Automatic dispensing method and device and automatic dispensing system

Abstract

The invention discloses an automatic medicine dispensing method, an automatic medicine dispensing device and an automatic medicine dispensing system. The method comprises the following steps: determining a medicine stock in a medicine storage cabinet according to the content of an electronic prescription; when it is determined that the medicine stock meets the dispensing requirement of the electronic prescription, the electronic prescription is sent to a first robot, and the first robot is used for executing dispensing operation according to the electronic prescription; after a medicine dispensing completion signal is received, a medicine delivery instruction is sent to the first robot or the second robot according to the medicine type of the electronic medicine sheet, so that the first robot or the second robot is utilized to transfer medicine configured by the first robot to a medicine taking cabinet according to the medicine delivery instruction; after it is determined that the medicine is transferred to the medicine taking cabinet, monitoring equipment at the medicine taking cabinet is controlled to conduct medicine storage monitoring, and the medicine storage state is obtained; and sending a medicine taking prompt message according to the medicine storage state. According to the invention, the technical problems of errors and potential safety hazards caused by manual medicine dispensing in the prior art are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation control, in particular to an automatic dispensing method and device and an automatic dispensing system. BACKGROUND

[0002] At present, the medicine dispensing process mostly relies on manual operation. This traditional manual dispensing method exposes a series of problems and deficiencies in the face of the growing demand of patients. First, manual dispensing is time-consuming and inefficient, especially during the patient peak period, the pharmacy often faces the phenomenon of long waiting and queuing of patients, which not only affects the patient's medical experience, but also causes waste of medical resources. Second, the precision of manual operation is limited, especially in the field of traditional Chinese medicine, the types of medicinal materials are various, and the dosage and proportion of each medicinal material need to be strictly controlled, manual weighing and dispensing are difficult to ensure the consistency and accuracy of each operation, thereby affecting the medicinal effect and increasing the medical risk. Third, if appropriate protective measures are not taken during the process of manual contact with drugs, such as wearing gloves, drug pollution is easy to occur, especially when dealing with different drugs, the risk of cross contamination increases significantly, which directly affects the quality and safety of the drugs. In addition, the existing dispensing system lacks real-time information feedback and progress tracking, patients often need to wait for a long time during the payment and drug taking process, and cannot obtain accurate dispensing progress information, which increases the psychological burden and uncertainty of patients.

[0003] Although the medical automation technology has developed now, the existing technology mostly focuses on the automatic distribution of tablets or capsules, and there is still a lack of effective automation solution for the dispensing of traditional Chinese medicine granules, decoction and whole bottle / box of western medicine.

[0004] In order to solve the above problems, improve the work efficiency and dispensing accuracy of the pharmacy, and at the same time ensure the quality of the drugs and the safety of the patients, it is urgent to develop a new full-automatic dispensing system control method, which can fully cover the dispensing needs of traditional Chinese medicine and western medicine, realize the whole automation from the generation of the medicine list to the drug configuration and then to the patient's drug taking, so as to completely change the operation mode of the pharmacy and improve the level of medical service.

[0005] At present, there is no effective solution to the above problems. SUMMARY

[0006] The embodiments of the present application provide an automatic dispensing method and device and an automatic dispensing system, which at least solve the technical problems of errors and safety hazards caused by manual dispensing in the related art.

[0007] According to an aspect of an embodiment of the present application, an automatic dispensing method is provided, comprising: determining a drug inventory in a drug storage cabinet according to a prescription content of an electronic prescription; when it is determined that the drug inventory meets a dispensing requirement of the electronic prescription, sending the electronic prescription to a first robot to perform a dispensing operation according to the electronic prescription by using the first robot; after receiving a dispensing completion signal, sending a medicine delivery instruction to the first robot or a second robot according to a prescription type of the electronic prescription, to move a drug configured by the first robot to a medicine taking cabinet according to the medicine delivery instruction by using the first robot or the second robot; after determining that the drug is moved to the medicine taking cabinet, controlling a monitoring device at the medicine taking cabinet to perform drug storage monitoring to obtain a drug storage state; and sending a medicine taking prompt message according to the drug storage state.

[0008] Optionally, before determining the drug inventory in the drug storage cabinet according to the prescription content of the electronic prescription, the automatic dispensing method further comprises: sending the electronic prescription to a payment system, and sending a payment prompt message to a terminal device, wherein the payment prompt message carries payment information corresponding to the electronic prescription; determining a payment state after a first predetermined time length of sending the payment prompt message to the terminal device; when the payment state indicates that the payment is completed, preparing to enter the drug inventory determination process; when the payment state indicates that the payment is not completed, sending the payment prompt message to the terminal device according to a predetermined period.

[0009] Optionally, the automatic dispensing method further comprises: determining the payment state when a number of times of sending the payment prompt message to the terminal device according to the predetermined period reaches a sending number threshold; determining that the electronic prescription is invalid when the payment state indicates that the payment is not completed and a second predetermined time length is exceeded; and preparing to enter the drug inventory determination process when the payment state indicates that the payment is completed and the second predetermined time length is not exceeded.

[0010] Optionally, determining the drug inventory in the drug storage cabinet according to the prescription content of the electronic prescription comprises: classifying the drug corresponding to the electronic prescription to obtain a drug classification result; sending the electronic prescription and the drug classification result to mobile robot control software to generate a dispensing instruction according to the drug classification result and the electronic prescription by using the mobile robot control software; and controlling the dispensing robot to perform a dispensing operation according to the dispensing instruction by using the mobile robot control software after the dispensing instruction is sent to the dispensing robot.

[0011] Optionally, the dispensing robot comprises a first dispensing robot and a second dispensing robot, and the electronic prescription and the medicine classification result are sent to a mobile robot control software to generate dispensing instructions according to the medicine classification result and the electronic prescription by using the mobile robot control software, which comprises: determining a medicine type according to the electronic prescription by using the mobile robot control software; determining a medicine storage position of the medicine according to the medicine type; determining a medicine taking path according to the medicine storage position; and generating the dispensing instructions according to the medicine taking path and the medicine classification result.

