emission sensors, and vertical detection light is right by "up" and "down" two
The formula sensor emission of penetrating obtains.
After dispensation apparatus is completed to contact with level detection light and vertical detection light, i.e., emission sensor is examined
Transducing signal is measured, at this point, the just crossover location of record detection light, and obtain crossover location and be located at the first rectangular coordinate system
Coordinate.
For example, the crossover location that record obtains is in the first quartile of the first rectangular coordinate system, and obtain crossover location
Coordinate positioned at the first rectangular coordinate system is (1,1).
In the step S12, by manual or other modes, the top that manipulator is moved to solvent container is directly controlled,
And the position of solvent container is recorded, and obtain the position of solvent container and be located at the coordinate of the first rectangular coordinate system, such as solvent
The coordinate that the position of container is located at the first rectangular coordinate system is (- 3,5).
Preferably, the step S11 is specifically included:
S111, by dispensation apparatus described in manipulator control with the detection light perpendicular to wherein one group of detection sensor
Direction is mobile；
S112, when wherein one group of detection sensor detects transducing signal, pass through dispensation apparatus described in manipulator control
It is mobile with the direction of the detection light perpendicular to another group of detection sensor；
S113, when another group of detection sensor detects transducing signal, record the current location of dispensation apparatus, and will work as
Crossover location of the front position as two groups of detection sensors.
In the present invention, manipulator need to be only controlled towards crossover location movement, just can realize the coordinate for obtaining crossover location
Purpose.The crossover location for being moved to two sensors since manipulator can not be directly controlled, according to mathematical relationship it is found that if
Manipulator is mobile with the direction perpendicular to detection light, then corresponding movement routine will be most short, and traveling time is also most short,
So as to improve efficiency.Therefore, the highly preferred scheme of the present invention is with the direction mobile manipulator perpendicular to detection light.
It is moved specifically, manipulator can be controlled first with the direction (and detecting light towards level) perpendicular to horizontal detection light
It is dynamic, manipulator is controlled again when detecting transducing signal with the direction perpendicular to vertical detection light (and towards vertical detection light
Line) it is mobile；Or first control manipulator is mobile with the direction perpendicular to vertical detection light (and detecting light towards vertical), when
Detect that control manipulator when transducing signal again is moved with the direction perpendicular to horizontal detection light (and detecting light towards horizontal)
It is dynamic, that is to say, that the present invention does not limit mobile sequence.
When any one group of detection sensor (emission sensor) detects transducing signal, that is to say, that dispensation apparatus
It is contacted with detection light completion, according to the working principle of emission sensor it is found that if dispensation apparatus touches detection light,
So emission sensor will generate transducing signal.
When two groups of emission sensors detect transducing signal, the current location of dispensation apparatus is recorded, and will make up a prescription
Crossover location of the current location of device as two groups of detection sensors, i.e., using the current location of dispensation apparatus as detection light
Crossover location.
For example, the current location for the dispensation apparatus that record obtains is in the first quartile of the first rectangular coordinate system, if matching
The coordinate that the current location of medicine device is located at the first rectangular coordinate system is (5,1), then crossover location is located at the first rectangular co-ordinate
The coordinate of system is also (5,1).
It should be noted that the present invention is first to obtain the crossover locations of two groups of detection sensors to be located at the first rectangular coordinate system
Coordinate, then obtain the position of dosage container and be located at the coordinate of the first rectangular coordinate system, but the present invention can also be obtained first and be made up a prescription
The position of container is located at the coordinate of the first rectangular coordinate system, then obtains the crossover locations of two groups of detection sensors and be located at the first right angle
The coordinate of coordinate system, this has no effect on final purpose of the invention.That is, no matter first obtaining the friendship of two groups of detection sensors
For vent setting in the coordinate of the first rectangular coordinate system, the position for still first obtaining dosage container is located at the seat of the first rectangular coordinate system
Mark, all belong to the scope of protection of the present invention within.
In the step S2, the purpose of this step is the crossover location and solvent container according to two groups of detection sensors
Position is located at the coordinate coordinates computed offset of the first rectangular coordinate system, and the position of calculating solvent container is located at the second right angle
The coordinate of coordinate system.In this way, the coordinate of the second rectangular coordinate system can be located in subsequent step according to the position of solvent container
Control dispensation apparatus is moved to the top of solvent container, is inserted into solvent container to control dispensation apparatus.
