CN109704234A - A kind of identification of medical waste bucket judges grasping system and method - Google Patents
A kind of identification of medical waste bucket judges grasping system and method Download PDFInfo
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- CN109704234A CN109704234A CN201910138315.5A CN201910138315A CN109704234A CN 109704234 A CN109704234 A CN 109704234A CN 201910138315 A CN201910138315 A CN 201910138315A CN 109704234 A CN109704234 A CN 109704234A
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Abstract
Present disclose provides a kind of identifications of medical waste bucket to judge grasping system and method, can effectively identify rubbish state in medical waste bucket, after rubbish state meets recycling standard in medical waste bucket, grab to medical waste bucket.Method includes the following steps: the target area image of acquisition medical waste bucket, judges whether medical waste bucket image is fully located in target area image；If medical waste bucket image is fully located in target area image, image procossing is carried out to medical waste bucket image in target area image, obtains rubbish state in medical waste bucket；Judge whether rubbish state meets recycling standard in medical waste bucket；If satisfied, then acquiring the overhead view image of medical waste bucket, the central point pixel coordinate of medical waste bucket is oriented；Mechanical arm coordinate is converted by the central point pixel coordinate of medical waste bucket, grabs medical waste bucket using mechanical arm coordinate information.
Description
Technical field
This disclosure relates to field of automation technology, and in particular to one kind realizes medical treatment based on machine vision and mobile mechanical arm
The system and method for dustbin identification judgement crawl.
Background technique
With industrial automation high speed development and continuous improvement of people's living standards, automated job is applied to each row
Each industry greatly improves productivity, liberates labour, reduces the cost of labour, and medical domain is still in this way, in face of nobody
Change the rise development in laboratory, problem brought by artificial treatment medical waste is that body is exposed in medicine rubbish environment and faces
The risk directly contacted, the frequent discrepancy laboratory of people also can inevitably face pollute this problem, and medicine carry glass
The film-making dye piece of piece sees that the sequence of operations such as piece inevitably result from the medical wastes such as a large amount of waste residue, waste liquid, is such as not added
Strong management arbitrarily abandons, and is allowed to be mixed into house refuse, scatter into people's living environment, will pollute atmosphere, water source, soil
And animals and plants, transmission is caused, the physical and mental health of people is seriously endangered.
Inventor has found in R&D process, has the following problems in existing medical waste recycling: clinical waste recycling
Personnel are responsible for the recycling of clinical waste, transport, temporary and transition, are highly prone to the stabbing of damaging waste, abrade and respectively
The threat of kind injurious factor.Therefore, a kind of device and side that judgement crawl is safely and effectively identified to medical waste bucket how is designed
Method is still technical problem to be solved.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of based on machine vision and mobile mechanical arm
The system and method for medical waste bucket identification judgement crawl, can effectively identify rubbish state in medical waste bucket, when medical rubbish
After rubbish state meets recycling standard in rubbish bucket, medical waste bucket is grabbed, takes away dustbin by the way that AGV trolley is mobile
Laboratory, avoids human body and is exposed in medicine rubbish environment and be faced with the risk directly contacted.
Technical solution used by the disclosure is:
A kind of method of medical waste bucket identification judgement crawl, method includes the following steps:
The target area image for acquiring medical waste bucket, judges whether medical waste bucket image is fully located at target area figure
As in；
If medical waste bucket image is fully located in target area image, to medical waste bucket figure in target area image
As carrying out image procossing, rubbish state in medical waste bucket is obtained；
Judge whether rubbish state meets recycling standard in medical waste bucket；
If satisfied, then acquiring the overhead view image of medical waste bucket, the central point pixel coordinate of medical waste bucket is oriented；
Mechanical arm coordinate is converted by the central point pixel coordinate of medical waste bucket, is grabbed and is cured using mechanical arm coordinate information
Treat dustbin.
Through the above technical solutions, medical waste bucket image in acquisition target area, to the rubbish shape in medical waste bucket
State is judged judge whether rubbish reaches recycling standard in medical waste bucket, to prevent the shape that empty barrel recycles and rubbish overflows
State acquires dustbin overhead view image when meeting recycling condition, is sat according to the central point that framing goes out plane on dustbin
Coordinate transformation to mechanical arm coordinate is carried out the crawl work of medical waste bucket using mechanical arm coordinate, avoids human body by mark
It is exposed in medicine rubbish environment and is faced with the risk directly contacted, the standardized management to medical waste source of generation.
