CN111331575A - Medicine taking and delivering dispatching robot and control system - Google Patents
Medicine taking and delivering dispatching robot and control system Download PDFInfo
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- CN111331575A CN111331575A CN202010296634.1A CN202010296634A CN111331575A CN 111331575 A CN111331575 A CN 111331575A CN 202010296634 A CN202010296634 A CN 202010296634A CN 111331575 A CN111331575 A CN 111331575A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention discloses a medicine taking, delivering and distributing robot and a control system, which comprise a medicine box for classifying and containing medicines, a slide rail driving mechanism arranged on one side of the medicine box, a liftable medicine taking mechanism and a medicine delivering and distributing mechanism which slide on the slide rail driving mechanism, wherein the liftable medicine taking mechanism comprises a sliding support, a medicine taking platform lifting mechanism fixed on the sliding support, a medicine taking mechanical arm arranged at the top of the medicine taking platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine taking mechanical arm; the medicine sending and distributing mechanism comprises a medicine sending and distributing driving mechanism, a medicine sending and distributing platform lifting mechanism, a medicine bag mechanism and a bag opening mechanical arm, wherein the medicine sending and distributing platform lifting mechanism is fixed on the medicine sending and distributing driving mechanism, the medicine bag mechanism and the bag opening mechanical arm are used for fixing a medicine bag, and the medicine bag mechanism and the bag opening mechanical arm are fixed above the medicine sending and distributing platform lifting mechanism. The traditional manual medicine grabbing, taking and conveying mode is replaced by the high-intelligence, high-precision and high-efficiency traditional Chinese medicine grabbing and sending robot, and the problems that the manual medicine grabbing mode is still traditional and the efficiency is extremely low are solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a medicine taking, sending and dispatching robot and a control system.
Background
At present, the traditional mode of the traditional Chinese medicine pharmacy is optimized, the dispensing mode is more humanized, the current mode is that a medicine supplier correspondingly crushes the traditional Chinese medicines and packs the traditional Chinese medicines in bags, the main specification of the traditional Chinese medicine pharmacy is 2-5 g of small plastic bags, and the dispensing convenience is greatly optimized. However, the current manual medicine taking mode is still traditional, the efficiency is extremely low, and the smell of traditional Chinese medicines in a room is too heavy, so that the health of medical care personnel is seriously influenced.
Disclosure of Invention
The invention provides a medicine taking, delivering and dispatching robot and a control system, which solve the problems that a manual medicine grabbing mode is still traditional and the efficiency is extremely low.
The technical scheme of the invention is realized as follows:
a medicine taking, delivering and distributing robot comprises a medicine box for containing medicines in a classified mode, a slide rail driving mechanism arranged on one side of the medicine box, a liftable medicine taking mechanism and a medicine delivering and distributing mechanism, wherein the liftable medicine taking mechanism comprises a sliding support sliding on the slide rail driving mechanism, a medicine taking platform lifting mechanism fixed on the sliding support, a medicine taking mechanical arm arranged at the top of the medicine taking platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine taking mechanical arm; send medicine to send medicine mechanism including sending medicine to send medicine actuating mechanism, fixed send medicine platform elevating system, the medicine bag mechanism and the bag arm of propping that are used for fixed medicine bag on sending medicine to send medicine actuating mechanism, medicine bag mechanism and bag arm of propping are fixed and are sent medicine platform elevating system top.
As a preferred embodiment of the present invention, the medicine box includes a plurality of medicine storage cells, a medicine tray, a medicine supporting electric push rod and a medicine supporting fork mechanism are disposed inside the medicine storage cells, a limit sensor and a gray sensor are disposed at the top of the side edge of the medicine box, and a guide rail end control box for controlling the slide rail driving mechanism is disposed at the bottom of the medicine box.
As a preferred embodiment of the invention, the medicine gripping mechanism comprises a medicine gripping sucker frame, a visual sensor fixed on the rear side of the medicine gripping sucker frame and a medicine gripping sucker fixed on the front side of the medicine gripping sucker frame.
As a preferred embodiment of the present invention, the medicine delivering and delivering mechanism further includes a medicine delivering and delivering platform, the medicine bag mechanism and the bag opening mechanical arm are fixed on an upper surface of the medicine delivering and delivering platform, and the medicine bag mechanism includes a vertically arranged medicine bag back plate, a plurality of medicine bags hung on the medicine bag back plate, a rubber band fixing clip fixed on the medicine bag back plate, and a medicine bag fixing rubber band.
As a preferred embodiment of the invention, the top of the bag opening mechanical arm is also provided with a medicine delivering and dispensing sucker.
