Drug storing and taking AGV and drug storing and taking method thereof

The invention discloses a medicine storing and taking AGV and a medicine storing and taking method thereof. The medicine storing and taking AGV comprises a chassis, advancing wheels arranged on the chassis and a rack arranged on the chassis. A guide rail is fixedly arranged on the rack, the lifting storing and taking cabinet is arranged on the guide rail in a matched mode, a lifting assembly used for driving the lifting storing and taking cabinet to move is arranged on the lifting storing and taking cabinet, and the lifting storing and taking cabinet moves along the guide rail during working, so that medicine boxes are carried. The medicine storing and taking method comprises the steps that 1, a two-dimensional image of a medicine box to be sorted is processed, and a target area in the two-dimensional image is recognized; 2, estimating spatial position information of a medicine chest in a three-dimensional environment according to the information of the target; and 3, two-dimensional code position information