Research On Recognition And Grabbing Method Of Medical Garbage Can Based On Machine Vision

With the rapid development of China’s economy,the medical and health services of China have made great progress,and the supply capacity and technical equipment level in the field of medical services have been comprehensively improved.Meanwhile,many problems have erupted.In a series of medical operations,such as the making and dyeing of medical slides,a large number of medical wastes,such as waste residue,waste liquid and garbage,will inevitably be generated.The traditional treatment of medical wastes is to take the medical wastes away from the laboratory and other places by manual means,which will inevitably expose the body to the medical waste environment,facing the risk of direct contact.Frequent access of operators to the laboratory will also bring the problem of pollution.In view of the above problems,this paper proposes the research on the recognition and grabbing method of medical garbage cans based on machine vision,and adopts the full automatic system instead of manual operation.The system is divided into three parts: the overall scheme design,the visual positioning detection module and the map creation of AGV(automated guided vehicle)mobile platform.1.Give the overall scheme design of the system,complete the hardware selection design and construction of the visual scheme,complete the hardware selection and construction of the AGV and the mechanical arm according to the actual needs,and design the special fixture of the medical garbage can,and finally determine the software environment of the system.2.The visual location detection module mainly completes the calibration of industrial camera,and proposes the recognition and location method of medical trash according to the characteristics of medical trash.In order to prevent the overflow of medical waste caused by empty bin recycling and untimely recycling,a capacity state detection scheme of medical waste bin is proposed.Combined with the existing coordinate conversion principle,a coordinate conversion method suitable for this scheme is proposed to realize the conversion of pixel coordinates and spatial coordinates;3.The map creation of AGV mobile platform is mainly to study the relevant theories of SLAM(simultaneous localization and mapping),to create the coordinate system model,kinematics model and lidar mathematical model of AGV,to lay the foundation for the map creation.Combined with the ROS(Robot Operating System)map construction platform,the final realization of the laboratory navigation map creation.The whole platform can be built by combining the visual positioning detection module with the mechanical arm grabbing module,and then communicating with the AGV mobile platform through socket.Finally,it realizes the operation of self identification,judgment and recovery of medical waste can in the environment of unmanned pathology laboratory,avoiding personal injury and pollution of medical environment such as laboratory.