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

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的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。

Abstract:

In view of the shortage of human resources in COVID-19, the high risk of medical staff and the need for automation of medical distribution service system. A medical intelligent drug delivery robot system based on embedded system is designed. The staff can give the house number room that the robot should distribute at the initial pharmacy location. After the automatic detection of drug cargo loading, the robot will complete a series of distribution tasks, including drug delivery ward house number identification, path planning, parking and unloading. The system takes stm32f407igt6 high-performance ARM chip as the control core, carries k210 embedded platform with KPU neural network arithmetic unit for house number recognition, and carries out machine vision tracking through openmv open source hardware. It can accurately complete its own drug distribution task in complex medical environment. Through the experimental test of the system, the robot runs efficiently and stably, and has certain popularization value.