CN114619449B - Drug release decision method of array type vacuum chuck drug grabbing device - Google Patents
Drug release decision method of array type vacuum chuck drug grabbing device Download PDFInfo
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- 239000003814 drug Substances 0.000 title claims abstract description 304
- 238000000034 method Methods 0.000 title claims abstract description 28
- 229940079593 drug Drugs 0.000 title claims description 23
- 239000013598 vector Substances 0.000 claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 18
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- 238000010606 normalization Methods 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 claims description 13
- 238000009825 accumulation Methods 0.000 claims description 6
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims description 3
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Abstract
The invention discloses a medicine placement decision method of an array type vacuum chuck medicine gripping device, which comprises the steps of 1) constructing a medicine placement decision matrix P K×3; 2) Calculating the weight corresponding to each attribute of the sucker unit, and obtaining a weight vector omega corresponding to the attribute of the sucker unit as 3) selecting the optimal sucker unit for releasing the medicine bag through attribute weighting; 4) Updating the decision matrix, repeating the step 3) and the step 4) after updating the decision matrix P K×3, and starting the decision of the sucker unit to be released optimally in the next round until the number of the residual medicine bags on the sucker unit meets the number of medicine bags required by the medicine grabbing. The medicine discharging decision-making method of the array type vacuum chuck medicine gripping device can improve medicine discharging metering efficiency, medicine gripping efficiency and sucking disc array utilization rate of the array type vacuum chuck medicine gripping device, shorten medicine dispensing and weighing time and improve medicine dispensing efficiency.
Description
Technical Field
The invention relates to the technical field of vacuum chuck units, in particular to a method for releasing a grabbed packaging bag by a vacuum chuck unit for grabbing and placing a bag-type packaging medicine or food.
Background
The array type vacuum chuck device is very wide in industrial application, and a large number of cases of flexibly grabbing small packaged articles by utilizing the array type vacuum chuck device exist in the food and pharmaceutical industries. After the array type vacuum chuck medicine gripping device grips from the target medicine box, the gripping quantity has uncertainty, and is usually larger than the expected quantity. Taking the medicine grabbing as an example, in order to ensure that the single medicine grabbing quantity of the array type vacuum sucker medicine grabbing device is identical to the required medicine bag quantity, a part of suckers are required to be selected for release after grabbing, and medicine bags larger than the required medicine bag quantity are returned to the medicine box.
There are two kinds of vacuum chuck units arranged on the array type vacuum chuck medicine gripping device: a single-point type suction cup unit and a double-point type suction cup unit.
One single-point type sucking disc unit only comprises one sucking disc, the position interval between adjacent single-point type sucking disc units is larger, and one single-point type sucking disc unit can absorb one medicine bag at most at a time. The number of drug packs released by the single-point sucking disc units is higher than that of the double-point sucking disc units, but a situation that one drug pack is entrained between the two sucking disc units may exist.
A double-point sucking disc unit comprises two sucking discs, and the double-point sucking disc unit can adsorb one medicine package or two medicine packages at a time, so that the medicine grabbing and releasing efficiency is higher than that of the single-point sucking disc unit. Although the efficiency of the double-point sucking disc unit for grabbing and releasing the medicine bag is higher, the medicine bag releasing precision is lower. Each sucking disc air path is provided with a vacuum pressure sensor, and when the vacuum pressure sensor triggers, the medicine bag is adsorbed. Because of the complexity of the position and posture of the medicine bag in the medicine box, the vacuum pressure sensor can only judge whether the medicine bag is adsorbed by the suction cup, but cannot judge how much medicine bag is actually adsorbed, for example, when the vacuum pressure sensor of the double-point suction cup unit displays that 2 medicine bags are adsorbed, but in practice, the situation that only 1 medicine bag is adsorbed possibly occurs, and errors can be caused when the medicine bag is released.
In the dispensing process of the small-package traditional Chinese medicine, the medicine bags grasped by the array type vacuum chuck medicine grasping device need to be released firstly to return the redundant medicine bags to the medicine box, and then the rest medicine bags corresponding to the dispensing requirement are released to the medicine receiving mechanism. When the array type vacuum chuck medicine gripping device is controlled to release redundant medicine bags back to the medicine chest, the quantity of the medicine bags actually released by the chuck units is uncertain, so that the medicine bags are required to be weighed once after being released each time; how to reduce the weighing times to save time is a technical problem to be solved.