As a preferred embodiment of the present invention, the medicine delivery and dispensing drive mechanism includes a medicine delivery and dispensing robot drive box and a drive wheel fixed below the medicine delivery and dispensing robot drive box.
The utility model provides a medicine is got and is sent dispatch robot control system, includes that medicine is got and is sent dispatch robot, control system, sensor and driver are fixed on the medicine is got and is sent dispatch robot or peripheral, the controller receives the signal and the processing of sensor feedback, to the driver sends control command, by the driver drive the work of medicine is got and is sent dispatch robot.
As a preferred embodiment of the present invention, the control system includes a central control system, an image processing unit, a voice processing unit, and a communication processing unit, the central control system is respectively connected to the image processing unit, the voice processing unit, and the communication processing unit is configured to implement local or remote communication.
The invention has the beneficial effects that: get through high intelligence, high accuracy and efficient traditional chinese medicine and send the robot to replace traditional artifical grasping medicine to get it filled and transport the mode, solved artifical grasping medicine mode still tradition, problem that efficiency is extremely low.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a first schematic structural diagram of a drug delivery and delivery robot according to the present invention;
FIG. 2 is a schematic structural diagram of a drug delivery and dispatch robot according to the present invention;
FIG. 3 is a third schematic structural view of a drug delivery and delivery robot according to the present invention;
FIG. 4 is a fourth schematic structural view of a drug delivery and delivery robot according to the present invention;
FIG. 5 is an enlarged view of a portion of FIG. 1;
FIG. 6 is a schematic block diagram of a drug delivery and dispatch robot control system according to the present invention;
fig. 7 is a flowchart illustrating the operation of a drug delivery and delivery robot control system according to the present invention.
In the figure, 1-medicine box, 2-guide rail end control box, 3-limit sensor, 4-gray sensor, 5-vision sensor, 6-medicine grasping sucker rack, 7-medicine grasping sucker, 8-medicine storage grid, 9-medicine tray, 10-medicine supporting electric push rod, 11-medicine supporting scissor mechanism, 12-linear guide rail, 13-sliding support, 14-medicine bag back plate, 15-medicine bag, 16-bag supporting mechanical arm, 17-medicine sending and sending end operation panel, 18-medicine sending and sending robot driving box, 19-driving wheel, 20-medicine sending and sending robot control box, 21-medicine sending and sending platform lifting mechanism, 22-medicine sending and sending platform, 23-bag supporting mechanical arm base, 24-medicine bag fixing clamp, 25-medicine taking end control box, 26-a medicine taking mechanical arm, 27-a medicine taking platform, 28-a medicine sending and delivering sucker, 29-a rubber band fixing clamp, 30-a medicine bag fixing rubber band, 31-a guide rail stepping motor and 32-a medicine taking platform lifting mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1-5, the present invention provides a drug delivery and distribution robot, which comprises a drug box 1 for storing drugs in a classified manner, a slide rail driving mechanism arranged on one side of the drug box 1, a liftable drug taking mechanism and a drug delivery and distribution mechanism, wherein the liftable drug taking mechanism comprises a sliding support sliding on the slide rail driving mechanism, a drug taking platform lifting mechanism 32 fixed on the sliding support, a drug taking mechanical arm 26 arranged on the top of the drug taking platform lifting mechanism 32, and a drug grasping mechanism fixedly connected with the drug taking mechanical arm 26; the medicine sending and dispensing mechanism comprises a medicine sending and dispensing driving mechanism, a medicine sending and dispensing platform lifting mechanism 21 fixed on the medicine sending and dispensing driving mechanism, a medicine bag 15 mechanism used for fixing the medicine bag 15 and a bag supporting mechanical arm 16, wherein the medicine bag 15 mechanism and the bag supporting mechanical arm 16 are fixed above the medicine sending and dispensing platform lifting mechanism 21.
The slide rail driving mechanism comprises a linear guide rail 12, a sliding support slides on the linear guide rail 12, and one end of the linear guide rail 12 is connected with a guide rail stepping motor 31. The liftable medicine taking mechanism further comprises a medicine taking platform 27 and a medicine taking end control box 25 fixed on the medicine taking platform 27, and the medicine taking end control box 25 is used for controlling a medicine taking mechanical arm 26.
The medicine taking mechanism comprises a medicine taking suction cup frame 6, a vision sensor 5 fixed on the rear side of the medicine taking suction cup frame 6 and a medicine taking suction cup 7 fixed on the front side of the medicine taking suction cup frame 6. The medicine-taking sucker 7 is made of soft material with good sealing performance, and has necessary pulling force when sucking the medicine or sucking the medicine bag 15.
