An Efficient Medicine Identification and Delivery System Based on Mobile Manipulation Robot

Abstract

In recent years, with the emergence of COVID-19, the shortage of medical resources has become increasingly obvious. However, current environments such as hospital wards still require a large number of medical staff to deliver medicines. In this paper, we propose a mobile robot that can complete medicine grabbing and delivery in a hospital ward scenario. First, a lightweight neural network is built to improve the detection efficiency of Faster R-CNN algorithm for boxed medicine. Then, the pose of the robotic arm grasping the pill box is determined by point cloud matching to control the mechanical grasping of the pill box. Finally, a discomfort function representing the collision risk between the robot and the pedestrian is incorporated into the Risk-RRT algorithm to improve the navigation performance of the algorithm. By building a real experimental platform, the experiments verify the performance of our proposed medicine delivery robot system.