Intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication

Abstract

The invention relates to the technical field of intelligent medicine cabinets, in particular to an intelligent medicine cabinet accurate information interaction system based on multimode adaptive Internet of Things communication, and the system comprises a management module which is used for updating the storage information of various medicines in the intelligent medicine cabinet in real time; the uploading module is used for uploading electronic prescriptions and identifying medicine names in the electronic prescriptions; the mechanical arm module is used for moving in the intelligent medicine cabinet and grabbing the medicine based on the medicine name identified in the electronic prescription in the uploading module; according to the intelligent medicine cabinet, real-time storage information of various medicines in the intelligent medicine cabinet is managed by combining camera monitoring with a sensing technology, and meanwhile, operation support is provided for a mechanical arm configured for the intelligent medicine cabinet based on medicine name identification in an electronic prescription; according to the intelligent medicine cabinet, it is ensured that the mechanical arm can correctly grab the target medicine based on the recognition result of the medicine name in the electronic prescription, and meanwhile after medicine dispensing is completed through medicine grabbing, whether the medicine dispensing result of the intelligent medicine cabinet is correct or not is further judged based on specific continuous analysis logic.

Description

Technical Field

[0001] The present invention relates to the technical field of smart medicine cabinets, and in particular to a smart medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication. Background Art

[0002] Smart medicine cabinet is an advanced medicine storage device. It uses intelligent technology to achieve accurate management of medicines and can automatically record the information of medicines entering and leaving the warehouse, expiration date, etc. It has the functions of quickly locating medicines and preventing wrong or missed medicines, effectively improving the efficiency and accuracy of medicine dispensing, and is widely used in hospitals, pharmacies and other places.

[0003] The invention patent application with application number 201711381186.X discloses an intelligent medicine cabinet control system, including a human-computer interaction module, a control module, a monitoring module and medicine cabinet management software; the human-computer interaction module includes an operation terminal and a display terminal; the control module includes a processor, a position judgment module and a communication module; the monitoring module includes a temperature sensor and a humidity sensor.

[0004] The application aims to solve the problem that "operators do not dispense medicines completely according to the serial numbers of the prescribed medicines. When the operator encounters a medicine grid that is in use, he will directly sort the next medicine. This operation mode greatly increases the difficulty of memory for the operator and increases the probability of errors in the dispensing process. In addition, due to the wide variety of medicines, the storage locations of the medicines are difficult to remember, which is very difficult for new operators to get started. The entire dispensing process requires the operator to participate manually, which not only has a very low operating efficiency, but also a very high probability of error, which may bring very serious consequences to patients due to dispensing errors."

[0005] For the pharmacy dispensing scenario, the existing technology already has smart medicine cabinets that can realize automatic dispensing, but the related technologies for dispensing accuracy and automatic dispensing by intelligently identifying the names of drugs in prescriptions are still in the debugging stage.

[0006] Therefore, a smart medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication was proposed. Summary of the invention

[0007] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication, which solves the technical problems raised in the above-mentioned background technology.

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions: The intelligent medicine cabinet precise information interaction system based on multi-mode adaptive IoT communication includes: A management module for real-time updating of storage information of various types of drugs in the intelligent medicine cabinet; an upload module for uploading electronic prescriptions and identifying drug names in the electronic prescriptions; a robotic arm module for moving in the intelligent medicine cabinet and grasping drugs based on the drug names identified in the electronic prescriptions in the upload module; a verification module for verifying whether the drugs grasped by the robotic arm module are correct; an analysis module for analyzing the complexity of drugs in the electronic prescriptions and triggering the operation of the prompt module based on the analysis results; a prompt module for issuing voice prompts to prompt medical staff to double-check the drugs grasped by the robotic arm module based on the electronic prescriptions. Among them, the prompt module is integrated by a speaker, and the speaker internally presets voices for prompting medical staff to double-check the drugs grasped by the robotic arm module. When medical staff open the intelligent medicine cabinet to pick up drugs, the prompt voice is played based on the speaker. The management module is connected to a camera module and a sensing unit through local area network interaction at the lower level. The management module is connected to the upload module, the robotic arm module, and the verification module through local area network interaction. The robotic arm module is connected to a planning unit and a grasping unit through local area network interaction at the lower level. The verification module is connected to the upload module through local area network interaction, and the verification module is connected to the analysis module and the prompt module through local area network interaction.