Initial bit during actual location, after manipulator clamping lives dispensation apparatus, in physical location and step S1
Setting may be not identical, so needing to re-establish new rectangular coordinate system, and is calculated according to newly-established rectangular coordinate system
Coordinate shift amount out, to calculate the coordinate that the position of solvent container is located at newly-established rectangular coordinate system.About according to manipulator
The step of establishing the second rectangular coordinate system in the plane with the first rectangular co-ordinate established in the plane according to manipulator
The step of coordinate system, is identical, so not repeating them here.It should be noted that the X-axis of the second rectangular coordinate system and the first rectangular coordinate system
X-axis it is in the same direction, wherein meaning in the same direction includes parallel or is overlapped, accordingly, the Y-axis of the second rectangular coordinate system and the first rectangular co-ordinate
The Y-axis of system is also inevitable in the same direction, i.e., parallel or coincidence just can accurately calculate coordinate shift amount in this way.
Preferably, described mobile by dispensation apparatus described in manipulator control in the step S2, it obtains two groups of detections and passes
The crossover location of sensor is located at the coordinate of the second rectangular coordinate system, and it is straight to be located at first according to the crossover location of two groups of detection sensors
It the coordinate of angular coordinate system and is specifically included positioned at the step of coordinate coordinates computed offset of the second rectangular coordinate system:
S21, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors,
When two groups of orthogonal detection sensors detect transducing signal, the crossover location of two groups of detection sensors is recorded, and
Obtain the coordinate that the crossover location is located at the second rectangular coordinate system；
S22, the coordinate for being located at the first rectangular coordinate system according to the crossover location of two groups of detection sensors and be located at second
The coordinate coordinates computed offset of rectangular coordinate system, the coordinate shift amount include lateral coordinates offset and longitudinal coordinate offset
Amount.
In the step S21, this step is similar to step S11, so not repeating them here.When emission sensor detects
When transducing signal, the crossover location of two groups of detection sensors is just recorded, and obtains the crossover location and is located at the second rectangular co-ordinate
The coordinate of system.
In the step S22, if the crossover location of two groups of detection sensors to be located to the coordinate of the first rectangular coordinate system
It is defined as the first coordinate；The coordinate that the position of solvent container is located at the first rectangular coordinate system is defined as the second coordinate；By two groups
The coordinate record that the crossover location of detection sensor is located at the second rectangular coordinate system is third coordinate；And by the position of solvent container
It is defined as coordinates of targets setting in the coordinate of the second rectangular coordinate system, then can be according to the abscissa and third of the first coordinate
The abscissa of coordinate calculates the abscissa offset；Institute is calculated according to the ordinate of the ordinate of the first coordinate and third coordinate
State ordinate offset.
Preferably, the calculation of the transversal displacement is as follows:
The coordinate difference that the abscissa that the abscissa of first coordinate subtracts third coordinate is obtained is as transversal displacement.
For example, the first coordinate is (2,2), third coordinate is (4,2), then transversal displacement is just are as follows: 2-4=-2；Example again
Such as, the first coordinate is (5,2), and third coordinate is (4,2), then transversal displacement is just are as follows: 5-4=1.
Preferably, the calculation of the vertical misalignment amount is as follows:
The coordinate difference that the ordinate that the ordinate of first coordinate subtracts third coordinate is obtained is as vertical misalignment amount.
For example, the first coordinate is (2,4), third coordinate is (4,2), then vertical misalignment amount is just are as follows: 4-4=2；Example again
Such as, the first coordinate is (5,1), and third coordinate is (4,2), then vertical misalignment amount is just are as follows: 1-2=-1.
Preferably, described to be located at first according to the position of the coordinate shift amount and solvent container in the step S2
The step of position that the coordinate of rectangular coordinate system calculates solvent container is located at the coordinate of the second rectangular coordinate system specifically includes:
With specific reference to the lateral coordinates offset and longitudinal coordinate offset, the is located to the position of the solvent container
The coordinate of one rectangular coordinate system carries out coordinate compensation, and the position for obtaining solvent container is located at the coordinate of the second rectangular coordinate system, i.e.,
Obtain coordinates of targets.