In addition, when the array type vacuum chuck medicine grabbing device grabs medicines, because medicine bags are different in position and posture, the medicine bags adsorbed each time are distributed unevenly on the plane of the chuck array, and the sucking discs with high local medicine grabbing success rate can densely adsorb the medicine bags. In the dense adsorption area, a certain probability that one medicine bag is entrained between two medicine bags adsorbed by the double-point sucking disc unit exists. The entrained medicine bag is suspended between the two medicine bags adsorbed by the sucking disc, can not be detected by the sensor, and belongs to the medicine bags in the detection blind areas. In the process of deciding to release medicine and release the sucking discs one by one, when the number of medicine bags to be released is reduced to 1 bag or 2 bags, the medicine bags in the dense adsorption area are released, and the entrained medicine bags can drop into a medicine chest along with the released medicine bags, so that the actual number of released medicine bags exceeds the expected number of released medicine bags. Once overdischarge occurs, the device for gripping the medicine needs to grip the medicine twice, which greatly reduces the efficiency of gripping the medicine. Therefore, how to reduce the occurrence of the secondary drug taking condition is also a technical problem to be solved.
In the process of grabbing medicines by the array type vacuum chuck medicine grabbing device, the array type vacuum chuck can squeeze the upper medicine bag in the medicine box, so that the chuck is attached to the medicine bag; when the medicine bags in the medicine box are uniformly distributed and are flat, the vacuum is easier to be established between the sucking disc and the medicine bags; on the contrary, when the medicine package is stacked in the medicine box and the height difference is great, only can contact the medicine package that stacks the position higher after the sucking disc array pushes down, can't contact the medicine package of lower department, this can cause the local sucking disc to last the abominable condition that can not adsorb the medicine package, probably causes sucking disc array once to snatch the medicine package quantity can not satisfy the demand of dispensing, greatly reduced sucking disc array's effective utilization ratio.
Disclosure of Invention
In view of the above, the present invention is to provide a drug delivery decision method of an array type vacuum chuck drug delivery device, so as to solve the technical problems of how to improve the drug delivery metering efficiency, the drug delivery efficiency and the sucker utilization rate of the array type vacuum chuck drug delivery device in the process of releasing the gripped drug package by the array type vacuum chuck drug delivery device.
The medicine discharging decision making method of the array type vacuum chuck medicine gripping device comprises the following steps:
1) Constructing a drug delivery decision matrix comprising:
the method establishes an equivalent model of the medicine package adsorption condition after the array type vacuum chuck medicine grabbing device grabs the medicine package, and comprises the following steps:
Wherein, element a mn in matrix a M×N represents the number of medicine bags absorbed by the suction cup units in the M row and N column on the array type vacuum suction cup medicine gripping device, M epsilon M, N epsilon N, and the total number K=M×N of suction cup units; obtaining a mapping relation i=m+ (n-1) M between the serial numbers of the sucker units and the row and column positions of the sucker units by numbering the sucker units, wherein i epsilon [1, K ], and the row and column positions of the sucker units with the serial numbers i are M i,ni respectively; the sucking disc units are uniformly distributed on a plane and are divided into single-point sucking disc units and double-point sucking disc units, wherein only one sucking disc is arranged in one single-point sucking disc unit, and two sucking discs are arranged in one double-point sucking disc unit;
Defining a drug delivery decision criterion 1 as follows: when the array type vacuum sucking disc medicine gripping device releases the medicine bag, the double-point sucking disc unit with the medicine bag adsorbed by both sucking discs is preferably selected to release the medicine bag;
According to decision criterion 1, the suction cup unit numbered i, whose attribute 1 is defined as:
Wherein, The number of the adsorption medicine bags displayed by the vacuum pressure sensor on the sucker unit with the number of i is represented;
defining a drug delivery decision criterion 2 as follows: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units in a dense sucking area are selected preferentially;
according to decision criterion 2, the suction cup unit numbered i, whose attribute 2 is defined as:
pi2＝μxSx+μySy+μzSz (3)
Wherein:
p i2 represents the density of the sucker unit with the number i, and represents the adsorption density degree of the medicine bag taking the sucker unit i as the center; each sucking disc unit is adjacent to 2 sucking disc units along the x-axis direction and is adjacent to 4 sucking disc units along the diagonal direction of the x-axis and the y-axis direction, except sucking disc units positioned at the edge of the sucking disc unit array; s x is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the x-axis direction, and S y is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the y-axis direction; s xy is the sum of the number of medicine bags absorbed by 4 sucker units adjacent to the sucker unit i along the diagonal direction of the x axis and the y axis; since the distances between adjacent sucking disc units and sucking disc unit i along the diagonal directions of the x axis, the y axis and the x axis are different, and the contribution of the adjacent sucking disc units to the density degree of the medicine bag taking the sucking disc unit i as the center is different, mu x、μy、μxy respectively represents the density factors along the diagonal directions of the x axis, the y axis and the x axis, and the density factors are larger as the adjacent sucking disc units are close to the sucking disc unit i;
Defining the number of the grabbing rounds as T, T E [1, T c ], and recording the current grabbing round as T c, wherein the stacking degree of the sucker unit with the number of i in the process of the T-th grabbing is as follows:
Wherein y i (k) represents the number of medicine packages actually released from the sucking disc unit i by the kth medicine gripping, and the accumulation degree h i (t) represents the total number of medicine packages cumulatively released from the 1 st medicine gripping to the t th medicine gripping by the sucking disc unit i, and the larger the number of medicine packages cumulatively released by the sucking disc unit i is, the larger the accumulation degree is; conversely, the smaller the degree of stacking thereof;
defining a drug delivery decision criterion 3 as follows: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units with small stacking degree are preferably selected,
According to decision criterion 3, the suction cup unit numbered i, whose attribute 3 is defined as:
pi3＝hi(Tc) (8)
Wherein h i(Tc) is the stacking degree of the suction cup units i in the current catch round.
According to three attributes of the sucker unit i, defining attribute vectors of the sucker unit i as follows:
Because the dimensions of p i1,pi2,pi3 are inconsistent, normalization treatment is needed; according to the drug delivery decision criterion 1, the drug delivery decision criterion 2 and the drug delivery decision criterion 3, when the redundant drug bag is released, the sucker units with larger p i1 and p i2 and smaller p i3 are preferentially selected, so that p i1、pi2 is consistent with the decision direction and belongs to positive attributes; p i3 is opposite to the decision direction and belongs to the inverse attribute; p ij is normalized by positive pole difference transformation on the positive attribute:
For the inverse property, p ij is normalized using the inverse range transform:
Wherein, Respectively representing the property of the j-th item of the sucker unit i after forward normalization and reverse normalization,/>The j-th item of attribute of the sucker unit is respectively represented by the largest attribute value and the smallest attribute value; normalized attribute vector:
defining an array type vacuum sucker unit medicine grabbing device normalized medicine placement decision matrix P K×3 as follows:
wherein K is the total number of sucking disc units of the array type vacuum sucking disc unit medicine grabbing device, The j-th item normalized attribute value representing the suction cup unit i;
2) Calculating the weight corresponding to each attribute of the sucker unit
The information entropy of the j-th attribute defining the suction cup unit i is:
Wherein, And (3) carrying out normalization operation on the obtained information entropy value according to the formula (14) to obtain the weight omega j of the j-th attribute of the sucker unit:
the weight vector omega corresponding to the sucker unit attribute is obtained according to omega j, and is:
Ω＝[ω1,ω2,ω3]T (16)
3) Optimal suction cup unit for selecting and releasing medicine bag through attribute weighting
By combining the weight vector omega with the attribute vector of the suction cup unit i (i e 1, k), respectivelyAnd (3) carrying out difference line weighting to obtain a weighted decision vector tau:
τ＝PK×3Ω＝[v1,v2,…,vK] (17)
Wherein v i (i e [1, K) represents the weighted decision value of the suction cup unit i; sequencing the obtained weighted decision vectors, wherein the number of the sucker unit with the largest weighted decision value is marked as i max, and the sucker unit i max is used as the optimal solution of the sucker unit of the medicine bag to be released;
4) After releasing the pack as the optimal release suction cup unit i max, the attribute vector of each suction cup unit is updated according to equation (2), equation (3) and equation (9) Updating the decision matrix P K×3 according to the normalization formula (10), the formula (11), the formula (12) and the formula (13); after updating the decision matrix P K×3, repeating the step 3) and the step 4) to start the decision of the next round of optimal sucking disc unit to be released until the number of the residual medicine bags on the sucking disc unit meets the number of medicine bags required by the medicine grabbing.