[0009] Furthermore, sub-modules are provided at the lower level of the management module, including: A camera module for collecting text information on the surface of the drug packages when the drugs are put into the intelligent medicine cabinet. A sensing unit for sensing the weight of the drugs placed in each drug separation area in the intelligent medicine cabinet. Among them, the storage information of various types of drugs updated in real time in the management module includes text information on the surface of the drug packages and drug weight information. During the operation of the camera module, the collected text information is marked with the numbers of the corresponding drug separation areas where the drugs are placed in the intelligent medicine cabinet. The sensing unit is integrated with a weight sensor, and a sensing unit is deployed in each drug separation area. The single-box mass of the drugs placed in the corresponding drug separation area is stored in each sensing unit. The sensing unit obtains the number of drugs placed in each drug separation area in real time based on the ratio of the sensed weight to the corresponding single-box mass.

[0010] Furthermore, during the process of the user supplementing drugs to the intelligent medicine cabinet, the sensing unit senses the weight of the drugs borne in each drug separation area in real time. When the sensed weight is not an integer ratio to the single-box mass of the corresponding drug stored in the sensing unit, an alarm is issued. Among them, a speaker is provided in each separation area of the intelligent medicine cabinet, and an alarm audio is preset in the speaker, and an alarm is issued based on the alarm audio.

[0011] Furthermore, during the process of the user terminal replenishing drugs into the intelligent medicine cabinet, the sensing unit senses the weight of the drugs carried in each drug classification area in real time. When the sensed weight is not an integer ratio to the single-box mass of the corresponding drug stored in the sensing unit, a warning is issued. Among them, each classification area in the intelligent medicine cabinet is provided with a speaker, and a warning audio is preset in the speaker, and a warning is issued based on the warning audio.

[0012] Furthermore, during the operation stage of the robotic arm module, the applied drug grasping logic is as follows: After obtaining the drug names in the electronic prescription, accumulate and select two drug names, and retrieve the movement paths with the same drug names marked at both ends in the movement paths planned by the planning unit based on the selected drug names. Control the robotic arm module to move by applying the retrieved movement paths, so that the robotic arm module drives the grasping unit to move to the entrance of the classification area where the corresponding drug is located in the intelligent medicine cabinet, and drive the electric telescopic rod and the electric suction cup to run simultaneously. The electric telescopic rod pushes the electric suction cup into the classification area to grasp the drug, and then exits, and obtain the corresponding drug grasping quantity in the electronic prescription for the repeated operation of the grasping unit to grasp the same drug in the corresponding quantity. Among them, when the number of drug names in the electronic prescription is even, the grasping operation of the drugs in the electronic prescription is performed based on the drug grasping logic. When the number of drug names in the electronic prescription is odd, for the last remaining drug that has not been grasped and the last grasped drug when grasping drugs based on the movement path last time, retrieve the corresponding movement path in the movement paths planned by the planning unit, and perform the grasping operation on the remaining drugs that have not been grasped by applying the retrieved movement path, and the end point positions corresponding to the drugs that have been grasped in the retrieved movement path will no longer perform the drug grasping operation.

[0013] Furthermore, after each drug is grasped by the robotic arm module, it exits the classification area where the drug is located and closes the electric suction cup. The drug adsorbed by the electric suction cup falls into the preset box below the interior of the intelligent medicine cabinet due to gravity to complete the collection of the drugs corresponding to all drug names in the electronic prescription. After the operation of the robotic arm module is completed, the verification module is triggered to run. During the operation stage of the verification module, it determines whether the drug grasping result is correct based on the text information on the drug surface and the drug weight.

[0014] Furthermore, the verification logic in the verification module for whether the drugs grasped by the robotic arm module are correct is as follows: ; In the formula: is the total mass of all drugs grasped by the robotic arm module; is the total amount of drug names in the electronic prescription; is the single-box mass corresponding to the i-th drug name; is the captured quantity corresponding to the i-th drug name in the electronic prescription; is the set of text information recognized in the image captured above the box preset under the intelligent medicine cabinet; is the union of the text information on the packaging surfaces corresponding to each drug name in the electronic prescription; Among them, when both formula (1) and formula (2) hold, the verification result of the verification module is that the robotic arm module grabs the drug correctly; otherwise, it is incorrect.

[0015] Furthermore, when the verification result of the verification module is negative, a jump is triggered to the operation stage of the upload module, and the system-side user manually clears the drugs placed in the box preset under the intelligent medicine cabinet.