More specifically, according to the step S22 transversal displacement being calculated and vertical misalignment amount and described second
Coordinate calculates coordinates of targets (coordinate that the position of solvent container is located at the second rectangular coordinate system), i.e., according to lateral coordinates offset
With longitudinal coordinate offset, the coordinate for being located at the first rectangular coordinate system to the position of the solvent container carries out coordinate compensation.
Preferably, calculating the abscissa of coordinates of targets, specific step is as follows:
The abscissa of second coordinate is subtracted into coordinate difference that transversal displacement obtains as the abscissa of coordinates of targets.
For example, the second coordinate is (3,3), transversal displacement 1, then the abscissa of coordinates of targets are as follows: 3-1=2；Example
Such as, the second coordinate is (5,3), transversal displacement 1, then the abscissa of coordinates of targets are as follows: 5-1=4.
Preferably, calculating the ordinate of coordinates of targets, specific step is as follows:
The ordinate of second coordinate is subtracted into coordinate difference that vertical misalignment measures as the abscissa of coordinates of targets.
For example, the second coordinate is (3,3), vertical misalignment amount is -1, then the ordinate of coordinates of targets are as follows: 3- (- 1)=4；
For example, the second coordinate is (5,1), vertical misalignment amount is 1, then the ordinate of coordinates of targets are as follows: 1-1=0.
Preferably, include: after the step S2
S3, the coordinate for being located at the second rectangular coordinate system according to the position of solvent container, control dispensation apparatus are moved to the seat
Target position makes dispensation apparatus be in the top of solvent container, and control dispensation apparatus is inserted into the solvent container.
In the step S3, after coordinates of targets is calculated, dispensation apparatus is set to be moved to target by controlling manipulator
At coordinate, even if dispensation apparatus is in the top of solvent container；Then, control dispensation apparatus is inserted into solvent container, thus
Guarantee that dispensation apparatus is properly inserted into solvent container.
Preferably, dispensation apparatus is properly inserted into solvent container according to preset target depth.
For example, preset target depth is 3cm, hold then dispensation apparatus is properly inserted to solvent according to the target depth
In device.
It should be noted that two groups of detection sensors are arranged in a mutually vertical manner in the present invention, i.e., the detection of two groups detection sensors
Light is arranged in a mutually vertical manner, but the detection light and the X-axis of above-mentioned two rectangular coordinate system of this two groups of detection sensors and different
Row or vertical is allocated, i.e., it can be at any angle with the X-axis of two rectangular coordinate systems.Certainly, in order to preferably realize this hair
It is bright, it is preferred that set parallel with two rectangular coordinate system X-axis for level detection light or be overlapped, can be more convenient in this way
Calculate coordinate shift amount and coordinates of targets.
In order to which the present invention will be described in detail, below by a specific embodiment, the present invention will be further explained and says
It is bright.
Referring to Fig. 2, XO in figure1Y indicates the first rectangular coordinate system, XO2Y indicates the second rectangular coordinate system, detection sensor
(emission sensor specifically includes " left side " detection sensor, " right side " detection sensor, "upper" detection sensor and "lower" inspection
Survey sensor) specific location it is as shown in the figure, wherein the detection light of detection sensor transmitting indicated by the dotted line in figure,
First rectangular coordinate system XO1Circle 120 in Y indicates the initial position of manipulator, the second rectangular coordinate system XO2Circle in Y
210 indicate the physical location of manipulator, the first rectangular coordinate system XO1Y and the second rectangular coordinate system XO2110 table of triangle in Y
Show the position of solvent container, i.e. the position of solvent container is to immobilize.