Send medicine to send medicine mechanism still including sending medicine to send medicine platform 22, and medicine bag 15 mechanism is fixed at sending medicine to send medicine platform 22 upper surface with propping a bag arm 16, props bag arm 16 and fixes at sending medicine to send medicine platform 22 upper surface through propping a bag arm base 23, and medicine bag 15 mechanism includes the medicine bag backplate 14 of vertical setting, is used for hanging a plurality of medicine bags 15 on medicine bag backplate 14, fixes rubber band fixing clip 29 and the fixed rubber band 30 of medicine bag on medicine bag backplate 14. The top of the bag opening mechanical arm 16 is also provided with a medicine sending and dispensing sucker 28.
The medicine delivery and medicine delivery driving mechanism includes a medicine delivery and medicine delivery robot driving box 18 and a driving wheel 19 fixed below the medicine delivery and medicine delivery robot driving box 18. The drive wheel 19 is PID precision motion controlled using four separately controlled motors.
The medicine delivering and dispensing mechanism further comprises a medicine delivering and dispensing robot control box 20 fixed above the medicine delivering and dispensing robot driving box 18, and a medicine delivering and dispensing end operation panel 17 fixed on the side surface of the medicine delivering and dispensing robot control box 20.
The overall design of the invention can be divided into a medicine taking robot, a medicine sending robot and a medicine sending robot, and key technologies for realizing intelligent grabbing of the robot comprise target identification, 6D pose estimation, robot motion planning, hand-eye calibration and robot simulation. And finally determining that the medicine taking robot uses the high-precision multi-degree-of-freedom mechanical arm by analyzing and combining actual conditions on site. The control unit of the mechanical arm is a motion control card, the mechanical arm is controlled by a host computer command, and development and research personnel use an open experimental research platform to research. The mechanical arm is large in action space, high in positioning degree and strong in loading capacity, and can grab, process and assemble objects. According to the high efficiency and the accurate stability of grabbing required by the design, the medicine taking robot finally selects a mechanical arm grabbing mode to be a four-group air pump sucker type grabbing mode, the grabbing mode is stable, the grabbing of four kinds of medicinal materials can be realized simultaneously, and the grabbing efficiency and the stability are greatly improved; the medicine sending and distributing robot determines to select the mechanical arm to cooperate with the two groups of air pump suckers to carry out bag opening work. In order to adapt to the variability of the working environment of the robot, a scissor lifting structure is specially designed on the basic structure of the robot, so that the requirements of different heights are met. According to the design requirement, the robot needs to accurately position the medicine taking position, the bearing capacity meets the requirement, the bearing capacity is over 50Kg, and the movement of a specified path can be flexibly completed through program control.
As shown in fig. 6 and 7, the present invention further provides a control system for a drug fetching and dispatching robot, which includes a drug fetching and dispatching robot, a control system, a sensor and a driver, wherein the sensor and the driver are fixed on or around the drug fetching and dispatching robot, the controller receives and processes signals fed back by the sensor, sends control commands to the driver, and drives the drug fetching and dispatching robot to work by the driver. The control system comprises a central control system, an image processing unit, a voice processing unit and a communication processing unit, wherein the central control system is respectively connected with the image processing unit, the voice processing unit and the communication processing unit, and the communication processing unit is used for realizing local or remote communication.
The following is an illustration of a control system for a drug delivery robot, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the illustration are all within the scope of the present invention.
The system comprises a machine body, a control system, a sensor and a driver. Because the communication process is non-single point-to-point communication, serial ports carried by singlechips such as a common Arduino Uno and the like are found by looking up data and are called hard serial ports, the requirements cannot be met for USART single-point to single-point communication, and serial ports simulated by using a software serial library are called soft serial ports. The soft serial port is generated by program simulation, but can be set on Arduino Mega, so that the robot used in the invention adopts an integrated system robot controlled by the combination of Arduino Mega 2560 and NodeMCU singlechip control board, and the main functions realized are as follows: the remote identification, the receiving and the sending as well as the processing of the communication signals inside and outside the system are completed; receiving and processing a plurality of sensor signals; control command of the drive system; image recognition and positioning; speech recognition, synthesis and broadcast in the voice interaction system.
The functions of each part are as follows:
(1) the central control system comprises: an Arduino Mega 2560 control panel plays the role of a robot brain, can process and process information acquired by a sensing module and has decision-making capability. The control command remotely received by the NodeMCU or locally sent by the NodeMCU can be received and secondary analysis and processing can be carried out. The system plans the action to be executed by the robot according to the current state of the robot and the received command.
(2) Node MCU communication processing system: the device is used for receiving remote control communication signals and APP instructions, analyzing and processing the remote control communication signals for the first time, and then transmitting corresponding instructions to the central control system.