A kind of system of medical waste bucket identification judgement crawl, the system are known for realizing medical waste bucket as described above
Do not judge crawl method, the system include running gear, the image collecting device being arranged on running gear, control device and
Grabbing device；
Described image acquisition device, for acquiring the target area image of medical waste bucket and the vertical view of medical waste bucket
Image, and it is transferred to control device；
The control device, for judging whether medical waste bucket image is complete according to the target area image received
In target area image；If medical waste bucket image is fully located in target area image, in target area image
Medical waste bucket image carries out image procossing, obtains rubbish state in medical waste bucket；Judge rubbish state in medical waste bucket
Whether satisfaction recycles standard；If satisfied, then orienting the central point picture of medical waste bucket according to the overhead view image of medical waste bucket
Plain coordinate；Mechanical arm coordinate is converted by the central point pixel coordinate of medical waste bucket, gives mechanical arm coordinates feedback to crawl dress
It sets；
The grabbing device, for grabbing medical waste bucket using mechanical arm coordinate information.
Through the above technical solutions, starting the identification of dustbin when navigating near target dustbin by running gear
Judgement acquires dustbin image by camera, and controller judges the rubbish state in dustbin, judges rubbish in bucket
Whether recycling standard is reached, and to prevent the state that empty barrel recycles and rubbish overflows, when being unsatisfactory for recycling standard, running gear is then
Next dustbin position is marched to, when meeting recycling condition, camera reads dustbin overhead view image, and controller is according to figure
Coordinate transformation to mechanical arm coordinate is fed back to grabbing device, then led to by the center point coordinate as orienting plane on dustbin
The crawl work that grabbing device carries out medical waste bucket is crossed, dustbin is taken away into laboratory by the way that running gear is mobile, is avoided
Human body is exposed in medicine rubbish environment and is faced with the risk directly contacted, to the standardization pipe of medical waste source of generation
Reason.
Through the above technical solutions, the beneficial effect of the disclosure is:
When the disclosure is navigated near target dustbin by AGV trolley, starts the identification judgement of medical waste bucket, pass through
Camera acquires dustbin image, and controller judges the rubbish state in dustbin, judges rubbish in medical waste bucket
Whether recycling standard is reached, and to prevent the state that empty barrel recycles and rubbish overflows, when being unsatisfactory for recycling standard, AGV trolley is then
Next dustbin position is marched to, when meeting recycling condition, camera reads dustbin overhead view image, and controller is according to figure
Coordinate transformation to mechanical arm coordinate is fed back to four shaft mechanical arms, then by the center point coordinate as orienting plane on dustbin
Dustbin is taken away laboratory by the way that running gear is mobile, kept away by the crawl work that medical waste bucket is carried out by four shaft mechanical arms
Exempt from human body and be exposed in medicine rubbish environment to be faced with the risk directly contacted, the standardization to medical waste source of generation
Management.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the application.
Fig. 1 is the structure chart of the system of one medical waste bucket of embodiment identification judgement crawl；
Fig. 2 is the structural schematic diagram of one gripping apparatus of embodiment；
Fig. 3 is the flow chart of the method for two medical waste bucket of embodiment identification judgement crawl.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms that the disclosure uses have logical with disclosure person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Name Resolution:
(1) AGV trolley refers to that being equipped with electricity magnetically or optically waits homing guidances device, can be along defined guide path row
It sails, the transport vehicle with safeguard protection and various transfer functions, the carrier of driver is not required in industrial application, with chargeable
Battery be its power resources.Can generally control its travelling route and behavior by computer, or using electromagnetic path come
Its travelling route is set up, electromagnetic path sticks on floor, and automatic guided vehicle then relies on message brought by electromagnetic path to carry out
Mobile and movement.