It should be noted that passing through A (X0,Y0) indicate that the crossover location of two groups of detection sensors is located at the first rectangular co-ordinate
The coordinate of system, i.e. (X0,Y0) indicate the first coordinate；Pass through (XZ0,YZ0) indicate that the position of solvent container is located at the first rectangular co-ordinate
The coordinate of system, i.e. (XZ0,YZ0) indicate the second coordinate, pass through (X1,Y1) indicate that the crossover location of two groups of detection sensors is located at the
The coordinate of two rectangular coordinate systems, i.e. (X1,Y1) indicate third coordinate, and pass through (XZ1, YZ1) indicate solvent container position position
In the coordinate of the second rectangular coordinate system, i.e. (XZ1, YZ1) indicate coordinates of targets.
When carrying out initial alignment, transported by the direction of control manipulator towards crossover location (crossover location of detection light)
It is dynamic, so that dispensation apparatus and detection light contacts are controlled, so that emission sensor generates transducing signal, also, in correlation
It is the first coordinate by the corresponding coordinate record of crossover location after sensor generates transducing signal.
For example, obtaining A (X0,Y0) coordinate be (2,5), that is to say, that the first coordinate be (2,5).
Then, dispensation apparatus is controlled by manually mode to be moved in solvent container, that is, be moved to (XZ0,YZ0) at, it is false
If (XZ0,YZ0) coordinate be (3,3), that is to say, that the second coordinate be (3,3).
When carrying out actual location, transported by the direction of control manipulator towards crossover location (crossover location of detection light)
It is dynamic, so that dispensation apparatus and detection light contacts are controlled, so that emission sensor generates transducing signal, also, in correlation
It is the first coordinate by the corresponding coordinate record of crossover location after sensor generates transducing signal.
For example, obtaining (X1,Y1) coordinate be (- 1,7), that is to say, that third coordinate be (- 1,7).
If passing through offsetX1It indicates transversal displacement, passes through offsetY1Vertical misalignment amount is indicated, then according to this hair
The method of the calculating offset of bright offer:
offsetX1=X0-X1=2- (- 1)=3；
offsetY1=Y0-Y1=5-7=-2.
By above-mentioned definition it is found that the X in coordinates of targetsZ1Indicate the abscissa of coordinates of targets, the Y in coordinates of targetsZ1It indicates
The ordinate of coordinates of targets, then the method for the calculating coordinates of targets provided according to the present invention:
XZ1=XZ0-offsetX1=3-3=0；
YZ1=YZ0-offsetY1=3- (- 2)=5.
That is, the coordinate that the position of solvent container is located at the second rectangular coordinate system is (0,5), i.e. (XZ1, YZ1) seat
It is designated as (0,5).
In this way, the method provided through the invention, the position that can quickly, simply obtain solvent container is located at second directly
The coordinate of angular coordinate system makes dispensation apparatus be in solvent container to control the position that dispensation apparatus is moved to coordinates of targets
Top, and control dispensation apparatus are inserted into the solvent container.
The present invention also provides a kind of positioning systems of dispensation apparatus, and the localization method is used to be positioned.
It makes up a prescription robot the present invention also provides one kind comprising the positioning system.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, all these modifications and variations all should belong to the guarantor of appended claims of the present invention
Protect range.
Claims (10)
1. a kind of localization method of dispensation apparatus characterized by comprising
A, initial alignment: after manipulator clamping lives dispensation apparatus, according to the initial position of manipulator perpendicular to dispensation apparatus
Plane in establish the first rectangular coordinate system, and dosage container and extremely of the setting for dispensation apparatus insertion in the plane
Few two groups of orthogonal detection sensors, it is mobile by dispensation apparatus described in manipulator control, to obtain two groups of detection sensings
The crossover location of device and the position of dosage container are located at the coordinate of the first rectangular coordinate system；
B, actual location: after manipulator clamping lives dispensation apparatus, according to the physical location of manipulator perpendicular to dispensation apparatus
Plane in establish the second rectangular coordinate system, the X-axis of the X-axis and the first rectangular coordinate system of second rectangular coordinate system is in the same direction,
Mobile by dispensation apparatus described in manipulator control, the crossover location for obtaining two groups of detection sensors is located at the second rectangular coordinate system
Coordinate, according to the crossover location of two groups of detection sensors be located at the first rectangular coordinate system coordinate and be located at the second right angle sit
The coordinate coordinates computed offset for marking system, is located at the first rectangular co-ordinate according to the position of the coordinate shift amount and dosage container
The position that the coordinate of system calculates dosage container is located at the coordinate of the second rectangular coordinate system.