[0016] Furthermore, the analysis logic for the complexity of drugs in the electronic prescription in the analysis module is as follows: ; In the formula: is the complexity of the drugs in the electronic prescription; is the total quantity of drug names in the electronic prescription; is the maximum semantic similarity value of two drug names when they are combined in the electronic prescription; is the minimum semantic similarity value of two drug names when they are combined in the electronic prescription; is the complexity determination standard value; Among them, the complexity of the drugs in the electronic prescription is calculated based on formula (1) , when holds in formula (2), the prompt module is triggered to run.

[0017] Adopting the technical solution provided by the present invention, compared with the known public technology, it has the following beneficial effects: The present invention provides an intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication. During the operation of the system, through camera monitoring combined with sensing technology, the real-time storage information of various drugs in the intelligent medicine cabinet is managed. At the same time, based on the drug name recognition in the electronic prescription, it provides operation support for the robotic arm configured for the intelligent medicine cabinet to ensure that the robotic arm can correctly grab the target drug based on the recognition result of the drug name in the electronic prescription. After the drug is grabbed and the dispensing is completed, further based on a specific continuous analysis logic, it determines whether the dispensing result of the intelligent medicine cabinet is correct. In addition, it also decides whether to issue a prompt based on the complexity of the drugs in the electronic prescription to cooperate with the medical staff to verify the dispensing result again, maximizing the accuracy of the intelligent dispensing operation of the intelligent medicine cabinet and forming an interaction with the electronic prescription issued by the doctor, improving the convenience and efficiency of patients' drug collection after seeing a doctor. Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 It is a schematic structural diagram of an intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication. Detailed Embodiments

[0020] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0021] The following further describes the present invention with reference to the embodiments. Embodiment