(2) tetra- shaft mechanical arm of Dobot is the first generation four axis of high-precision of Yue Jiang Science and Technology Ltd., Shenzhen independent research
Technical grade mechanical arm has 0.02 millimeter of repeatable accuracy, 1.5 kilograms of loads, 200 degree per second joints speed and 400 millimeters of arm exhibitions, no
It only can be realized the multiple functions such as 3D printing, welding, gray scale laser engraving, visual identity absorption, Multi computer cooperation, mobile operation；
And also across multiple terminal on software, ease can allow the quick upper hand of worker in workshop, skilled operation it.
(3) area source refers to luminous mode, and for opposite led point light source and ordinary lamp and lantern light source, existing area source is such as
Flat-plate light source, led area source have the characteristics that light is soft, do not hurt eye, power saving, light are natural.
Embodiment one
Referring to Fig. 1, the present embodiment provides the system that a kind of medical waste bucket identifies judgement crawl, which includes walking dress
It sets 9, the grabbing device that is arranged on running gear, the image collecting device being arranged on running gear, be arranged in running gear
On feeder 3 and the control device 7 that is arranged on running gear, the feeder 3, image collecting device 10, crawl
Device is connect with control device 7 respectively.
Specifically, above-mentioned running gear 1 uses AGV trolley, AGV trolley is controlled along radar navigation by control device 7
It is moved near medical waste bucket to be identified.
Specifically, above-mentioned image collecting device includes bracket 11, the area source 2 that cantilever tip is arranged in and is arranged in face
Camera 10 below light source, the area source 2, for providing illuminance, convenient for image in camera acquisition medical waste bucket
Information；The camera 10 for acquiring 6 image information of medical waste bucket in target area, and is transferred to control device, control
Device identifies the rubbish state in medical waste bucket according to image information, judges the rubbish state in medical waste bucket
Whether recycling standard is reached；When the rubbish state in medical waste bucket not up to recycles, it is mobile that control device controls AGV trolley
It is set to next medical waste bucket position；After rubbish reaches recycling standard in medical waste bucket, medical rubbish is acquired by camera
The overhead view image of rubbish bucket goes out the central point pixel coordinate of medical waste bucket according to the overhead view image Information locating of medical waste bucket,
Mechanical arm coordinate information is converted by the center pixel coordinate information of medical waste bucket, mechanical arm coordinate information is fed back into crawl
Device, grabbing device carry out crawl work according to mechanical arm coordinate information, while it is dynamic to grabbing device offer to control feeder
Power realizes the crawl of dustbin.
Specifically, above-mentioned grabbing device 1 includes mechanical arm 1 and gripping apparatus 4, the bottom end of the mechanical arm 1 is mounted on walking
On device, the gripping apparatus 4 is mounted on the front end of mechanical arm, and the cylinder of the gripping apparatus 4 is connected by supply air line 5 and feeder 3
It connects；Mechanical arm is controlled according to mechanical arm coordinate information and is moved to corresponding position, while feeder is supplied to the cylinder of gripping apparatus,
Realize that medical waste bucket is taken away experiment by AGV trolley by grabbing on AGV trolley for medical waste bucket by the opening and closing of gripping apparatus
Room.
In the present embodiment, the use of the mechanical arm 1 tetra- shaft mechanical arm of Dobot, built-in servo motor, harmonic wave speed reducing machine,
Maximum load reaches 0.02mm up to 1.5Kg, positioning accuracy；There are two types of arm direction controlling modes, including a left side for this four shaft mechanicals arm tool
Hand direction and right-hand direction, the i.e. position of control forearm direction during exercise are left or right, to will not externally make peripheral equipment
At interference, motor function includes Manual Mode, point bit pattern, circular arc mode, four kinds of circus movement mode, and opereating specification is big,
The speed and strength that four shaft mechanical arms play are preferable.
Attached drawing 2 is please referred to, the gripping apparatus 4 respectively and connects including cylinder 41, the interconnecting piece 42, two connecting with cylinder both ends
The clamping part 43 of socket part end connection and the elastomeric element 44 being connected between interconnecting piece and clamping part.
Specifically, the cylinder 41 is connect by supply air line 5 with feeder 3.