2. the localization method of dispensation apparatus according to claim 1, which is characterized in that include: after the step B
C, it is located at the coordinate of the second rectangular coordinate system according to the position of dosage container, control dispensation apparatus is moved to the position of the coordinate
It sets, dispensation apparatus is made to be in the top of dosage container, and control dispensation apparatus is inserted into the dosage container.
3. the localization method of dispensation apparatus according to claim 1, which is characterized in that at least two groups detection sensor is equal
For emission sensor.
4. the localization method of dispensation apparatus according to claim 1, which is characterized in that described to pass through machinery in the step A
Hand controls that the dispensation apparatus is mobile, is located at the with the position of the crossover location and dosage container that obtain two groups of detection sensors
The step of coordinate of one rectangular coordinate system, specifically includes:
A1, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors, when two
When the orthogonal detection sensor of group detects transducing signal, the crossover location of two groups of detection sensors is recorded, and is obtained
The crossover location is located at the coordinate of the first rectangular coordinate system；
A2, the top that dosage container is moved to by dispensation apparatus described in manipulator control, record the position of dosage container, and obtain
The position of dosage container is taken to be located at the coordinate of the first rectangular coordinate system.
5. the method for dispensation apparatus positioning according to claim 4, which is characterized in that the step A1 is specifically included:
A11, by dispensation apparatus described in manipulator control with the direction of the detection light perpendicular to wherein one group of detection sensor
It is mobile；
A12, when wherein one group of detection sensor detects transducing signal, by dispensation apparatus described in manipulator control with vertical
It is mobile in the direction of the detection light of another group of detection sensor；
A13, when another group of detection sensor detects transducing signal, record the current location of dispensation apparatus, and by present bit
Set the crossover location as two groups of detection sensors.
6. the localization method of dispensation apparatus according to claim 1, which is characterized in that described to pass through machinery in the step B
Hand controls the dispensation apparatus movement, and the crossover location for obtaining two groups of detection sensors is located at the coordinate of the second rectangular coordinate system,
It is located at the coordinate of the first rectangular coordinate system according to the crossover location of two groups of detection sensors and positioned at the second rectangular coordinate system
The step of coordinate coordinates computed offset, specifically includes:
B1, it is moved by the direction of dispensation apparatus described in manipulator control towards the crossover location of two groups of detection sensors, when two
When the orthogonal detection sensor of group detects transducing signal, the crossover location of two groups of detection sensors is recorded, and is obtained
The crossover location is located at the coordinate of the second rectangular coordinate system；
B2, the coordinate for being located at the first rectangular coordinate system according to the crossover location of two groups of detection sensors and be located at the second right angle sit
The coordinate coordinates computed offset of system is marked, the coordinate shift amount includes lateral coordinates offset and longitudinal coordinate offset.
7. the localization method of dispensation apparatus according to claim 6, which is characterized in that described according in the step B
The position that the coordinate that the position of coordinate shift amount and dosage container is located at the first rectangular coordinate system calculates dosage container is located at
The step of coordinate of second rectangular coordinate system, specifically includes:
According to the lateral coordinates offset and longitudinal coordinate offset, the first right angle is located to the position of the dosage container and is sat
The coordinate of mark system carries out coordinate compensation, and the position for obtaining dosage container is located at the coordinate of the second rectangular coordinate system.
8. the localization method of dispensation apparatus according to claim 1, which is characterized in that the dispensation apparatus be syringe or
Dispenser.
9. a kind of positioning system of dispensation apparatus, which is characterized in that use positioning side as described in any one of claims 1 to 8
Method is positioned.
The robot 10. one kind is made up a prescription, which is characterized in that including positioning system as claimed in claim 9.
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| CN201811236139.0A CN109352665A (en) | 2018-10-23 | 2018-10-23 | A kind of localization method of dispensation apparatus, positioning system and the robot that makes up a prescription |
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| CN201811236139.0A CN109352665A (en) | 2018-10-23 | 2018-10-23 | A kind of localization method of dispensation apparatus, positioning system and the robot that makes up a prescription |
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Application publication date: 20190219 |