液体药品异物检测智能机器人系统的设计

Design for System of Intelligent Robot Detecting Liquid Pharmaceutical Foreign Bodies

开发了一种医药在线检测与分拣智能机器人系统(intelligent robot system of pharmaceuticaldetecting and sorting,IRPDS),实现了高速灌装医药生产线上注射型药液内异物的在线检测。该机器人系统采用多工位异物动态视觉扫描检测原理和多帧图像序列的检测方法及高精度伺服控制等先进技术,能以高灵敏度检测出针剂药液内的微小异物。介绍了该系统的组成结构和工作原理,对系统的机械电气控制设备和软件实现过程进行了说明,并对检测系统的性能进行了测试,测试结果证明,IRPDS能很好地实现医药异物在线自动化检测,对大于50μm的异物具有较高的识别准确率,误检及漏检率小于5%。

The paper developed a kind of automatic detection system for high- speed pharmaceutical injections visible foreign bodies online detection named intelligent robot system of pharmaceutical detecting and sorting （IRPDS）. The system adopted multi--type foreign substance dynamic image acquisition principle, multi- frames image sequences detection methods and high precision servo control and other advanced technologies, which could detect small foreign body in liquid injection by the high sensitivity. Firstly, the system＇s structure and composition of the working principle were introduced. Secondly, the mechanical system, electrical control structure, high speed rotation image acquisition and detection algorithm, etc. were illustrated. Finally, some experiments were done, and the experimental results indicate that IRPDS can detect the foreign substance in the liquid injection effectively, and detection resolution is greater than 50μm, false reject rate is less than 5 %, which satisfies the enterprise requests.