The interconnecting piece 42 includes the connecting rod of two interconnections, wherein one end of a connecting rod and the one of cylinder 41
End connection, the other end are connect with the top of a clamping part；One end of another connecting rod is connect with the other end of cylinder 41, the other end
It is connect with the top of another clamping part.
The supporting rod of the clamping part 43 including two V-shaped settings, is connected with support rod between two supporting rods, and two
The other end of one end and connecting rod that supporting rod is connected connects, and the other end of two supporting rods is connected separately with grapple 45, uses
In catching medical waste bucket 6.
One end of the elastomeric element 44 and the connecting rod of interconnecting piece connect, and the support rod of the other end and clamping part connects.
In the present embodiment, the elastomeric element 44 uses spring, and effect is: preventing dynamics from crossing senior general's dustbin while clamping
It presss from both sides bad.
In use, being supplied by air pump to cylinder, cylinder operation is driven by interconnecting piece and is pressed from both sides the fixture that the present embodiment proposes
Portion's opening is held, medical waste bucket 6 is caught by grapple 45.
Specifically, the control device includes controller, power module and wireless communication module, the controller and camera shooting
Head connection, for obtaining the medical waste bucket image information of camera acquisition, according to image information, to the rubbish in medical waste bucket
Rubbish state is identified, judges whether the rubbish state in medical waste bucket reaches recycling standard；Rubbish in medical waste bucket
When rubbish state not up to recycles, control device control AGV trolley is moved to next medical waste bucket position and sets；When medical waste bucket
After interior rubbish reaches recycling standard, the overhead view image of the medical waste bucket of camera acquisition is obtained, according to bowing for medical waste bucket
Visible image Information locating goes out the central point pixel coordinate of medical waste bucket, converts mechanical arm coordinate for center pixel coordinate information
Information；The controller is also connect with mechanical arm, and for mechanical arm coordinate information to be fed back to mechanical arm, mechanical arm is according to machinery
Arm coordinate information is moved to corresponding position；The controller is also connect with feeder, for controlling feeder to gripping apparatus
Cylinder gas source is provided, act cylinder generation, realize the folding of gripping apparatus, carry out grasping movement；The controller is also and wirelessly
Communication module connection, for medical waste bucket image information and identification judging result to be uploaded to host computer；The power module
For the power supply needed for being provided to control device, running gear, grabbing device, image collecting device and feeder.
Specifically, above-mentioned feeder includes vacuum micro air pump, the vacuum micro air pump by supply air line with
The cylinder of gripping apparatus connects, and supplies for the cylinder by supply air line to gripping apparatus；The vacuum micro air pump is connect with controller,
For controlling being switched on and off for vacuum micro air pump, to control the on-off of the cylinder gas circuit of gripping apparatus.
The course of work of the system for the medical waste bucket identification judgement crawl that the present embodiment proposes are as follows:
When control AGV trolley is navigated near target medical waste bucket, start the identification judgement of medical waste bucket, firstly,
Medical waste bucket image information in target area is acquired by camera, and is transferred to controller, controller is according to connecing
The image information received identifies judge whether rubbish reaches in medical waste bucket to the rubbish state in medical waste bucket
Recycling standard, to prevent the state that empty barrel recycles and rubbish overflows, when being unsatisfactory for recycling standard, control AGV trolley is marched to
Next medical waste bucket position is set；When meeting recycling condition, the overhead view image information of medical waste bucket is acquired by camera,
According to the overhead view image information of medical waste bucket, the central point pixel coordinate of medical waste bucket is oriented, and by medical waste bucket
Central point pixel coordinate be converted into mechanical arm coordinate, and feed back to mechanical arm, mechanical arm is moved to phase according to mechanical arm coordinate
Position is answered, control air pump supplies to cylinder, controls the opening and closing of gripping apparatus, realize the crawl of dustbin, mobile finally by AGV trolley
Dustbin is taken away into laboratory.
Embodiment two
Referring to Fig. 3, the present embodiment provides a kind of method that medical waste bucket identifies judgement crawl, this method is based on institute as above
What the system for the medical waste bucket identification judgement crawl stated was realized, method includes the following steps:
S101 acquires the target area image of medical waste bucket, judges whether medical waste bucket image is fully located at target
In area image.