[0012] Optionally, the dispensing robot comprises the first robot and the second robot, and after receiving a dispensing completion signal, a medicine sending instruction is sent to the first robot or the second robot according to a prescription type of the electronic prescription to move the medicine configured by the first robot to a medicine taking cabinet according to the medicine sending instruction by using the first robot or the second robot, which comprises: when the medicine classification result indicates that the medicine is a first type of medicine, after receiving the dispensing completion signal, the medicine sending instruction is sent to the second robot according to the prescription type to move the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction by using the second robot, wherein the first type of medicine is at least a traditional Chinese medicine; and when the medicine classification result indicates that the medicine is a second type of medicine, after receiving the dispensing completion signal, the medicine sending instruction is sent to the first robot according to the prescription type to move the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction by using the first robot, wherein the second type of medicine is a whole bottle of western medicine.

[0013] Optionally, the electronic prescription is sent to the first robot to perform dispensing operation according to the electronic prescription by using the first robot, which comprises: after the first robot receives the dispensing instruction, moving to the medicine storage cabinet according to the medicine taking path carried in the dispensing instruction to perform medicine taking operation according to the medicine type; after the first robot completes the medicine taking operation, placing the medicine in a medicine checking area to perform medicine checking to obtain a medicine checking result; and performing the dispensing operation after the medicine checking result indicates that the medicine is correct.

[0014] According to another aspect of the embodiments of the present application, an automatic dispensing device is also provided, comprising: a first determining module configured to determine a drug inventory in a drug storage cabinet according to a drug order content of an electronic drug order; a first sending module configured to send the electronic drug order to a first robot to perform a dispensing operation according to the electronic drug order by using the first robot when it is determined that the drug inventory meets a dispensing requirement of the electronic drug order; a second sending module configured to send a drug delivery instruction to the first robot or a second robot according to a drug order type of the electronic drug order to move a drug configured by the first robot to a drug taking cabinet by using the first robot or the second robot after receiving a dispensing completion signal; a control module configured to control a monitoring device at the drug taking cabinet to perform drug storage monitoring to obtain a drug storage state after determining that the drug is moved to the drug taking cabinet; and a third sending module configured to send a drug taking prompt message according to the drug storage state.

[0015] Optionally, the automatic dispensing device further comprises: a fourth sending module configured to send the electronic drug order to a payment system and send a payment prompt message to a terminal device before determining the drug inventory in the drug storage cabinet according to the drug order content of the electronic drug order, wherein the payment prompt message carries payment information corresponding to the electronic drug order; a second determining module configured to determine a payment state after a first predetermined time length after sending the payment prompt message to the terminal device; a first preparation module configured to prepare to enter the drug inventory determination process when the payment state indicates that the payment is completed; and a fifth sending module configured to send the payment prompt message to the terminal device according to a predetermined period when the payment state indicates that the payment is not completed.

[0016] Optionally, the automatic dispensing device further comprises: a third determining module configured to determine the payment state when a number of times of sending the payment prompt message to the terminal device according to the predetermined period reaches a sending number threshold; a fourth determining module configured to determine that the electronic drug order is invalid when the payment state indicates that the payment is not completed and a second predetermined time length is exceeded; and a second preparation module configured to prepare to enter the drug inventory determination process when the payment state indicates that the payment is completed and the second predetermined time length is not exceeded.

[0017] Optionally, the first determining module comprises: a classification unit, configured to classify the medicine corresponding to the electronic medicine order to obtain the medicine classification result; a first sending unit, configured to send the electronic medicine order and the medicine classification result to the mobile robot control software, so as to generate a dispensing instruction according to the medicine classification result and the electronic medicine order by using the mobile robot control software; and a control unit, configured to control the dispensing robot to perform a dispensing operation according to the dispensing instruction by using the mobile robot control software after the dispensing instruction is sent to the dispensing robot.

[0018] Optionally, the first sending unit comprises: a first determining subunit, configured to determine a medicine type according to the electronic medicine order by using the mobile robot control software; a second determining subunit, configured to determine a medicine storage position of the medicine according to the medicine type; a third determining subunit, configured to determine a medicine taking path according to the medicine storage position; and a generating subunit, configured to generate the dispensing instruction according to the medicine taking path and the medicine classification result.

[0019] Optionally, the second sending module comprises: a second sending unit, configured to send the medicine sending instruction to the second robot according to the medicine order type after the dispensing completion signal is received, so as to move the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction by using the second robot, when the medicine classification result indicates that the medicine is a first type of medicine; and a third sending unit, configured to send the medicine sending instruction to the first robot according to the medicine order type after the dispensing completion signal is received, so as to move the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction, when the medicine classification result indicates that the medicine is a second type of medicine.

[0020] Optionally, the first sending module comprises: a medicine taking unit, configured to move to the medicine storage cabinet according to the medicine taking path carried in the dispensing instruction to perform a medicine taking operation according to the medicine type after the first robot receives the dispensing instruction; a checking unit, configured to place the medicine in a medicine checking area to perform a medicine checking operation after the first robot completes the medicine taking operation, to obtain a medicine checking result; and a dispensing unit, configured to perform the dispensing operation after the medicine checking result indicates that the medicine is correct.

[0021] According to another aspect of the embodiment of the present application, an automatic dispensing system is also provided, which uses the automatic dispensing method described in any of the above.

[0022] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which includes a stored program, wherein the program performs the automatic dispensing method according to any one of the above.

[0023] According to another aspect of the embodiments of the present application, a processor is also provided, which is used to run a program, wherein the program performs the automatic dispensing method according to any one of the above when running.

[0024] According to another aspect of the embodiments of the present application, a computer program product is also provided, which includes computer instructions, wherein the computer instructions perform the automatic dispensing method according to any one of the above when executed by a processor.