(3) A motion control mechanism: and the motion control module taking the command of the central control system as a core controls the motion of the two differential wheels and the motion of the two Macnam wheels respectively.
(4) A human-computer interaction interface: the motion information of the robot in the current environment can be displayed through an App visual interface and an operation interface which are developed independently. And meanwhile, a task instruction can be issued to the robot through an operation interface.
(5) Image recognition: the recognition grabbing positioning information can be sensed and transmitted to a central control system for correction processing.
(6) Speech recognition and speech synthesis: the targeted task is completed by recognizing the peripheral voice requirement and transmitting the content to the control center for processing, and the user is correspondingly prompted by broadcasting the synthesized voice.
(7) The robot moving system controls the motion of the robot through the control center and can be used for positioning by an App map.
The sensor can detect physical characteristics of distance, temperature, light intensity, size and the like in the environment, can convert one form of physical quantity into another form of physical quantity, and can convert electric or non-electric signals into electric signals for processing by the processor. The sensor is an important component of the robot system, belongs to a sensing subsystem of the robot system, and the robot can collect information of the robot and the surrounding environment through the sensor. In the robot of the project, a combination of several sensors is often selected due to the special conditions of the operating environment.
For the working characteristics of Chinese medicine grabbing, sensors in a detection system of the Chinese medicine grabbing device are mainly divided into two categories, one category can acquire self information such as position, direction, speed and the like, and the other category can acquire external environment information such as relative distance, angle and the like with a target so as to be used for automatic identification and calibration of a mechanical arm.
(1) Camera head
Through the research, this embodiment can adopt the OpenMV camera, and relatively in other kinds of cameras on the market comparatively small and exquisite, the low-power consumption, the camera of low cost, completion machine vision that can be very light is used. Operating on it through a high-level language Python script, the high-level data structure of Python makes it easy for a person to handle complex outputs in machine vision algorithms.
(2) Speech recognition
The module microprocessing unit is a 51-core, the programming mode of a single chip microcomputer (STC) is the same as that of a 51-series single chip microcomputer and a 52-series single chip microcomputer, and a user can use the module by programming by hand without looking up and learning a new single chip microcomputer register; the device has a serial port communication function, reserves related interfaces, provides 5V and 3.3V power interfaces, and is convenient for downloading programs.
(3)NodeMCU
The module is an open-source rapid hardware prototype platform, comprises firmware and a development board, can develop application of the Internet of things by using a plurality of simple Lua scripts, and can greatly improve the logic efficiency of task processing by assisting an Arduino Mega 2560 single chip microcomputer with strong computing capability by using the wireless transmission function and the analysis capability of the module.
(4) Limit switch
Position limitation is carried out on the target medicine taking platform by using a limit switch, so that the vertical precision of grabbing is greatly improved.
After the doctor transmits the electronic prescription to the pharmacy, the robot can accurately identify the name of the medicine on the electronic prescription, find the position of the medicine, take the medicine according to the quantity, and quickly send the medicine to the medicine taking window. The patient does not need to take the prescription to the place of taking the medicine for a long time and does not need to worry about the wrong medicine taking by the pharmacist. Meanwhile, a processor is arranged in the robot, an internal large database of medicine names can be established through a software system, then the robot automatically and accurately finds medicine information through some preset programs, then automatically finds corresponding positions, and sends the medicines to a window through a motion control system. The user can use cell-phone APP to realize long-range reservation, the flow of getting it filled equally, and the robot can get it filled, send medicine, send out the medicine according to the priority order of task, realizes long-range online solution people's medicine demand, promotes work efficiency by a wide margin. Compared with the prior art and the solution in the market, the automatic degree, the precision and the efficiency of the scheme are higher, the energy utilization rate of the equipment is high, the power consumption is low, the product safety is high, the operation is easy, the failure rate in the operation process is low, and the main structure of the equipment is centralized, so that the maintenance is simple and convenient; the manual and mechanical work can be partially replaced, and the labor cost is saved; because it is not restricted by operating time, can long-term steady operation under the sufficient condition of medicine, can receive the instruction at any time and carry out work, convenient operation mode also shortens the latency of people getting it filled in the hospital, improves the work efficiency of hospital pharmacy by a wide margin.
In other embodiments, the medicine taking identification mechanism performs position setting, the coordinate position of each type of medicine can be recorded through a program code, and the corresponding position is moved by searching the corresponding medicine coordinate during medicine taking, so that the positioning function of the function of visually identifying the medicine type is replaced.