Specifically, in the step 101, when AGV trolley reaches preset target area position, camera photographic subjects area
Area image, and it is transferred to controller, whether there is complete medical waste bucket in the target area image that controller judgement receives
Image；If so, then entering step 102；If no, showing, the image and imperfect of shooting, such as medical waste bucket only have portion
Point within the scope of target area image, then the centroid position of medical waste bucket within the scope of target area image is obtained, and by target
The centroid position of medical waste bucket feeds back to AGV trolley and mechanical arm within the scope of area image, further finely tunes mechanical arm or AGV
Small truck position, repeatedly step 101 again, until medical waste bucket image fully appears in target area image.
S102, if medical waste bucket image is fully located at target area, to medical waste bucket figure in target area image
As being handled, rubbish state in medical waste bucket is analyzed, judges whether rubbish state meets recycling mark in medical waste bucket
It is quasi-.
After being shown in target area image information completely in medical waste bucket image, to the medical waste
Bucket image is handled, and analyzes rubbish state in medical waste bucket, and judge rubbish state in the medical waste bucket.
Specifically, medical waste bucket image in target area image is handled in the step 102, it is specific to use
What following technical solution was realized:
S1021-1 acquires the image information under medical waste bucket empty barrel state, by the figure under medical waste bucket empty barrel state
As being converted into HSV color format by RGB color format.
In the present embodiment, HSV format is converted by the image of rgb format, for shadow region, its coloration and full
Change less for original image with degree, mainly luminance information changes greatly, and converts HSV format for rgb format, just
Available H, S, V component, to obtain coloration, saturation degree, the value of brightness；
S1021-2, to pattern colour angle value H, saturation degree in the image under the medical waste bucket empty barrel state of HSV color format
Value S, brightness value V are adjusted, and obtain three groups of chromatic value, intensity value, brightness value for capableing of clearest reaction medical waste bucket
Recognition threshold.
Since rubbish is mostly opaque state in medical waste bucket, even if in the presence of for the rubbish of translucent, rubbish
Also shade presence is had in bucket, since image chroma H, saturation degree S, tri- class value of brightness V are empty barrel state ideally to Huang
The recognition threshold of color medical waste bucket, at this time when having rubbish in medical waste bucket, there will be shadow state presence, video camera is clapped
The change of color is shown as in the image taken the photograph, when the tri- groups of threshold values of H, S, V set before the use if will not identify, therefore,
Tri- class value of H, S, V in the medical waste bucket image of HSV color format is adjusted, obtain it is new being capable of clearest reaction medical treatment
Three groups of recognition thresholds of dustbin, and then whether be accurately judged in medical waste bucket with the presence of rubbish.
S1021-3 utilizes pattern colour angle value H, intensity value S, the brightness value V of the obtained medical waste bucket of step 1021-2
Three groups of recognition thresholds detect medical waste bucket image in target area image, judge whether there is rubbish in medical waste bucket
Rubbish exists.
Specifically, in the step 1021-3, using tri- groups of pattern colour angle value H, intensity value S, brightness value V recognition thresholds
Medical waste bucket image in target area image is detected, when not having rubbish, dustbin image is all shown in image,
Having the parts of images of rubbish when there is rubbish will not then show.
In the step 102, recycling standard is that rubbish is more than medical waste ladle capacity half in medical waste bucket, when
Rubbish is more than medical waste ladle capacity half in medical waste bucket, then needs to return rubbish in the medical waste bucket
It receives；If rubbish is not up to medical waste ladle capacity half in medical waste bucket, do not need to rubbish in the medical waste bucket
Rubbish is recycled.
Specifically, judging that whether rubbish state meets recycling standard in medical waste bucket, specifically adopts in the step 102
It is realized with following technical solution:
S1022-1 calculates the identification region area and medical waste bucket empty barrel of medical waste bucket half rubbish state
The ratio a of the edge internal area of state.
Specifically, shooting the overhead view image of medical waste bucket empty barrel state in step 1022-1, finding medical waste bucket
Edge calculates the edge internal area of medical waste bucket empty barrel state；Meanwhile shooting medical waste bucket half rubbish state
Overhead view image, calculate medical waste bucket half rubbish state identification region area；By medical waste bucket half
The identification region area of rubbish state compared with, obtains ratio a with the edge internal area of medical waste bucket empty barrel state.