[0022] The intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication in this embodiment, as Figure 1 shown, includes: A management module for real-time updating of various types of drug storage information in the intelligent medicine cabinet; There are sub-modules under the management module, including: A camera module for collecting the text information on the surface of the drug packaging when the drug is put into the intelligent medicine cabinet; A sensing unit for sensing the weight of the drugs placed in each drug differentiation area in the intelligent medicine cabinet; Among them, the various types of drug storage information updated in real time in the management module include the text information on the surface of the drug packaging and the drug weight information. During the operation of the camera module, the collected text information is marked with the number of the corresponding drug placed in the differentiation area in the intelligent medicine cabinet. The sensing unit is integrated with a weight sensor, and a sensing unit is deployed in each drug differentiation area. The single-box mass of the drug placed in the corresponding drug differentiation area is stored in each sensing unit. The sensing unit obtains the number of drugs placed in each drug differentiation area in real time based on the ratio of the sensed weight to the corresponding single-box mass; During the process of the user terminal replenishing drugs into the intelligent medicine cabinet, the sensing unit continuously senses the weight of the drugs borne in each drug classification area. When the sensed weight is not an integer ratio to the mass of a single box of the corresponding drug stored in the sensing unit, a warning is issued. Among them, each classification area in the intelligent medicine cabinet is equipped with a speaker, and a warning audio is preset in the speaker. A warning is issued based on the warning audio. An upload module, used to upload electronic prescriptions and identify drug names in the electronic prescriptions. A robotic arm module, used to move in the intelligent medicine cabinet and grab drugs based on the drug names identified in the electronic prescriptions by the upload module. The robotic arm module is subordinate to a sub-module, including: A planning unit, used to plan the movement path of the robotic arm in the intelligent medicine cabinet. A grasping unit, used to grab drugs in the intelligent medicine cabinet. Among them, when the planning unit plans the movement path of the robotic arm in the intelligent medicine cabinet, it obtains the coordinates of the center points of the entrance cross-sections of each drug classification area in the intelligent medicine cabinet. Each time, two coordinates are selected from all the obtained coordinates to construct a movement path until the construction of the movement paths for all combinations of two coordinates is completed and then it ends. The endpoints of each movement path are marked with the names of the drugs belonging to the corresponding classification area. The grasping unit is integrated by an electric telescopic rod and an electric suction cup. During the operation stage of the robotic arm module, the applied drug grasping logic is as follows: After obtaining the drug names in the electronic prescription, two drug names are cumulatively selected. The movement paths with the same drug names marked at both ends are retrieved from the movement paths planned by the planning unit with the selected drug names. The retrieved movement paths are used to control the movement of the robotic arm module, so that the robotic arm module drives the grasping unit to move to the entrance of the classification area where the corresponding drug is located in the intelligent medicine cabinet. The electric telescopic rod and the electric suction cup are driven to operate simultaneously. The electric telescopic rod pushes the electric suction cup into the classification area to grab the drug and then withdraws. The grasping quantity of the corresponding drug is obtained in the electronic prescription for repeated operation of the grasping unit to grab the corresponding quantity of the same drug. Among them, when the number of drug names in the electronic prescription is even, the grasping operation of the drugs in the electronic prescription is performed based on the drug grasping logic. When the number of drug names in the electronic prescription is odd, the last remaining drug that has not been subjected to the grasping operation and the last drug grabbed when moving and grasping drugs based on the movement path last time are used to retrieve the corresponding movement paths from the movement paths planned by the planning unit. The retrieved movement paths are used to perform the grasping operation on the remaining drugs that have not been subjected to the grasping operation, and the endpoint positions corresponding to the drugs that have been grabbed in the retrieved movement paths will no longer perform the drug grasping operation. After each time the robotic arm module grabs the medicine, it exits the area where the medicine is located, closes the electric suction cup, and the medicine adsorbed by the electric suction cup falls into the preset box below the inside of the intelligent medicine cabinet due to gravity, so as to complete the collection of the medicines corresponding to all the medicine names in the electronic prescription. After the operation of the robotic arm module is completed, the verification module is triggered to run; During the operation stage of the verification module, it determines whether the medicine grabbing result is correct based on the text information on the medicine surface and the medicine weight; The verification logic in the verification module for whether the robotic arm module grabs the medicine correctly is as follows: ; In the formula: is the total mass of all the medicines grabbed by the robotic arm module; is the total amount of medicine names in the electronic prescription; is the single-box mass corresponding to the i-th medicine name; is the grabbing quantity corresponding to the i-th medicine name in the electronic prescription; is the set of text information recognized in the image collected above the preset box below the inside of the intelligent medicine cabinet; is the union of the text information on the packaging surfaces corresponding to each medicine name in the electronic prescription; Among them, when both formula (1) and formula (2) hold, the verification result of the verification module is that the robotic arm module grabs the medicine correctly; otherwise, it is incorrect; Through the limitation of the above verification logic, it determines whether the robotic arm module in the system of this embodiment grabs the medicine correctly, improving the accuracy of intelligent medicine dispensing in the intelligent medicine cabinet; The verification module is used to verify whether the medicine grabbed by the robotic arm module is correct; When the verification result of the verification module is no, it triggers a jump to the operation stage of the upload module, and the user at the system end manually clears the medicines placed in the preset box below the inside of the intelligent medicine cabinet; The analysis module is used to analyze the complexity of the medicines in the electronic prescription and trigger the operation of the prompt module based on the analysis result; The analysis logic for the complexity of the medicines in the electronic prescription in the analysis module is as follows: ; In the formula: is the complexity of the medicines in the electronic prescription; is the total amount of medicine names in the electronic prescription; is the maximum semantic similarity value of two medicine names when two medicine names are combined in the electronic prescription; is the minimum semantic similarity value of two medicine names when two medicine names are combined in the electronic prescription; is the complexity determination standard value; Among them, the complexity of the drugs in the electronic prescription is calculated based on formula (1). When holds in formula (2), the prompt module is triggered to run; Through the above logical formula, the complexity of the drugs in the electronic prescription is calculated, providing further judgment support for determining the accuracy of the drug dispensing result of the intelligent medicine cabinet, making the drug dispensing result of the intelligent medicine cabinet more accurate.

[0023] The prompt module is used to issue a voice prompt to remind medical staff to double-check the drugs grabbed by the robotic arm module based on the electronic prescription; The lower level of the management module is connected to the camera module and the sensing unit through local area network interaction. The management module is connected to the upload module, the robotic arm module and the verification module through local area network interaction. The lower level of the robotic arm module is connected to the planning unit and the grasping unit through local area network interaction. The verification module is connected to the upload module through local area network interaction. The verification module is connected to the analysis module and the prompt module through local area network interaction; Among them, the prompt module is integrated by a speaker. The speaker internally presets a voice to remind medical staff to double-check the drugs grabbed by the robotic arm module. When the medical staff opens the intelligent medicine cabinet to pick up drugs, the prompt voice is played based on the speaker.