[0025] In the embodiments of the present application, the drug inventory in the storage cabinet is determined according to the prescription content of the electronic prescription; when it is determined that the drug inventory meets the dispensing demand of the electronic prescription, the electronic prescription is sent to the first robot to perform dispensing operation according to the electronic prescription by the first robot; after receiving the dispensing completion signal, the sending instruction is sent to the first robot or the second robot according to the prescription type of the electronic prescription, so as to move the drug configured by the first robot to the dispensing cabinet by the first robot or the second robot according to the sending instruction; after it is determined that the drug is moved to the dispensing cabinet, the monitoring device at the dispensing cabinet is controlled to perform drug storage monitoring to obtain the drug storage state; the dispensing prompt message is sent according to the drug storage state, and through the integration of 3D vision technology, force sensor application, remote communication and automatic robot control technology, the purpose of achieving efficient, accurate and safe drug dispensing of the full-automatic pharmacy management is achieved, so as to realize the technical effects of reducing manual intervention and queuing waiting time, improving drug management efficiency, avoiding drug pollution and configuration error, and reducing labor cost, and further solve the technical problems of errors and safety hazards caused by manual dispensing in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and serve to explain the principles of the application. In the drawings:

[0027] Figure 1 is a hardware structure block diagram of a mobile terminal of an automatic dispensing method according to an embodiment of the present application;

[0028] Figure 2 is a flowchart of an automatic dispensing method according to an embodiment of the present application;

[0029] Figure 3 is a flowchart of payment of an automatic dispensing method according to an embodiment of the present application;

[0030] Figure 4 is a flow chart of screening, dispensing and delivering of the automatic dispensing method according to the embodiment of the present application;

[0031] Figure 5 is a schematic diagram of the medicine storage cabinet function of the automatic dispensing method according to the embodiment of the present application;

[0032] Figure 6 is a hardware structure block diagram of the mobile robot A1 and the mobile robot B1 according to the embodiment of the present application;

[0033] Figure 7 is a flow chart of the dispensing process of the automatic dispensing method according to the embodiment of the present application;

[0034] Figure 8 is a schematic diagram of the medicine taking cabinet function of the automatic dispensing method according to the embodiment of the present application;

[0035] Figure 9 is a schematic diagram of the 3D vision function of the automatic dispensing method according to the embodiment of the present application;

[0036] Figure 10 is a schematic diagram of the automatic dispensing device according to the embodiment of the present application.

[0037] Among the above figures, the following reference signs are included:

[0038] 102, processor; 104, memory; 106, transmission device; 108, input and output device; 601, collaborative robot; 602, mobile trolley; 603, camera. DETAILED DESCRIPTION

[0039] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0040] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and in the above-described drawings are intended to distinguish similar objects and not necessarily describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the application described herein can be practiced in other than the illustrated or described order. Furthermore, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units is not necessarily limited to those steps or units that are clearly listed, but can include other steps or units that are not clearly listed or inherent to such processes, methods, products, or apparatuses.

[0041] As introduced in the background, the error caused by manual dispensing in the related art has the defect of safety hazard. In the embodiments of the present application, an automatic dispensing method and device, an automatic dispensing system, a computer readable storage medium, a processor and a computer program product are provided.

[0042] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0043] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or similar computing devices. Taking the case of running on a mobile terminal, Figure 1 is a hardware structure block diagram of a mobile terminal of an automatic dispensing method in the embodiments of the present application. As shown in Figure 1 , the mobile terminal can include one or more (only one is shown in Figure 1 ) processor 102 (the processor 102 can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned mobile terminal can further include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that Figure 1 the structure shown is only schematic, which does not limit the structure of the above-mentioned mobile terminal. For example, the mobile terminal can further include more or less components than those shown in Figure 1 , or have a different configuration from that shown in Figure 1 .

[0044] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as a computer program corresponding to the automatic dispensing method in the embodiments of the present application. The processor 102 can execute various functional applications and data processing, i.e., implement the above method, by running the computer program stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories remotely arranged with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The specific examples of the above network can include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0045] According to the embodiments of the present application, a method embodiment of an automatic dispensing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that shown herein.

[0046] Figure 2 is a flowchart of an automatic dispensing method according to the embodiments of the present application, as shown in Figure 2 The method includes the following steps:

[0047] In step S202, the drug inventory in the drug storage cabinet is determined according to the drug order content of the electronic drug order.

[0048] In this embodiment, the electronic drug order provides a list of currently required drugs, reducing the risk of errors in manual input. By analyzing the content of the electronic drug order in real time, the system can immediately check the drug inventory of the drug storage cabinet, determine whether the drug types and quantities on the drug order can be met, accurately predict the demand for each drug in the drug storage cabinet, help ensure sufficient supply of drugs, avoid dispensing delays due to lack of drugs, and also reduce excessive storage of drugs, saving costs and space.

[0049] It should be noted that the above-mentioned electronic prescription is a prescription document issued by a doctor and transmitted through a computer system. It is usually generated in the electronic medical system of a hospital or clinic and can be directly transmitted to the dispensing system of a pharmacy.

[0050] Optionally, the contents of the above prescription may include but are not limited to: drug name, dosage, usage and quantity, etc.

[0051] Step S204: When it is determined that the drug inventory meets the dispensing requirements of the electronic prescription, the electronic prescription is sent to the first robot so that the first robot can perform the dispensing operation according to the electronic prescription.

[0052] In this embodiment, when the system confirms that the drug inventory in the medicine storage cabinet meets the drug requirements on the electronic prescription, the prescription is automatically sent to the first robot responsible for dispensing. After receiving the electronic prescription, the first robot can immediately start the dispensing operation to ensure that the dispensing activity is initiated based on sufficient drug supply. The dispensing is performed by the first robot, combined with 3D vision and force sensor technology, which can achieve accurate identification and weighing of drugs, reduce dispensing errors caused by human factors, avoid invalid operations, and improve work efficiency and resource utilization efficiency.

[0053] Step S206: After receiving the dispensing completion signal, a medicine delivery instruction is sent to the first robot or the second robot according to the prescription type of the electronic prescription, so that the first robot or the second robot can transfer the medicine configured by the first robot to the medicine collection cabinet according to the medicine delivery instruction.

[0054] In this embodiment, the automatic drug delivery by robots reduces the need for manual handling of drugs, which can effectively alleviate the pressure on human resources. According to the type of prescription, the corresponding robot is dispatched to deliver the drugs, and the drugs can be delivered to the designated medicine cabinet quickly and accurately according to the preset path planning, reducing the waiting time and uncertainty in the drug delivery process, providing a detailed data basis for drug management, and improving the pertinence and efficiency of drug delivery.

[0055] Step S208: After determining that the medicines are transferred to the medicine dispensing cabinet, the monitoring equipment at the medicine dispensing cabinet is controlled to perform medicine storage monitoring to obtain the medicine storage status.