The mechanical arm is pushed and is lifted and can change the motion mechanism with scissors mechanism according to actual conditions adjustment, can use electric putter or hydraulic push rod to replace and carry out the height adjustment task under the operating mode that only needs the height position of small-scale adjustment.
The motion wheel of the medicine sending and sending robot can be replaced by a Fulai wheel type tire to a Mecanum wheel type tire, multi-direction translation can be carried out, and a motor PID motion control sensor can be replaced by a magnetic induction sensor to count.
The mechanical clamp can be used for poking, clamping and pulling one end of the bag opening to complete the bag opening action so as to realize the same purpose of sucking and opening the bag opening by replacing the sucker.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A robot for dispensing medication, comprising: the lifting medicine taking mechanism comprises a sliding support sliding on the sliding rail driving mechanism, a medicine taking platform lifting mechanism fixed on the sliding support, a medicine taking mechanical arm arranged at the top of the medicine taking platform lifting mechanism and a medicine grabbing mechanism fixedly connected with the medicine taking mechanical arm; send medicine to send medicine mechanism including sending medicine to send medicine actuating mechanism, fixed send medicine platform elevating system, the medicine bag mechanism and the bag arm of propping that are used for fixed medicine bag on sending medicine to send medicine actuating mechanism, medicine bag mechanism and bag arm of propping are fixed and are sent medicine platform elevating system top.
2. The robot of claim 1, wherein: the medicine case includes a plurality of medicine storage check, the inside of medicine storage check is equipped with the medicine tray, holds in the palm medicine electric putter and holds in the palm medicine and cuts the fork mechanism, the side top of medicine case is equipped with spacing sensor and grey level sensor, and the bottom is equipped with and is used for control slide rail actuating mechanism's guide rail end control box.
3. The robot of claim 1, wherein: the medicine grabbing mechanism comprises a medicine grabbing sucker frame, a vision sensor fixed on the rear side of the medicine grabbing sucker frame and a medicine grabbing sucker fixed on the front side of the medicine grabbing sucker frame.
4. The robot of claim 1, wherein: send medicine to send medicine mechanism still including sending medicine to send medicine platform, medicine bag mechanism and bag-supporting arm of machinery fix send medicine platform upper surface, medicine bag mechanism includes the medicine bag backplate of vertical setting, is used for hanging a plurality of medicine bags on the medicine bag backplate, fix rubber band fixing clip and the fixed rubber band of medicine bag on the medicine bag backplate.
5. The robot of claim 1, wherein: and a medicine sending and dispensing sucker is further arranged at the top of the bag opening mechanical arm.
6. The robot of claim 1, wherein: the medicine sending and dispensing driving mechanism comprises a medicine sending and dispensing robot driving box and a driving wheel fixed below the medicine sending and dispensing robot driving box.
7. The utility model provides a medicine is got and is sent dispatch robot control system which characterized in that, includes that medicine is got and is sent dispatch robot, control system, sensor and driver are fixed on medicine is got and is sent dispatch robot or peripheral, the controller receives the signal and the processing of sensor feedback, to the driver sends control command, by the driver drive medicine is got and is sent dispatch robot work.
8. The system of claim 7, wherein the control system comprises a central control system, an image processing unit, a voice processing unit, and a communication processing unit, the central control system is connected to the image processing unit, the voice processing unit, and the communication processing unit respectively, and the communication processing unit is configured to implement local or remote communication.
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| CN202010296634.1A CN111331575A (en) | 2020-04-15 | 2020-04-15 | Medicine taking and delivering dispatching robot and control system |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111736609A (en) * | 2020-06-29 | 2020-10-02 | 广东工业大学 | Medicine selecting and picking trolley based on AI identification and autonomous path planning |
| CN113060458A (en) * | 2021-03-12 | 2021-07-02 | 北京华兴长泰物联网技术研究院有限责任公司 | Automatic medicine taking mechanism, medicine discharging and selling machine and control method thereof |
| CN113146576A (en) * | 2021-02-04 | 2021-07-23 | 合肥工业大学 | Medicine taking system, robot based on medicine taking system and control method |
| CN113716332A (en) * | 2021-08-27 | 2021-11-30 | 严瑶婷 | Chinese herbal medicine grabbing device |
| CN113823375A (en) * | 2021-08-03 | 2021-12-21 | 爱在工匠智能科技(苏州)有限公司 | Medicine sorting robot system and using method thereof |
| CN114193472A (en) * | 2021-12-17 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Hotel guest room article fetching and delivering robot and system thereof |
| CN114537935A (en) * | 2022-03-24 | 2022-05-27 | 滁州市法莫希智能科技有限公司 | Traditional chinese medicine intelligence delivery case based on robot |
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