基于ARM及机器视觉的智能药品运送机器人系统设计与研究  

Design and Research of Intelligent Drug Delivery Robot System Based on ARM and Machine Vision

作　　者：江龙韬 刘怡沛 张卓 JIANG Longtao;LIU Yipei;ZHANG Zhuo(College of Internet of Things Engineering,Hohai University,Changzhou 213002,China)

机构地区：[1]河海大学物联网工程学院,江苏常州213002

出　　处：《计算机测量与控制》2022年第8期211-217,共7页Computer Measurement &Control

基　　金：国家自然科学基金(61671202);国家重点研发计划(2018YFC0407101);江苏省大学生创新创业训练计划项目(202110294173Y,2021102941428)。

摘　　要：针对目前新冠疫情下人力资源紧缺,医疗人员工作风险高,医疗配送服务系统自动化的需求;设计出了一种基于嵌入式的医疗智能送药机器人系统;工作人员可在初始药房位置给定机器人应配送的门牌号房间,药品货物装载自动检测后,机器人将完成包括送药病房门牌号识别、路径规划、停车卸货等一系列配送任务;该系统以STM32F407IGT6高性能ARM芯片为控制核心,搭载具有KPU神经网络运算器的K210嵌入式平台进行门牌号识别,通过OPENMV4Plus开源硬件进行机器视觉寻迹,能够在复杂的医疗环境下准确无误地完成自身的配送药物任务;通过系统的实验测试,该机器人运行高效稳定,具有一定的推广价值。In view of the shortage of human resources in COVID-19,the high risk of medical staff and the need of automation in medical distribution service system.A medical intelligent drug delivery robot system based on embedded system is designed.The staff can give the house number that the robot should distribute at the initial pharmacy location.After the drug cargo is loaded and automatically detected,the robot will complete a series of distribution tasks of number identification of drug delivery ward,path planning,parking and unloading.The system takes high-performance ARM chip of STM32F407IGT6 as the control core,carries the embedded platform of K210 with the KPU neural network arithmetic unit for the house number recognition,and carries out the machine vision tracking through open source hardware of the OPENMV4Plus.The own drug distribution task can accurately complete in complex medical environment.Through the experimental test of the system,the robot runs efficiently and stably,and has certain popularization value.

关 键 词：嵌入式 医疗 自动化 机器视觉 STM32 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]