S1022-2 calculates the face of rubbish state in target medical waste bucket according to medical waste bucket image in target area
Product, by the area of rubbish state in target medical waste bucket compared with the edge internal area of medical waste bucket empty barrel state, obtains
To ratio a`.
S1022-3 compares the size of ratio a` and ratio a, if ratio a` is greater than ratio a, rubbish in target dustbin
More than half, then meet recycling standard, needs to recycle rubbish in the target medical waste bucket；Otherwise target rubbish
Rubbish deficiency half in bucket, does not need to recycle rubbish in the medical waste bucket.
S103 acquires the image information in another medical waste bucket if being unsatisfactory for recycling standard, repeats step 102.
Specifically, in the step 103, if rubbish is not up to medical waste ladle capacity half in medical waste bucket,
It does not need then to recycle rubbish in the medical waste bucket, to prevent empty barrel from recycling, AVG trolley marches to next dustbin
Place, re-starts Image Acquisition；Or AVG trolley returns to origin, waiting detects next time.
S104 acquires the overhead view image of medical waste bucket if meeting recycling standard, according to the top view of medical waste bucket
Picture orients the central point pixel coordinate of medical waste bucket.
In the present embodiment, when in medical waste bucket rubbish be more than medical waste ladle capacity half, then need to this
Rubbish is recycled in medical waste bucket, and the overhead view image information of medical waste bucket is acquired by camera.
Specifically, orienting the central point pixel coordinate of medical waste bucket in the step 104, following skill is specifically used
What art scheme was realized:
S104-1 carries out image procossing to the overhead view image of medical waste bucket, obtains the color of medical waste bucket overhead view image
Tri- groups of angle value H, intensity value S, brightness value V recognition thresholds.
Specifically, the overhead view image of medical waste bucket is converted into HSV by RGB color format in the step S104-1
Color format, and to image pretreatment operations such as dilation erosions after, remove the message such as image noise；HSV color format is incited somebody to action
Chromatic value H, intensity value S, the brightness value V of medical waste bucket overhead view image are adjusted, and obtain medical waste bucket overhead view image
Chromatic value H, tri- groups of intensity value S, brightness value V recognition thresholds.
S104-2, according to tri- groups of the chromatic value H of medical waste bucket overhead view image, intensity value S, brightness value V recognition thresholds,
Obtain the exterior contour information of medical waste bucket.
S104-3 is identified the rectangle of medical waste bucket exterior contour by minimum circumscribed rectangle recognition methods, is somebody's turn to do
The central point pixel coordinate of medical waste bucket exterior contour rectangle.
The central point pixel coordinate of medical waste bucket is converted mechanical arm coordinate by S105.
Specifically, converting mechanical arm coordinate information for the center point coordinate of medical waste bucket in the step 105, have
Body adopts the following technical scheme that realization:
Scaling board is placed in target medical waste bucket top by S105-1, camera acquisition image at this time, using focusing,
Correction, the mode demarcated handle image, and analysis determines three scaling board angle points in isosceles right triangle, record three
The pixel coordinate (B, G, R) of a scaling board angle point.
S105-2, control four shaft mechanical arms power-off, manually by the R axis of four shaft mechanical arms (mechanical arm tail end axis, connection folder
Tool) be overlapped with three scaling board angle points in image, respectively record three scaling board angle points under mechanical arm coordinate position (B1,
G1,R1)。
S105-3 takes scaling board away, determines a plane according to three points, at this time four shaft mechanical arm coordinates and pixel coordinate
Under 3 coordinates be all overlapped, determined；When other point o determinations are target points under pixel coordinate, this point o and the three of calibration
A point (B, G, R) distance (b, g, r) determines constant, has under four shaft mechanical arm coordinates at this time and only one point o1 is opposite with o
It answers, i.e. o1 and four shaft mechanical arm calibration point (B1, G1, R1) distances are identical as (b, g, r), correspond coordinate, complete coordinate
System one.