[0056] In this embodiment, by monitoring the storage status of the medicine, the physical integrity and correctness of the medicine can be confirmed, thereby preventing patients from receiving the wrong medicine or medicine with quality issues, improving the safety of the medicine collection process, and monitoring the storage status of the medicine helps to update the inventory information of the medicine collection cabinet in real time, promptly discover abnormalities in the storage of medicines, ensure that the pharmacy management system has the latest drug distribution situation, and is conducive to the reasonable planning of drug replenishment time, thereby strengthening drug safety and inventory management.

[0057] Step S210, sending a medicine taking prompt message according to the medicine storage state.

[0058] In this embodiment, after the medicine is correctly stored in the medicine taking cabinet and confirmed by the monitoring device, the medicine taking prompt message is sent to the patient in time, which can ensure that the patient obtains the prepared medicine in the shortest time, improves the speed and efficiency of the medicine taking process, and improves the overall medical experience and satisfaction of the patient.

[0059] From the above, in the embodiment of the application, the drug inventory in the medicine storage cabinet is determined according to the prescription content of the electronic prescription; when it is determined that the drug inventory meets the dispensing demand of the electronic prescription, the electronic prescription is sent to the first robot to perform the dispensing operation according to the electronic prescription by the first robot; after receiving the dispensing completion signal, the sending medicine instruction is sent to the first robot or the second robot according to the prescription type of the electronic prescription, so as to move the medicine prepared by the first robot to the medicine taking cabinet by the first robot or the second robot according to the sending medicine instruction; after it is determined that the medicine is moved to the medicine taking cabinet, the monitoring device at the medicine taking cabinet is controlled to perform the medicine storage monitoring to obtain the medicine storage state; the medicine taking prompt message is sent according to the medicine storage state. Through the integration of 3D vision technology, force sensor application, remote communication and automatic robot control technology, the purpose of achieving efficient, accurate and safe medicine dispensing of full-automatic pharmacy management is achieved, so as to realize the technical effects of reducing manual intervention and queuing waiting time, improving medicine management efficiency, avoiding medicine pollution and configuration error, and reducing labor cost.

[0060] Through the above technical scheme provided by the embodiment of the application, the technical problem of error caused by manual dispensing and safety hazard in the related art is solved.

[0061] According to the above embodiment of the application, before determining the drug inventory in the medicine storage cabinet according to the prescription content of the electronic prescription, the automatic dispensing method further comprises: sending the electronic prescription to a payment system, and sending a payment prompt message to a terminal device, wherein the payment prompt message carries payment information corresponding to the electronic prescription; determining the payment state after a first predetermined time of sending the payment prompt message to the terminal device; when the payment state indicates that the payment has been completed, entering the drug inventory determination process; when the payment state indicates that the payment has not been completed, sending the payment prompt message to the terminal device according to a predetermined period.

[0062] In this embodiment, the electronic prescription information is transmitted to the payment system through remote communication technology, and a payment prompt is sent to the terminal device of the patient. By monitoring the feedback of the payment system, the payment state is determined, and then it is decided whether to continue the dispensing process. Through the integration of the electronic prescription, the payment system and the terminal device, automatic payment confirmation of the electronic prescription is realized, the payment state can be automatically detected, and it is ensured that the dispensing process is started only after the patient completes the payment, avoiding resource waste and unnecessary dispensing operations. The payment process can be simplified, the system operation efficiency can be improved, and the service quality and patient satisfaction can be improved.

[0063] Figure 3 is a flowchart of the payment process of the automatic dispensing method according to the embodiment of the present application, as shown in Figure 3 the doctor prescribes medicine according to the patient's condition and forms an electronic prescription, which is summarized to the charging place and arranged according to time. The payment information is sent to the payment terminal of the payer. It is judged whether the payer has completed the payment. When the payer completes the payment, the information is fed back to the total system, and the progress is controlled by the total system. Then, the progress information is sent to the mobile terminal of the payer through the hospital applet. When the payer has not completed the payment, the payment reminder is sent to the mobile terminal of the payer directly through the applet, and the information of the charging system is updated in real time. The payment reminder is sent once every 1 hour (i.e., a predetermined period).

[0064] According to the above-mentioned embodiment of the present application, the automatic dispensing method further comprises: when the number of times of sending the payment prompt message to the terminal device according to the predetermined period reaches the sending number threshold, determining the payment state; when the payment state indicates that the payment has not been completed and the second predetermined time length has been exceeded, determining that the electronic prescription is invalid; and when the payment state indicates that the payment has been completed and the second predetermined time length has not been exceeded, preparing to enter the drug inventory determination process.

[0065] In this embodiment, by setting the number threshold and time limit of the payment prompt, the reasonable operation of the system and the effective use of resources are ensured. By using the time management and counting mechanism, the payment state is tracked and judged. When the payment prompt reaches a certain number or exceeds the time limit without completing the payment, the system automatically cancels the prescription, which can avoid the idle of resources due to long-term non-payment.

[0066] As shown in Figure 3 the payment system sends 3 payment prompt messages (i.e., the sending number threshold) to the terminal device. After 3 reminders, if the payment is still not completed, it can be placed in the system to wait. If the payment is completed within 1 week (second predetermined time length), the electronic prescription is activated and fed back to the total system. If the payment is not completed within 1 week, the electronic prescription is cancelled and invalidated.

[0067] Specifically, first, the doctor writes a prescription and uploads it to the applet general system, and the medicine that can be prescribed has been entered into the applet general system in advance, and the medicine that is not available will not be written on the prescription by the doctor; if the payment is not completed within a week, the applet will directly invalidate the prescription, and no payment will not be able to pick up the medicine, and the applet system will automatically cancel it if the time is exceeded; the applet can send messages to the payer's mobile phone and also leave at least one medical staff's contact information internally, and the medicine can be directly sent to the medical staff's mobile phone if it is not taken out for more than three days, and the medical staff takes it out and feeds back the information to the applet general system.

[0068] According to the above embodiment of the present application, the drug inventory in the medicine storage cabinet is determined according to the content of the electronic prescription, which includes: classifying the medicines corresponding to the electronic prescription to obtain a medicine classification result; sending the electronic prescription and the medicine classification result to the mobile robot control software to generate a dispensing instruction according to the medicine classification result and the electronic prescription by using the mobile robot control software; after the dispensing instruction is sent to the dispensing robot, the dispensing robot is controlled by the mobile robot control software to execute the dispensing operation according to the dispensing instruction.