The invention has the beneficial effects that:
The medicine discharging decision-making method of the array type vacuum chuck medicine gripping device can reduce the weighing times and improve the medicine discharging metering efficiency of the array type vacuum chuck medicine gripping device; the secondary medicine grabbing times of the array type vacuum chuck medicine grabbing device can be reduced, and the medicine grabbing efficiency can be improved; meanwhile, the stacking degree difference of all sucking disc units can be reduced, and the utilization rate of the array type vacuum sucking disc is improved.
Drawings
FIG. 1 is a flow chart of a method of decision making for drug delivery of an array type vacuum chuck drug delivery device;
FIG. 2 shows the difference in stacking of the sucker units after 500 drug-holding experiments using the method described in the examples;
FIG. 3 shows the difference in stacking degree of the sucking disc units after the medicine bag is released according to the position sequence of the sucking disc units in 500 medicine holding experiments;
FIG. 4 shows the difference in stacking degree of the sucking disc units after the sucking disc units are randomly selected to release the medicine bag in 500 medicine holding experiments;
FIG. 5 is a graph of the number of weighings versus the number of grabs;
FIG. 6 is a graph showing the relationship between the number of overdose and the number of drug picks.
Detailed Description
The invention is further described below with reference to the drawings and examples.
The medicine placement decision-making method of the array type vacuum chuck medicine grabbing device comprises the following steps:
1) Constructing a drug delivery decision matrix comprising:
the method establishes an equivalent model of the medicine package adsorption condition after the array type vacuum chuck medicine grabbing device grabs the medicine package, and comprises the following steps:
Wherein, element a mn in matrix a M×N represents the number of medicine bags absorbed by the suction cup units in the M row and N column on the array type vacuum suction cup medicine gripping device, M epsilon M, N epsilon N, and the total number K=M×N of suction cup units; obtaining a mapping relation i=m+ (n-1) M between the serial numbers of the sucker units and the row and column positions of the sucker units by numbering the sucker units, wherein i epsilon [1, K ], and the row and column positions of the sucker units with the serial numbers i are M i,ni respectively; the sucking disc units are uniformly distributed on a plane, and are divided into a single-point sucking disc unit and a double-point sucking disc unit, wherein only one sucking disc is arranged in one single-point sucking disc unit, and two sucking discs are arranged in one double-point sucking disc unit. In the specific implementation, a vacuum pressure sensor is arranged on the air path of each sucking disc, and whether the sucking disc is adsorbed with the medicine bag can be detected through the vacuum pressure sensor.
Because of the complexity of the position and the posture of the medicine bag in the medicine box, the vacuum pressure sensor can only judge whether the medicine bag is adsorbed by the suction cup, but cannot judge how much medicine bag is actually adsorbed, for example, when the vacuum pressure sensor of the double-point suction cup unit displays that two medicine bags are adsorbed, the situation that the two suction cups of the double-point suction cup unit adsorb the same medicine bag is likely to occur in practice, namely, only 1 medicine bag is actually adsorbed. Therefore, the number of the medicine bags actually absorbed by the single sucker unit needs to be determined by a weighing sensor according to the difference of the two weights before and after medicine release, and the number of the medicine bags actually released once is lower than the number of the medicine bags expected to be released, so that the number of times of weighing is increased, and the weighing time is prolonged. Therefore, under the condition that the number of the medicine bags expected to be released is the same, the medicine bags released by the double-point sucking disc unit are preferably selected, so that the number of the medicine bags expected to be released can be faster reached, the weighing times are reduced, the total weighing time is further shortened, and the medicine grabbing efficiency is improved. The fixed definition drug delivery decision criterion 1 is: when the array type vacuum sucking disc medicine gripping device releases the medicine bag, the double-point sucking disc unit with the medicine bag adsorbed by the two sucking discs is preferably selected to release the medicine bag.