S105-4, when calibration terminates, according to the pixel coordinate for the medical waste bucket central point o that step 104 obtains, in image
O can be found out under pixel coordinate system at a distance from 3 points of B, G, R, according to n times of relationship, can obtain corresponding medical treatment rubbish under mechanical arm coordinate system
Rubbish bucket o1 can obtain o1 coordinate at a distance from B1, G1, R1.
S106 grabs medical waste bucket according to mechanical arm coordinate information.
Specifically, the mechanical arm coordinate information that step 105 obtains is fed back to mechanical arm, controls machine in the step 106
Tool arm is moved to corresponding position, while controlling feeder and supplying to the cylinder of gripping apparatus, realizes the opening and closing of gripping apparatus, passes through gripping apparatus
By grabbing on AGV trolley for medical waste bucket, medical waste bucket is taken away by laboratory by AGV trolley.
The method for the medical waste bucket identification judgement crawl that the present embodiment proposes, navigates to target rubbish by AGV trolley
When near bucket, starts the identification judgement of medical waste bucket, dustbin image is acquired by camera, controller is in dustbin
Rubbish state is judged judge whether rubbish reaches recycling standard in medical waste bucket, to prevent empty barrel recycling and rubbish from overflowing
State out, when being unsatisfactory for recycling standard, AGV trolley then marches to next dustbin position, when meeting recycling condition,
Camera reads dustbin overhead view image, and controller goes out the center point coordinate of plane on dustbin according to framing, by coordinate
It converts to mechanical arm coordinate, feeds back to four shaft mechanical arms, the crawl work of medical waste bucket is then carried out by four shaft mechanical arms,
Dustbin is taken away into laboratory by the way that running gear is mobile, human body is avoided and is exposed in medicine rubbish environment and be faced with directly
The risk of contact, the standardized management to medical waste source of generation.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of method of medical waste bucket identification judgement crawl, characterized in that method includes the following steps:
The target area image for acquiring medical waste bucket, judges whether medical waste bucket image is fully located at target area image
It is interior；
If medical waste bucket image is fully located in target area image, to medical waste bucket image in target area image into
Row processing, obtains rubbish state in medical waste bucket；
Judge whether rubbish state meets recycling standard in medical waste bucket；
If satisfied, then acquiring the overhead view image of medical waste bucket, the central point pixel coordinate of medical waste bucket is oriented；
Mechanical arm coordinate is converted by the central point pixel coordinate of medical waste bucket, grabs medical rubbish using mechanical arm coordinate information
Rubbish bucket.
2. the method for medical waste bucket identification judgement crawl according to claim 1, characterized in that the medical rubbish of the judgement
The step whether rubbish bucket image is fully located in target area image includes:
Target area image is acquired, judges whether there is complete medical waste bucket image to be identified in target area image；
If no, obtaining the centroid position of medical waste bucket within the scope of target area image, according to target area image range
The centroid position adjustment mechanical arm of interior medical waste bucket or running gear position acquire target area image again and are judged,
Until medical waste bucket image fully appears in target area image；
If so, then handling medical waste bucket image in target area image.
3. the method for medical waste bucket identification judgement crawl according to claim 1, characterized in that described to target area
The step of medical waste bucket image is handled in image include:
The image information under medical waste bucket empty barrel state is acquired, it will be under the medical waste bucket empty barrel state of RGB color format
Image is converted into the image under the medical waste bucket empty barrel state of HSV color format；
Chromatic value, intensity value, brightness value in image under the medical waste bucket empty barrel state of HSV color format are adjusted
Section, obtains three groups of chromatic value, intensity value, brightness value recognition thresholds；
Medical waste bucket image in target area image is carried out using three groups of chromatic value, intensity value, brightness value recognition thresholds
Detection, judges whether image changes, if changing, with the presence of rubbish in medical waste bucket.