[0069] In this embodiment, the medicine classification result is used as input to generate a corresponding dispensing instruction by the mobile robot control software, and the dispensing robot executes the instruction to complete the grabbing, checking and dispensing of the medicine. Through medicine classification and dispensing instruction generation, targeted dispensing operation is realized for different types of medicines, which can automatically select the most suitable dispensing strategy according to the characteristics of the medicine, thereby ensuring the accuracy of the medicine dispensing and improving the flexibility and efficiency of the dispensing.

[0070] Figure 4 is a flow chart of the screening, dispensing and delivery of the automatic dispensing method according to the embodiment of the present application, as shown in Figure 4 After confirming the completion of payment, the general system sends the electronic prescription to the medicine storage cabinet and judges the sufficiency of the medicine, and the general system classifies and screens according to the electronic prescription, which are traditional Chinese medicine sub-packing, traditional Chinese medicine grinding into particles, traditional Chinese medicine decoction, western medicine containing single tablets and western medicine whole bottle / box. Among them, according to whether two mobile robots need to cooperate, they are divided into different control logics, traditional Chinese medicine sub-packing 1, traditional Chinese medicine grinding into particles 2, traditional Chinese medicine decoction 3 and western medicine containing single tablets 4 all need two mobile robots to cooperate; western medicine whole bottle / box 5 only needs one mobile robot, the first four are divided into traditional Chinese medicine and western medicine, the general system sends the content and classification of the electronic prescription to the remote control software of mobile robot A1 (i.e. the first robot) and mobile robot B1 (i.e. the second robot) to generate two dispensing processes.

[0071] Figure 5 is a schematic diagram of the function of the medicine storage cabinet of the automatic dispensing method according to the embodiment of the present application, as shown in Figure 5 The medicine storage cabinet has two functions of judgment and feedback and medicine supplement, and the specific execution process is as follows:

[0072] 1) Judgment and feedback function, first, according to the content of the electronic prescription provided by the total system, the number and weight of the corresponding medicine in the cabinet are obtained, and whether the medicine on the prescription can be supported is judged through 3D visual counting and force sensor weighing, when the medicine on the prescription can be supported, the total system is fed back that the medicine is sufficient, and the total system proceeds to the next step; when the medicine on the prescription can be supported, the total system is fed back that the medicine is insufficient and the type of the insufficient medicine;

[0073] 2) Medicine supplement function, when the medicine is insufficient, first, the total system sends the required medicine information to the control software of mobile robot B2, and then the 3D vision obtains the position information of the medicine; second, after path planning according to the position of the medicine and selecting the shortest path, programming is carried out and the program is sent to the robot for running; third, the mobile robot B2 reaches the position of the medicine for grabbing, the 3D vision checks the medicine, and after no error, the medicine is supplemented, and finally the total system is fed back that the medicine is sufficient. When the specified time (12 o'clock at night, which can be changed) arrives, first, the total system sends the medicine supplement information (medicine information consumed today) to the control software of mobile robot B2, and then the 3D vision obtains the position information of the medicine; second, after path planning according to the position of the medicine and selecting the shortest path, programming is carried out and the program is sent to the robot for running; third, the mobile robot B2 reaches the position of the medicine for grabbing, the 3D vision checks the medicine, and after no error, the medicine is supplemented, and finally the total system is fed back that the medicine is sufficient.

[0074] In addition, it should be noted that the above medicine supplement time is arranged from 1 o'clock in the morning to the end of medicine supplement, which avoids the outpatient time, and the dispensing time is all day, except for emergency dispensing in the early morning, the remaining outpatients have a specified working time, which will not interfere with the normal operation of the hospital; the system priority is dispensing higher than medicine supplement, the system is first built and completed, and the medicine inside is completely supplemented, so the medicine is first dispensed, the medicine is supplemented when the medicine is insufficient, the medicine is sufficient and does not need to be dispensed, and the emergency has a single according to the priority, which is first dispensed and then supplemented, which will not delay the emergency.

[0075] Figure 6 is a hardware structure block diagram of the mobile robot A1 and the mobile robot B1 according to the embodiments of the present application, like Figure 6As shown, the mobile robot A1 and the mobile robot B1 include a collaborative robot 601, a mobile trolley 602, and a camera 603, wherein the mobile trolley 602 includes a remote control and a force sensor for weighing and is equipped with 14 measuring positions according to the normally open traditional Chinese medicine fraction, the camera is equipped with visual communication and is mainly used for medicine checking and part of position information acquisition, the positions of the medicine storage cabinet and the medicine taking cabinet are fixed relative to the control platform, so the positions of the medicines are also fixed without misplacement. The mobile robot A1 and the mobile robot B1 have two mechanical arms for collaborative dispensing, and the communication between the mobile robot A1 and the mobile robot B1 is connected by the control console. The mobile robot B1 is only responsible for delivering medicine. When the end clamping fails, 3D camera recognition cannot be performed, at which time the robot program cannot be fed back to the control system to re-perform the previous step of the grabbing program.

[0076] In the above embodiment of the present application, the dispensing robot includes a first dispensing robot and a second dispensing robot, and the electronic medicine order and the medicine classification result are sent to the mobile robot control software to generate a dispensing instruction according to the medicine classification result and the electronic medicine order by using the mobile robot control software, including: determining the medicine type according to the electronic medicine order by using the mobile robot control software; determining the medicine storage position of the medicine according to the medicine type; determining the medicine taking path according to the medicine storage position; and generating the dispensing instruction according to the medicine taking path and the medicine classification result.

[0077] In this embodiment, the medicine type, the storage position, and the medicine taking path are determined according to the electronic medicine order and the medicine classification result by using the mobile robot control software, and finally the dispensing instruction is generated, the automation of complex medicine dispensing is realized by using the double-robot cooperation and the fine path planning, the first and second dispensing robots can work collaboratively and are respectively responsible for dispensing different types of medicines, the waiting time and the error rate in the dispensing process are reduced, and the efficiency and the quality of the dispensing are improved.