[0024] In this embodiment, the management module runs to update the storage information of various drugs in the intelligent medicine cabinet in real time. The camera module synchronously collects the text information on the surface of the drug packages stored in the intelligent medicine cabinet. The sensing unit senses the weight of the drugs placed in each drug classification area in the intelligent medicine cabinet in real time. The upload module further uploads the electronic prescription, identifies the drug names in the electronic prescription. The robotic arm module runs later to move in the intelligent medicine cabinet and grabs the drugs based on the drug names identified in the electronic prescription in the upload module. The planning unit synchronously plans the moving path of the robotic arm in the intelligent medicine cabinet. The grasping unit grabs the drugs in the intelligent medicine cabinet in real time. Then the verification module verifies whether the drugs grabbed by the robotic arm module are correct, analyzes the complexity of the drugs in the electronic prescription through the analysis module, triggers the operation of the prompt module based on the analysis result, and finally issues a voice prompt through the prompt module to remind medical staff to double-check the drugs grabbed by the robotic arm module based on the electronic prescription.

[0025] Through the operation of the system in the above embodiment, more accurate dispensing management is provided for the intelligent medicine cabinet, and at the same time, it interacts with the electronic prescription issued by the doctor, making the intelligent medicine cabinet operation and dispensing process more intelligent.

[0026] In summary, during the operation of the system in the above embodiments, through camera monitoring combined with sensing technology, the real-time storage information of various drugs in the intelligent medicine cabinet is managed. At the same time, based on the recognition of drug names in the electronic prescription, the robotic arm configured for the intelligent medicine cabinet is provided with operation support to ensure that the robotic arm can correctly grasp the target drug based on the recognition result of the drug name in the electronic prescription. After the drug is grasped and the dispensing is completed, further based on a specific continuous analysis logic, a determination is made on whether the dispensing result of the intelligent medicine cabinet is correct. In addition, based on the complexity decision of the drugs in the electronic prescription, a prompt is issued to cooperate with medical staff to re-check the dispensing result again, maximizing the accuracy of the intelligent dispensing operation of the intelligent medicine cabinet and forming an interaction with the electronic prescription issued by the doctor, improving the convenience and efficiency of patients' drug collection after seeing a doctor.

[0027] The above embodiments are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication is characterized by: include: Management module, used to update the storage information of various drugs in the smart medicine cabinet in real time; An upload module is used to upload electronic prescriptions and identify drug names in electronic prescriptions; A robotic arm module is used to move in the smart medicine cabinet and grab the medicine based on the medicine name recognized in the electronic prescription in the upload module; Verification module, used to verify whether the medicine grabbed by the robotic arm module is correct; The analysis module is used to analyze the complexity of drugs in electronic prescriptions and trigger the prompt module to run based on the analysis results; A prompt module is used to issue a voice prompt to prompt medical staff to recheck the medicines grabbed by the robotic arm module based on the electronic prescription; Among them, the prompt module is integrated by a speaker, and the speaker has a preset voice prompting medical staff to recheck the medicines grasped by the robotic arm module. When the medical staff opens the smart medicine cabinet to take the medicine, the prompt voice is played based on the speaker.

2. According to claim 1, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: The management module is provided with submodules at the lower level, including: The camera module is used to collect text information on the surface of the medicine packaging in the smart medicine cabinet; A sensing unit, used to sense the weight of medicines placed in each medicine compartment in the smart medicine cabinet; Among them, various types of drug storage information updated in real time in the management module include text information on the surface of the drug packaging and drug weight information. During the operation stage of the camera module, the collected text information is marked with the number of the corresponding drug placement interval in the smart medicine cabinet. The perception unit is integrated with a weight sensor. A perception unit is deployed in each drug partition interval. Each perception unit stores the mass of a single box of drugs placed in the corresponding drug partition interval. The perception unit obtains the number of drugs placed in each drug partition interval in real time based on the ratio of the running perception weight to the corresponding single box mass.

3. According to claim 2, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: When the user is replenishing medicines to the smart medicine cabinet, the sensing unit senses the weight of each medicine compartment in real time, and issues an early warning when the sensed weight is not an integer ratio with the weight of the corresponding medicine box stored in the sensing unit. Among them, each partition in the smart medicine cabinet is equipped with a speaker, which has a preset warning audio and issues a warning based on the warning audio.

