医用配送机器人自主识别与抓取的研究与实现

Research and realization of autonomous recognition and grasping of medical distribution robot

近年来,随着各类传染性疾病的爆发,机器人在有效控制传染源、切断传播途径及减轻医护人员劳动强度方面作用显著。针对现有医用配送机器人大多采用移动底盘加装车厢的方式,只实现了机器人的定位、导航功能,无法完全实现自主配送。本文基于ROS系统将机械臂视觉识别与视觉抓取和移动机器人相结合,实验结果验证了医用配送机器人机械臂视觉抓取功能,实现了医用机器人配送过程的无人化。

In recent years,with the outbreak of various infectious diseases,robots play a significant role in effectively controlling the source of infection,cutting off the transmission path and reducing the labor intensity of medical staff.Most of the existing medical distribution robots adopt the structure of mobile chassis with carriage,which only realizes the locating and navigation of the robot,and cannot truly realize autonomous distribution.In this paper,based on ROS system,the robot arm visual recognition is combined with the visual grasping and the mobile robot.The experimental results verified the visual grasping function of the medical distribution robot,and realized the unmanned distribution process of the robot.