[0078] Figure 7 It is a flow chart of the dispensing process of the automatic dispensing method according to the embodiment of the present application, as shown in Figure 7 Firstly, the control systems of the mobile robot A1 (i.e., the first dispensing robot) and the mobile robot B1 (i.e., the second dispensing robot) obtain the electronic medicine order content and the classification information, then the robot obtains the medicine type according to the information of the electronic medicine order, subsequently obtains the medicine position according to the medicine type, plans the path according to the medicine position, selects the shortest path, and finally selects whether to weigh according to the classification, programs and sends the program to the robot for operation.

[0079] According to the above-mentioned embodiments of the present application, the dispensing robot comprises a first robot and a second robot, after receiving the dispensing completion signal, the dispensing instruction is sent to the first robot or the second robot according to the type of the electronic prescription, so as to move the medicine configured by the first robot to the medicine taking cabinet according to the dispensing instruction by the first robot or the second robot, comprising: when the medicine classification result indicates that the medicine is a first type medicine, after receiving the dispensing completion signal, the dispensing instruction is sent to the second robot according to the type of the electronic prescription, so as to move the medicine configured by the first robot to the medicine taking cabinet according to the dispensing instruction by the second robot, wherein the first type medicine is at least a traditional Chinese medicine; when the medicine classification result indicates that the medicine is a second type medicine, after receiving the dispensing completion signal, the dispensing instruction is sent to the first robot according to the type of the electronic prescription, so as to move the medicine configured by the first robot to the medicine taking cabinet according to the dispensing instruction, wherein the second type medicine is a whole bottle of western medicine.

[0080] In this embodiment, the type of medicine is determined by the medicine classification result, and then the first robot or the second robot is selected according to the type to execute the dispensing instruction, which can improve the dispensing efficiency and reduce the confusion of medicines. By distinguishing the dispensing instructions of different types of medicines, the differential treatment of traditional Chinese medicine and western medicine is realized, and the most suitable robot can be automatically selected for dispensing operation according to the type of medicine, thereby improving the efficiency and accuracy of dispensing.

[0081] As shown in Figure 4 and Figure 7 , the traditional Chinese medicine sub-package 1, the traditional Chinese medicine ground into particles 2, the traditional Chinese medicine decoction package 3 and the western medicine containing single piece 4 are the first type medicine, and the western medicine whole bottle / box 5 is the second type medicine. When the medicine classification result indicates that the medicine is the first type medicine, the total system sends the content and classification of the electronic prescription to the remote control software of the mobile robots A1 and B1 and generates the corresponding dispensing process 1 and dispensing process 2; when the medicine classification result indicates that the medicine is the second type medicine, the total system sends the content and classification of the electronic prescription to the remote control software of the mobile robot A1 and generates the corresponding dispensing process 3.

[0082] Figure 8 is a schematic diagram of the medicine taking cabinet function according to the automatic dispensing method of the embodiments of the present application, as shown in Figure 8 , the medicine taking cabinet has two functions of judgment and feedback and prompting, and the specific execution process is as follows:

[0083] 1) Judgment and feedback function, first step, judge the empty position through the force sensor, send the information to the total system according to the order; second step, the total system sends the position information to the control software of the mobile robot B2; third step, after path planning according to the position of the medicine and selecting the shortest path, programming and sending the program to the mobile robot B2 for operation; fourth step, after the mobile robot B2 reaches the position for placement, feedback information to the total system for checking, and after checking, confirming that it is placed well, sending the position information to the mobile phone terminal of the payer by the total system.

[0084] 2) Prompt function, first step, record the time of placing the medicine in the medicine taking cabinet through the force sensor; second step, according to the reminding times and time, it can be prompted every 1 hour after completing the medicine placement, and after 3 times of prompting, it will not be prompted any more, or it can be prompted to the corresponding medical staff to take away and handle after 3 days of no one taking after completing the medicine placement, and there is no other prompt.

[0085] According to the above embodiment of the application, the electronic medicine order is sent to the first robot to perform the dispensing operation according to the electronic medicine order, which includes: after the first robot receives the dispensing instruction, moving to the medicine storage cabinet according to the taking medicine path carried in the dispensing instruction to perform the taking medicine operation according to the medicine type; after the first robot completes the taking medicine operation, placing the medicine in the medicine checking area to check the medicine, and obtaining the medicine checking result; after the medicine checking result indicates that the medicine is correct, performing the dispensing operation.

[0086] In this embodiment, the medicine is checked in the medicine checking area through 3D vision technology to ensure that the type and quantity of the medicine are correct, and then the dispensing operation is performed, which can improve the accuracy and safety of medicine dispensing, and through the separation of medicine checking and dispensing operation, the fine management of medicine dispensing is realized, which can ensure that each kind of medicine is strictly checked before dispensing, and the reliability of the dispensing process is improved.

[0087] As shown in Figure 7 , in the dispensing processes 1 and 2, whether to weigh is selected according to the type of medicine, when the type of medicine is traditional Chinese medicine, the first medicine is grabbed according to the planned trajectory, and then the 3D vision camera checks the medicine, after the medicine is correct, the weight and dispensing are performed according to the required quantity and number of the medicine order, and the processes of grabbing medicine, checking and weighing are repeated until all the medicines are grabbed, wherein the force sensor is used for accurate weighing in the dispensing process; when the type of medicine is western medicine, the first medicine is grabbed according to the planned trajectory, and then the 3D vision camera checks the medicine, after the medicine is correct, the dispensing is performed according to the required quantity, and the processes of grabbing medicine, checking the medicine and its quantity are also repeated until all the medicines are grabbed, wherein the 3D vision is used for accurate checking of the number of medicine tablets in the dispensing process, and finally the medicine is placed on the control console, and the control console feeds back information to the total system.

[0088] Further, it should be noted that the force sensor works on the principle of measuring a small force (i.e., gravity) and converts this force into a measurable electrical signal, thereby accurately calculating the mass of the medicine, the gravity of the medicine exerts on the elastic element inside the force sensor, causing the elastic element and the strain gauge attached to the elastic element to deform, the strain gauge deforms further affecting the resistance size, and then the bridge converts the deformation into an electrical signal, and then the electrical signal is amplified and converted into a digital signal, the weight of the medicine is calculated and fed back to the control system in real time, at this time the control system has calculated the weight of each kind of medicine required in each portion according to the medicine list and the number of portions, to ensure that the weight of the medicine is within the corresponding error range, and each time the weighing of a kind of medicine is completed, the medicine is placed in the specified box, and after the completion of the whole process, the medicine is packaged. Through the system, the medicine has been classified, including a precision weighing module, a standard module and a large capacity module, with a precision of 0.001 g, 0.1 g and 1 g respectively, different weighing modules are called according to the accuracy required by the medicine to ensure that the weight of the medicine meets the requirements.