4. According to claim 1, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: The robot arm module is provided with submodules at the lower level, including: A planning unit, used to plan the movement path of the robot arm in the smart medicine cabinet; A grabbing unit, used to grab medicines in the smart medicine cabinet; Among them, when planning the moving path of the robotic arm in the smart medicine cabinet, the planning unit obtains the coordinates of the center point of the entrance cross-section of each drug classification interval in the smart medicine cabinet, and selects two coordinates from all the acquired coordinates each time to construct a moving path until all combinations of two coordinates complete the construction of the moving path. The endpoints of each moving path are marked with the name of the drug belonging to the corresponding classification interval. The grasping unit is integrated with an electric telescopic rod and an electric suction cup.

5. According to claim 4, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: During the operation phase of the robotic arm module, the drug grabbing logic applied is: After obtaining the names of the drugs in the electronic prescription, two drug names are cumulatively selected, and the moving paths with the same drug names marked at both ends are retrieved from the moving paths planned in the planning unit using the selected drug names. The retrieved moving paths are used to control the movement of the robotic arm module, so that the robotic arm module carries the grasping unit to move to the entrance of the partitioning interval where the corresponding drug is located in the smart medicine cabinet, and the electric telescopic rod and the electric suction cup are driven to operate simultaneously. The electric telescopic rod pushes the electric suction cup into the partitioning interval to grasp the drug, and then exits. The grasping quantity of the corresponding drug is obtained in the electronic prescription, so as to be used for repeated operation of the grasping unit to grasp the corresponding quantity of the same drug. Among them, when the number of drug names in the electronic prescription is an even number, the grabbing operation of the drugs in the electronic prescription is performed based on the drug grabbing logic. When the number of drug names in the electronic prescription is an odd number, the corresponding moving path is retrieved from the moving path planned by the planning unit based on the last remaining drugs that have not been grabbed and the last grabbed drugs when grabbing drugs based on the moving path. The retrieved moving path is used to perform the grabbing operation on the remaining drugs that have not been grabbed, and the drug grabbing operation is no longer performed at the endpoint position in the retrieved moving path corresponding to the drug grabbing that has been executed.

6. According to claim 1, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: After grabbing the medicine each time, the robot arm module exits the medicine compartment and turns off the electric suction cup. The medicine sucked by the electric suction cup falls into a preset box at the bottom of the smart medicine cabinet based on gravity to complete the collection of all medicines corresponding to the names of the medicines in the electronic prescription. After the operation of the robot arm module is completed, the verification module is triggered to run; During the operation phase of the verification module, whether the drug grabbing result is correct is determined based on the text information on the drug surface and the drug weight.

7. According to claim 1, the intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication is characterized in that: The verification logic in the verification module for whether the robot arm module grabs the medicine correctly is: ； Where: The total mass of all medicines grabbed by the robot arm module; is the total number of drug names in the electronic prescription; is the single box mass corresponding to the i-th drug name; is the number of captured drugs corresponding to the i-th drug name in the electronic prescription; The image is collected above the box body preset at the bottom of the smart medicine cabinet, and the text information is recognized in the image; It is the union of the text information on the packaging surface corresponding to each drug name in the electronic prescription; Among them, when formula (1) and formula (2) are both true, the verification result of the verification module is that the robot arm module grabs the medicine correctly, otherwise it is incorrect.

8. The intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication according to claim 1 is characterized in that: When the verification result of the verification module is negative, a jump is triggered to the upload module operation stage, and the system end user synchronously manually clears the medicines placed in the preset box at the bottom of the smart medicine cabinet.

9. The intelligent medicine cabinet accurate information interaction system based on multi-mode adaptive Internet of Things communication according to claim 1 is characterized in that: The analysis logic for the complexity of drugs in electronic prescriptions in the analysis module is: ； Where: The complexity of drugs in electronic prescriptions; is the total number of drug names in the electronic prescription; The maximum semantic similarity of two drug names when they are combined in an electronic prescription; The minimum semantic similarity between two drug names when they are combined in an electronic prescription; Determine the standard value for complexity; Among them, the complexity of drugs in electronic prescriptions is calculated based on formula (1): ,when When formula (2) is established, the prompt module is triggered to run.

10. The intelligent medicine cabinet precise information interaction system based on multi-mode adaptive Internet of Things communication according to claim 1 is characterized in that: The management module is interactively connected to a camera module and a perception unit via a local area network, the management module is interactively connected to an upload module, a robotic arm module and a verification module via a local area network, the robotic arm module is interactively connected to a planning unit and a grasping unit via a local area network, the verification module is interactively connected to the upload module via a local area network, and the verification module is interactively connected to an analysis module and a prompt module via a local area network.

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