According to decision criterion 1, the suction cup unit numbered i, whose attribute 1 is defined as:
Wherein, The number of the adsorbed medicine bags displayed by the vacuum pressure sensor on the sucker unit with the number of i is shown.
When the array type vacuum chuck medicine grabbing device grabs medicines, because medicine bags are different in position and posture, the medicine bags adsorbed each time are distributed unevenly on the plane of the chuck unit array, and the chuck units with higher local medicine grabbing success rate can densely adsorb the medicine bags. In the dense adsorption area, the situation that two bags of medicine are entrained with one bag of medicine can occur at a certain probability between the two adjacent sucking discs which are adsorbed with medicine bags, and the entrained medicine bags cannot be detected by the vacuum sensor, and belong to the medicine bags in the detection blind areas. In the process of deciding that the sucking disc units release the medicine bags, the sucking disc units which preferentially release the dense adsorption areas can enable the released medicine bags to be faster and approximate to the medicine bags which are expected to be released; however, when the number of remaining drug packs to be released is reduced to 1 pack or 2 packs, the drug packs in the dense adsorption area are released again, so that the entrained drug packs can drop into the drug box together with the released drug packs, and the actual number of released drug packs exceeds the expected number of released drug packs. Once overdischarge occurs, the device for gripping the medicine needs to grip the medicine for the second time, which greatly reduces the efficiency of gripping the medicine. To avoid this, a medication decision criterion 2 is defined as: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units in the dense sucking area are selected preferentially.
According to decision criterion 2, the suction cup unit numbered i, whose attribute 2 is defined as:
pi2＝μxSx+μySy+μzSz (3)
Wherein:
p i2 represents the density of the sucker unit with the number i, and represents the adsorption density degree of the medicine bag taking the sucker unit i as the center; each sucking disc unit is adjacent to 2 sucking disc units along the x-axis direction and is adjacent to 4 sucking disc units along the diagonal direction of the x-axis and the y-axis direction, except sucking disc units positioned at the edge of the sucking disc unit array; s x is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the x-axis direction, and S y is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the y-axis direction; s xy is the sum of the number of medicine bags absorbed by 4 sucker units adjacent to the sucker unit i along the diagonal direction of the x axis and the y axis; since the distances between adjacent sucking disc units and sucking disc unit i along the x-axis, y-axis, and diagonal directions of the x-axis and y-axis are different, and the contribution of the adjacent sucking disc units to the degree of the density of the medicine bag centering on the sucking disc unit i is different, mu x、μy、μxy represents the density factors along the x-axis, y-axis, and diagonal directions of the x-axis and y-axis, respectively, and the closer the adjacent sucking disc units are to the sucking disc unit i, the larger the density factors are.
Defining the number of the grabbing rounds as T, T E [1, T c ], and recording the current grabbing round as T c, wherein the stacking degree of the sucker unit with the number of i in the process of the T-th grabbing is as follows:
Wherein y i (k) represents the number of medicine packages actually released from the sucking disc unit i by the kth medicine gripping, and the accumulation degree h i (t) represents the total number of medicine packages cumulatively released from the 1 st medicine gripping to the t th medicine gripping by the sucking disc unit i, and the larger the number of medicine packages cumulatively released by the sucking disc unit i is, the larger the accumulation degree is; conversely, the smaller the degree of stacking thereof;
When the array type vacuum chuck medicine grabbing device grabs medicine, the array type vacuum chuck medicine grabbing device descends to squeeze the upper medicine bag in the medicine box, so that the sucking disc is attached to the medicine bag, and then vacuum is established between the sucking disc and the medicine bag by utilizing the vacuum generator, so that the medicine bag is adsorbed. When the medicine bags in the medicine box are uniformly distributed and are flat, the vacuum is easier to be established between the sucking disc and the medicine bags; on the contrary, when the height difference that the cartridge was piled up in the medicine box is great, only can contact the higher cartridge of stack position after sucking disc unit array pushes down, can't contact the lower cartridge to cause the local sucking disc unit to last the abominable condition of adsorbing the cartridge, this effective utilization ratio that can greatly reduced sucking disc unit array. Therefore, define the drug delivery decision criterion 3 as: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units with small stacking degree are preferably selected.