[0089] As shown in Figure 4 When the medicine classification result indicates that the medicine is a second type of medicine, the dispensing process 3 is first performed, the medicine is placed on the control console, and the control console feeds back information to the total system, the total system sends the medicine taking information to the remote control software of the mobile robot B2 and generates the medicine taking process 4 to take the medicine, and then the control console feeds back to the total system, the total system selects the medicine delivery position according to the medicine list, and then sends the position information to the remote control software of the mobile robot B2 and generates the corresponding medicine delivery processes 5 and 6 to deliver the medicine, when the medicine is a traditional Chinese medicine, the medicine delivery process 6 is executed, otherwise, the medicine delivery process 5 is executed, and then the total system updates the dispensing progress and sends the position information to the payer's mobile terminal to remind the payer to take the medicine.

[0090] The specific steps of the above dispensing process 3 are as follows: first, the control system of the mobile robot A1 obtains the content and classification of the electronic medicine list; second, the medicine type is obtained according to the information of the electronic medicine list; third, the medicine position is obtained according to the medicine type; fourth, after path planning according to the medicine position and selection of the shortest path, programming is performed and the program is sent to the robot for operation; fifth, the first medicine is grabbed according to the planned trajectory, and the 3D vision camera checks the medicine, and after no error is found, the medicine is dispensed according to the required number of the medicine list, and the repeated steps of grabbing medicine, checking medicine and its quantity are also repeated until all medicines are grabbed; finally, after completing the dispensing, the medicine is placed on the control console, and the control console feeds back information to the total system.

[0091] The specific steps of the above medicine taking process 4 are as follows: first, the control system of the mobile robot B2 obtains information for going to the console to take medicine; second, after path planning according to the positions of the console and B2 and selecting the shortest path, programming is performed and the program is sent to the robot for running; third, after the medicine is taken, the console feeds back information to the total system.

[0092] The specific steps of the above medicine taking process 5 are as follows: first, the medicine is placed in the medicine taking cabinet; second, the total system selects a position in order according to the information fed back by the force sensor of the medicine taking cabinet; third, the position information is sent to the remote control software of the mobile robot B2; fourth, after path planning according to the medicine sending position and the position of B2 and selecting the shortest path, programming is performed and the program is sent to the robot for running; fifth, after the medicine is sent, the mobile robot B2 feeds back information to the total system.

[0093] The specific steps of the above medicine taking process 6 are as follows: first, it is determined that the medicine type is traditional Chinese medicine ground into particles and needs to be polished; second, after path planning according to the position of the polisher and the position of B2 and selecting the shortest path, programming is performed and the program is sent to the robot for running; third, after the medicine is sent, information is fed back to the total system; fourth, the total system sends information for polishing into particles; fifth, after waiting for the polishing to be completed, information is fed back to the total system, and the subsequent process is the same as that of the medicine taking process 5.

[0094] Figure 9 is a schematic diagram of the 3D vision function of the automatic dispensing method according to an embodiment of the present application, as shown in Figure 9 The 3D vision has two functions of checking and obtaining position information, and the specific execution process is as follows:

[0095] 1) checking function, first, the camera obtains the real image of the medicine and compares it with the model of the upper computer, which is divided into two cases, one is that the checking is correct and the information is fed back to the total system for robot program; the other is that the checking is incorrect and the information of the misplaced medicine is fed back to the total system; second, the total system sends the misplaced and needed medicine information to the control software of the mobile robot B2, and then the 3D vision obtains the position information of the medicine; third, after path planning according to the position of the medicine and selecting the shortest path, programming is performed and the program is sent to the robot for running; fourth, the mobile robot B2 reaches the position of the misplaced medicine to put it back, the 3D vision checks the medicine, and after the checking is correct, the medicine is put back, and after the putting back is completed, the medicine residue is cleaned and the needed medicine position is reached; fifth, the mobile robot B2 reaches the position of the needed medicine to grasp it, the 3D vision checks the medicine, and after the checking is correct, the medicine is supplemented, and after the replacement is completed, the information is fed back to the total system for robot program.

[0096] 2) Position information acquisition function, first step, position measurement by camera and feedback of required position to the total system; second step, the total system sends the position information to the control software of the mobile robot; third step, after path planning according to the obtained position and selection of the shortest path, programming and sending the program to the robot for operation; finally, after the mobile robot reaches the position for placement, feedback information to the total system for checking and position determination and saving.

[0097] In addition, it should be noted that the position of each of the above-mentioned medicines relative to the console is fixed, and when the system regenerates the corresponding program, it generates a motion trajectory according to the position of the medicine. The 3D camera plays a checking role in the medicine picking process. The position recognition is to find the corresponding position of the medicine in the medicine accumulation area when the medicine is replenished and form the corresponding position information feedback to the system for recording. After the medicine is placed in the wrong position, the weight of the medicine is picked up in the medicine replenishment area. Similarly, the position of the corresponding medicine in the medicine accumulation area is found and the corresponding position information is fed back to the system for recording. The next time the medicine is taken, it can be directly taken from the position. A 3D database of related medicines including traditional Chinese medicines and western medicines is established in the 3D vision. The 3D camera and the database are compared to ensure that the medicine is correct. Through the use of high-speed cameras, algorithm optimization and the establishment of a 3D database, single medicine identification can be achieved in 1-5 seconds, and easy identification can be achieved in 1-2 seconds, with a precision of more than 95%. The accuracy can be further improved by increasing the 3D camera, optimizing the algorithm and optimizing the 3D database of medicines. The speed of data processing of the 3D camera system depends on the camera hardware, algorithm and medicine, etc. The data processing speed can achieve single medicine identification in 1-5 seconds, and easy identification in 1-2 seconds, which is faster than manual operation. Each robot has a separate 3D camera that can process information independently to avoid problems caused by processing together in the central server. It also prioritizes emergency orders and monitors them in real time to minimize peak times and achieve high-load stability.

