Design of Automatic Drug Sorting System in Warehouse Based on 3D Camera and Cooperative Robot

Pharmacy automation system is more and more widely adopted in hospital pharmacy and large pharmacy with the development of modern medical service. A warehouse automatic drug sorting system is designed based on 3D camera, cooperative robot, PLC, AGV and touch screen in order to improve the efficiency of drug sorting. The system carries out medicine box transportation through AGV, controlling the system action flow through PLC. The 3D camera is adopted for image acquisition, image processing, target positioning and the conversion between image coordinates and robot coordinates. The cooperative robot reads the camera detection data in real time and performs sorting actions as required. The system can be adopted to sort medicine boxes with a variety of different color labels to realize the automation of drug sorting operation.