According to decision criterion 3, the suction cup unit numbered i, whose attribute 3 is defined as:
pi3＝hi(Tc) (8)
Wherein h i(Tc) is the stacking degree of the suction cup units i in the current catch round.
According to three attributes of the sucker unit i, defining attribute vectors of the sucker unit i as follows:
Because the dimensions of p i1,pi2,pi3 are inconsistent, normalization treatment is needed; according to the drug delivery decision criterion 1, the drug delivery decision criterion 2 and the drug delivery decision criterion 3, when the redundant drug bag is released, the sucker units with larger p i1 and p i2 and smaller p i3 are preferentially selected, so that p i1、pi2 is consistent with the decision direction and belongs to positive attributes; p i3 is opposite to the decision direction and belongs to the inverse attribute; p ij is normalized by positive pole difference transformation on the positive attribute:
For the inverse property, p ij is normalized using the inverse range transform:
Wherein, Respectively representing the property of the j-th item of the sucker unit i after forward normalization and reverse normalization,/>Respectively representing the maximum attribute value and the minimum attribute value of the jth attribute of the sucker unit, wherein i below max and min represents that i is taken as a variable; normalized attribute vector:
defining an array type vacuum sucker unit medicine grabbing device normalized medicine placement decision matrix P K×3 as follows:
wherein K is the total number of sucking disc units of the array type vacuum sucking disc unit medicine grabbing device, The j-th item normalized attribute value representing the suction cup unit i.
2) Calculating the weight corresponding to each attribute of the sucker unit
The information entropy of the j-th attribute defining the suction cup unit i is:
Wherein, And (3) carrying out normalization operation on the obtained information entropy value according to the formula (14) to obtain the weight omega j of the j-th attribute of the sucker unit:
The weight vector omega corresponding to the sucker unit attribute is obtained according to omega i, and is:
Ω＝[ω1,ω2,ω3]T (16)。
3) Optimal suction cup unit for selecting and releasing medicine bag through attribute weighting
By combining the weight vector omega with the attribute vector of the suction cup unit i (i e 1, k), respectivelyWeighting is carried out, and a weighted decision vector tau is obtained:
τ＝PK×3×Ω＝[ν1,ν2,…,νK] (17)
Wherein v i (i e [1, K) represents the weighted decision value of the suction cup unit i; and sequencing the obtained weighted decision vectors, wherein the number of the sucker unit with the largest weighted decision value is marked as i max, and the sucker unit i max is used as the optimal solution of the sucker unit of the medicine bag to be released.
4) After releasing the pack as the optimal release suction cup unit i max, the attribute vector of each suction cup unit is updated according to equation (2), equation (3) and equation (9)Updating the decision matrix P K×3 according to the normalization formula (10), the formula (11), the formula (12) and the formula (13); after updating the decision matrix P K×3, repeating the step 3) and the step 4) to start the decision of the next round of optimal sucking disc unit to be released until the number of the residual medicine bags on the sucking disc unit meets the number of medicine bags required by the medicine grabbing.
In the actual medicine grabbing and placing process, the array type vacuum chuck medicine grabbing device needs to release redundant medicine bags to return to the medicine chest after grabbing the medicine bags from the medicine chest. The first weighing sensor under the medicine chest firstly weighs to obtain the total weight w1 of the medicine chest before the medicine is grabbed, the first weighing sensor weighs to obtain the total weight w2 of the medicine chest after the medicine is grabbed from the medicine chest by the sucker array, and the number of medicine bags adsorbed on the sucker array after the medicine is grabbed is obtained by dividing the weight of single medicine bag by the weight of w1-w 2. Assuming 7 packs are required, but this time the suction cup array grabs 12 packs, then 5 packs are required to be released back into the medicine box. However, because the actual medicine package quantity released by the sucker units has certain uncertainty, w3 is obtained by weighing through a first weighing sensor below the medicine box after one sucker unit is released each time, the actual medicine package quantity left after the sucker units are released is obtained through w2-w3, and when the actual medicine package quantity left is equal to the required quantity, the array type vacuum sucker medicine grabbing device is controlled to discharge the remaining medicine packages.
