面向医药生产的智能机器人及其关键技术研究综述  

Intelligent robots and key technologies for pharmaceutical production

作　　者：王可 张辉[1,3] 曹意宏[2,4] 易俊飞 袁小芳 王耀南 WANG Ke;ZHANG Hui;CAO Yihong;YI Junfei;YUAN Xiaofang;WANG Yaonan(College of Electrical and Information Engineering,Hunan University,Changsha 410082,China;National Engineering Research Center of RVC,Hunan University,Changsha 410082,China;School of Robotics,Hunan University,Changsha 410012,China;College of Computer Science and Electronic Engineering,Hunan University,Changsha 410006,China)

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]湖南大学机器人视觉感知与控制技术国家工程研究中心,湖南长沙410082 [3]湖南大学机器人学院,湖南长沙410012 [4]湖南大学信息科学与工程学院,湖南长沙410006

出　　处：《计算机集成制造系统》2022年第7期1981-1995,共15页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金重大研究计划资助项目(92148204);国家自然科学基金资助项目(61971071,62027810,62133005);湖南省杰出青年科学基金资助项目(2021JJ10025);湖南省重点研发计划资助项目(2021GK4011,2022GK2011);长沙市科技重大专项资助项目(kh2003026);机器人学国家重点实验室联合开放基金资助项目(2021-KF-22-17);中国高校产学研创新基金资助项目(2020HYA06006)。

摘　　要：医药行业是国计民生的基础,制药业的发展对国民经济和人民生命安全具有重大意义。随着人工智能等技术的发展与成熟,智能机器人在医药生产行业得到了广泛应用。智能机器人的出现使得医药生产在生产效率和质量上实现了新的突破,但也面临不少问题与挑战。鉴于此,综述了智能机器人在医药生产中的最新研究,首先对医药生产中常见的智能机器人以及其在应用时面临的挑战进行了概述,包括无菌制药机器人、灌装密封系统、质量检测机器人、智能搬运机器人等。其次,针对面向医药生产的智能机器人目前所面临的挑战,对基于多源信息感知的控制、人机交互、柔性抓取、瓶口定位、质量检测、路径规划、任务调度等关键技术进行了总结分析。最后,对面向医药生产的智能机器人的未来发展趋势进行了展望。The pharmaceutical industry is the foundation of the national economy and people's wellbeing,and the development of the pharmaceutical industry is of great significance to the national economy and the health of the citizens.With the development and maturity of artificial intelligence,intelligent robots have been widely used in the pharmaceutical production industry.Intelligent robots have enabled pharmaceutical production to achieve new breakthroughs in production efficiency and quality,but it also faces many problems and challenges.In view of this,the state-of-the-art research on intelligent robots in pharmaceutical production was reviewed.The common intelligent robots in pharmaceutical production and the challenges they faced in application were summarized,including aseptic pharmaceutical robots,filling and sealing robots,quality inspection robots,intelligent handling robots,etc.Aiming at the current challenges faced by intelligent robots for pharmaceutical production,key technologies such as control based on multi-source information perception,human-computer interaction,flexible grasping,bottle mouth positioning,quality inspection,path planning,and task scheduling were summarized.The future trend of intelligent robots for pharmaceutical production was prospected.

关 键 词：智能机器人 医药生产 配药制药 灌装密封 质量检测 智能搬运 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]