4. the method for medical waste bucket identification judgement crawl according to claim 1, characterized in that the medical rubbish of the judgement
Whether rubbish state meets the step of recycling standard and includes: in rubbish bucket
The overhead view image of medical waste bucket empty barrel state is acquired, the edge internal area of medical waste bucket empty barrel state is calculated；Together
When, the image of medical waste bucket half rubbish state is acquired, the identification of medical waste bucket half rubbish state is calculated
Region area；
Inside the identification region area of medical waste bucket half rubbish state and the edge of medical waste bucket empty barrel state
Area obtains typical ratio compared with；
According to medical waste bucket image in target area, the area of rubbish state in medical waste bucket to be identified is calculated；
By the edge internal area phase of the area of rubbish state in medical waste bucket to be identified and medical waste bucket empty barrel state
Than obtaining actual ratio；
Compare the size of actual ratio and typical ratio, if actual ratio is greater than typical ratio, rubbish shape in medical waste bucket
State is greater than half, meets recycling standard；Otherwise, it is unsatisfactory for recycling standard.
5. the method for medical waste bucket identification judgement crawl according to claim 1, characterized in that described to orient medical treatment
The step of central point pixel coordinate of dustbin includes:
Image procossing is carried out to the overhead view image of medical waste bucket, obtains chromatic value, the saturation degree of medical waste bucket overhead view image
Three groups of value, brightness value recognition thresholds；
According to three groups of chromatic value of medical waste bucket overhead view image, intensity value, brightness value recognition thresholds, medical waste bucket is obtained
Image recognition information；
The rectangle that medical waste bucket exterior contour is identified by minimum circumscribed rectangle recognition methods obtains outside the medical waste bucket
The central point pixel coordinate of contouring rectangle.
6. the method for medical waste bucket identification judgement crawl according to claim 1, characterized in that described by medical waste
Central point pixel coordinate the step of being converted into mechanical arm coordinate of bucket includes:
Scaling board is placed in target medical waste bucket top, the image of scaling board is acquired, and handle it, obtains three
Relative distance of the scaling board angle point under pixel coordinate；
The terminal shaft of four shaft mechanical arms is overlapped with three scaling board angle points, three scaling board angle points is recorded respectively and is sat in mechanical arm
Relative distance under mark；
Relative distance according to three scaling board angle points under pixel coordinate and under mechanical arm coordinate, calculates two coordinate systems and puts
Big proportionate relationship；
Under a proportional relationship, the target dustbin central point under mechanical arm coordinate is obtained at a distance from three scaling board angle points；
According to known three scaling boards angle point mechanical arm coordinate and target dustbin central point and three scaling board angle points away from
From finding out the mechanical arm coordinate of target dustbin central point.
7. a kind of system of medical waste bucket identification judgement crawl, the system is for realizing described in any one of claims 1 to 6
Medical waste bucket identification judgement crawl method, characterized in that the system includes running gear, is arranged on running gear
Image collecting device, control device and grabbing device；
Described image acquisition device, for acquiring the target area image of medical waste bucket and the top view of medical waste bucket
Picture, and it is transferred to control device；
The control device, for judging whether medical waste bucket image is fully located at according to the target area image received
In target area image；If medical waste bucket image is fully located in target area image, to medical in target area image
Dustbin image carries out image procossing, obtains rubbish state in medical waste bucket；Judge in medical waste bucket whether is rubbish state
Meet recycling standard；If satisfied, then according to the overhead view image of medical waste bucket, the central point pixel for orienting medical waste bucket is sat
Mark；Mechanical arm coordinate is converted by the central point pixel coordinate of medical waste bucket, by mechanical arm coordinates feedback to grabbing device；
The grabbing device, for grabbing medical waste bucket using mechanical arm coordinate information.
8. the system of medical waste bucket identification judgement crawl according to claim 7, characterized in that described image acquisition dress
The camera set including bracket, the area source of cantilever tip is set and is arranged in below area source.
9. the system of medical waste bucket identification judgement crawl according to claim 7, characterized in that the grabbing device packet
Mechanical arm and gripping apparatus are included, the bottom end of the mechanical arm is mounted on running gear, and the gripping apparatus is mounted on the front end of mechanical arm.
10. the system of medical waste bucket identification judgement crawl according to claim 8 or claim 9, characterized in that the control dress
It sets including controller, gas supply module, power module and wireless communication module；The controller respectively with camera, mechanical arm, confession
Gas module, power module are connected with wireless communication module, and the output end of the gas supply module is connect with crawl cylinder, for controlling
The folding of cylinder.
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