The effectiveness of the drug delivery decision method of the array type vacuum chuck drug delivery device in the embodiment is verified by carrying out 500 drug delivery experiments.
Fig. 2, fig. 3 and fig. 4 show the stacking degree of 20 suction heads on the suction cup array after 500 experiments respectively, and it can be found by comparing fig. 2, fig. 3 and fig. 4 that the random selection of suction cup units for releasing the medicine bag or the sequential selection of suction cup units for releasing the medicine bag can make the stacking degree difference of each suction cup unit very big, and by adopting the method provided in this embodiment for releasing the medicine bag, the stacking degree difference between the suction cup units is obviously reduced, i.e. the accumulated medicine discharge package number of each suction cup has no big difference, when the initial state of medicine bag distribution in the medicine box is relatively flat, medicine is uniformly dropped through each suction cup, so that the distribution of medicine bags in the medicine box is still relatively flat.
Fig. 4 and 5 respectively represent the total times of weighing and the times of overdischarging of the medicine bag in 500 experiments, and by comparing, the medicine putting decision method adopting the array type vacuum chuck medicine grabbing device in the embodiment is obtained, and the total times of weighing and the times of overdischarging of the medicine bag are reduced to a certain extent, so that the weighing and medicine grabbing efficiency can be improved.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, and it is intended to be covered by the scope of the claims of the present invention.
Claims (1)
1. A medicine placement decision method of an array type vacuum chuck medicine gripping device is characterized by comprising the following steps of: the method comprises the following steps:
1) Constructing a drug delivery decision matrix comprising:
the method establishes an equivalent model of the medicine package adsorption condition after the array type vacuum chuck medicine grabbing device grabs the medicine package, and comprises the following steps:
Wherein, element a mn in matrix a M×N represents the number of medicine bags absorbed by the suction cup units in the M row and N column on the array type vacuum suction cup medicine gripping device, M epsilon M, N epsilon N, and the total number K=M×N of suction cup units; obtaining a mapping relation i=m+ (n-1) M between the serial numbers of the sucker units and the row and column positions of the sucker units by numbering the sucker units, wherein i epsilon [1, K ], and the row and column positions of the sucker units with the serial numbers i are M i,ni respectively; the sucking disc units are uniformly distributed on a plane and are divided into single-point sucking disc units and double-point sucking disc units, wherein only one sucking disc is arranged in one single-point sucking disc unit, and two sucking discs are arranged in one double-point sucking disc unit;
Defining a drug delivery decision criterion 1 as follows: when the array type vacuum sucking disc medicine gripping device releases the medicine bag, the double-point sucking disc unit with the medicine bag adsorbed by both sucking discs is preferably selected to release the medicine bag;
According to decision criterion 1, the suction cup unit numbered i, whose attribute 1 is defined as:
Wherein, The number of the adsorption medicine bags displayed by the vacuum pressure sensor on the sucker unit with the number of i is represented;
defining a drug delivery decision criterion 2 as follows: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units in a dense sucking area are selected preferentially;
according to decision criterion 2, the suction cup unit numbered i, whose attribute 2 is defined as:
pi2＝μxSx+μySy+μzSz (3)
Wherein:
p i2 represents the density of the sucker unit with the number i, and represents the adsorption density degree of the medicine bag taking the sucker unit i as the center; each sucking disc unit is adjacent to 2 sucking disc units along the x-axis direction and is adjacent to 4 sucking disc units along the diagonal direction of the x-axis and the y-axis direction, except sucking disc units positioned at the edge of the sucking disc unit array; s x is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the x-axis direction, and S y is the sum of the medicine package number absorbed by two sucker units adjacent to the sucker unit i in the y-axis direction; s xy is the sum of the number of medicine bags absorbed by 4 sucker units adjacent to the sucker unit i along the diagonal direction of the x axis and the y axis; since the distances between adjacent sucking disc units and sucking disc unit i along the diagonal directions of the x axis, the y axis and the x axis are different, and the contribution of the adjacent sucking disc units to the density degree of the medicine bag taking the sucking disc unit i as the center is different, mu x、μy、μxy respectively represents the density factors along the diagonal directions of the x axis, the y axis and the x axis, and the density factors are larger as the adjacent sucking disc units are close to the sucking disc unit i;
Defining the number of the grabbing rounds as T, T E [1, T c ], and recording the current grabbing round as T c, wherein the stacking degree of the sucker unit with the number of i in the process of the T-th grabbing is as follows:
Wherein y i (k) represents the number of medicine packages actually released from the sucking disc unit i by the kth medicine gripping, and the accumulation degree h i (t) represents the total number of medicine packages cumulatively released from the 1 st medicine gripping to the t th medicine gripping by the sucking disc unit i, and the larger the number of medicine packages cumulatively released by the sucking disc unit i is, the larger the accumulation degree is; conversely, the smaller the degree of stacking thereof;
defining a drug delivery decision criterion 3 as follows: when the array type vacuum sucking disc medicine gripping device releases medicine bags, sucking disc units with small stacking degree are preferably selected,
According to decision criterion 3, the suction cup unit numbered i, whose attribute 3 is defined as:
pi3＝hi(Tc) (8)
Wherein h i(Tc) is the stacking degree of the suction cup units i in the current catch round.
According to three attributes of the sucker unit i, defining attribute vectors of the sucker unit i as follows:
Because the dimensions of p i1,pi2,pi3 are inconsistent, normalization treatment is needed; according to the drug delivery decision criterion 1, the drug delivery decision criterion 2 and the drug delivery decision criterion 3, when the redundant drug bag is released, the sucker units with larger p i1 and p i2 and smaller p i3 are preferentially selected, so that p i1、pi2 is consistent with the decision direction and belongs to positive attributes; p i3 is opposite to the decision direction and belongs to the inverse attribute; p ij is normalized by positive pole difference transformation on the positive attribute:
For the inverse property, p ij is normalized using the inverse range transform:
Wherein, Respectively representing the property of the j-th item of the sucker unit i after forward normalization and reverse normalization,/>The j-th item of attribute of the sucker unit is respectively represented by the largest attribute value and the smallest attribute value; normalized attribute vector:
defining an array type vacuum sucker unit medicine grabbing device normalized medicine placement decision matrix P K×3 as follows:
wherein K is the total number of sucking disc units of the array type vacuum sucking disc unit medicine grabbing device, The j-th item normalized attribute value representing the suction cup unit i;
2) Calculating the weight corresponding to each attribute of the sucker unit:
the information entropy of the j-th attribute defining the suction cup unit i is:
Wherein, And (3) carrying out normalization operation on the obtained information entropy value according to the formula (14) to obtain the weight w j of the j-th attribute of the sucker unit:
The weight vector omega corresponding to the sucker unit attribute is obtained according to w j:
Ω＝[ω1,ω2,ω3]T (16)
3) Selecting the optimal suction cup unit for releasing the medicine bag through attribute weighting:
by combining the weight vector omega with the attribute vector of the suction cup unit i (i e 1, k), respectively Weighting is carried out, and a weighted decision vector tau is obtained:
τ＝PK×3Ω＝[v1,v2,…,vK] (17)
wherein v i (i e1, K) represents the weighted decision value of the suction cup unit i; sequencing the obtained weighted decision vectors, wherein the number of the sucker unit with the largest weighted decision value is marked as i max, and the sucker unit i max is used as the optimal solution of the sucker unit of the medicine bag to be released;
4) After releasing the pack as the optimal release suction cup unit i max, the attribute vector of each suction cup unit is updated according to equation (2), equation (3) and equation (9) Updating the decision matrix P K×3 according to the normalization formula (10), the formula (11), the formula (12) and the formula (13); after updating the decision matrix P K×3, repeating the step 3) and the step 4) to start the decision of the next round of optimal sucking disc unit to be released until the number of the residual medicine bags on the sucking disc unit meets the number of medicine bags required by the medicine grabbing.
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| CN110239952A (en) * | 2019-07-09 | 2019-09-17 | 重庆大学 | A kind of automatic dispensing machine and its control method of partial mulching formula cup array |
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