[0098] As can be seen from the above, in the embodiment of the present application, the force sensor and 3D vision of the medicine storage cabinet are used for detection to compare the required medicines with the existing medicines and electronic medicine orders to determine whether the order can be opened under the current state; when the medicines in the medicine storage cabinet do not meet the order requirements or when the specified medicine replenishment time arrives, the medicine storage cabinet will remind the total system to replenish medicines to achieve medicine replenishment prompting; the communication between the total system, the control platform and the medicine taking cabinet is used to complete real-time control of the whole process to achieve payment and medicine taking prompting; whether the medicine in the medicine storage cabinet is sufficient is determined after determining whether the payment is completed to achieve medicine replenishment or dispensing operation; the content of the electronic medicine order in the total system is screened to find the most suitable mobile robot cooperation and control method to improve the operation efficiency.

[0099] The technical scheme provided by the above embodiment of the present application solves the problems of queuing for medicine order, queuing for taking medicine, long waiting time, errors and misplacement caused by manual Chinese medicine configuration, and pollution of medicine caused by manual contact with medicine, and has the following beneficial effects: 1) Through computer interconnection and real-time updating, the electronic medicine order is transmitted to the hospital payment department and the mobile phone of the payer, so as to timely remind the payer to pay, complete the payment, arrange the robot to dispense medicine according to time, place the medicine in the medicine taking cabinet after dispensing, and send information to the payer, thereby avoiding the situation of forgetting to pay and take medicine, avoiding queuing and waiting, and improving the efficiency of taking medicine; 2) Through 3D vision, accurate weighing and other technologies, full automation configuration is realized, and through the combination of 3D vision, accurate weighing, trajectory planning and other technologies, the intelligent medicine storage cabinet and the storage cabinet are realized to realize full-automatic medicine replenishment, accurate medicine dispensing and medicine placement, and real-time follow-up of the configuration progress, thereby avoiding manual pollution and errors, reducing labor cost, and improving accuracy.

[0100] That is, the above technical scheme provided by the embodiment of the present application comprehensively considers various factors, realizes full automation of the whole process of taking medicine in a pharmacy, has the advantages of simple and clear logic, easy implementation and the like, thereby solving the problems of manual configuration and queuing and paying and taking medicine by the payer, avoiding pollution of medicine, improving efficiency, and preventing reduction of the quality of medicine.

[0101] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0102] From the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and a general hardware platform as necessary, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical scheme of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the method of each embodiment of the present application.

[0103] Embodiment 2

[0104] According to the embodiment of the present application, an automatic medicine dispensing device for implementing the above automatic medicine dispensing method is also provided, Figure 10is a schematic diagram of an automatic dispensing device according to an embodiment of the present application, as shown, the device comprises: a first determination module 1001, a first sending module 1003, a second sending module 1005, a control module 1007 and a third sending module 1009. The automatic dispensing device will be described below. Figure 10

[0105] The first determination module 1001 is configured to determine the drug inventory in the drug storage cabinet according to the drug order content of the electronic drug order.

[0106] The first sending module 1003 is configured to send the electronic drug order to the first robot to perform dispensing operation according to the electronic drug order by using the first robot when it is determined that the drug inventory meets the dispensing demand of the electronic drug order.

[0107] The second sending module 1005 is configured to send a drug delivery instruction to the first robot or the second robot according to the type of the electronic drug order to move the drug configured by the first robot to the drug taking cabinet by using the first robot or the second robot after receiving the dispensing completion signal.

[0108] The control module 1007 is configured to control the monitoring device at the drug taking cabinet to perform drug storage monitoring to obtain the drug storage state after determining that the drug is moved to the drug taking cabinet.

[0109] The third sending module 1009 is configured to send a drug taking prompt message according to the drug storage state.

[0110] It should be noted that the above first determination module 1001, first sending module 1003, second sending module 1005, control module 1007 and third sending module 1009 correspond to steps S202 to S210 in the above embodiment, and the five modules have the same instances and application scenarios as the corresponding steps, but are not limited to the contents disclosed in the above embodiment.

[0111] ​From the above, in the scheme described in the above embodiments of the present application, first, the drug inventory in the medicine storage cabinet can be determined according to the medicine order content of the electronic medicine order by using the first determination module; then, when it is determined that the drug inventory meets the dispensing demand of the electronic medicine order, the electronic medicine order is sent to the first robot to perform dispensing operation according to the electronic medicine order by using the first robot; then, after receiving the dispensing completion signal, the sending medicine instruction is sent to the first robot or the second robot according to the medicine order type of the electronic medicine order to move the medicine configured by the first robot to the medicine taking cabinet by using the first robot or the second robot; secondly, the control module can be used to control the monitoring device at the medicine taking cabinet to perform medicine storage monitoring to obtain the medicine storage state after it is determined that the medicine is moved to the medicine taking cabinet; finally, the third sending module can be used to send the medicine taking prompt message according to the medicine storage state, and through the integration of 3D vision technology, force sensor application, remote communication and automatic robot control technology, the purpose of achieving efficient, accurate and safe medicine dispensing of full-automatic pharmacy management is achieved, thereby realizing the technical effects of reducing manual intervention and queuing waiting time, improving medicine management efficiency, avoiding medicine pollution and configuration error, and reducing labor cost.

[0112] Through the above technical scheme provided by the embodiments of the present application, the technical problem of errors caused by manual dispensing and safety hazards in the related art is solved.

[0113] Optionally, the automatic dispensing device further comprises: a fourth sending module, configured to send the electronic medicine order to a payment system and send a payment prompt message to a terminal device before determining the drug inventory in the medicine storage cabinet according to the medicine order content of the electronic medicine order, wherein the payment prompt message carries payment information corresponding to the electronic medicine order; a second determination module, configured to determine a payment state after a first predetermined time length of sending the payment prompt message to the terminal device; a first preparation module, configured to prepare to enter the drug inventory determination process when the payment state indicates that the payment has been completed; and a fifth sending module, configured to send the payment prompt message to the terminal device according to a predetermined period when the payment state indicates that the payment has not been completed.

[0114] Optionally, the automatic dispensing device further comprises: a third determination module, configured to determine the payment state when the number of times of sending the payment prompt message to the terminal device according to the predetermined period reaches a sending number threshold; a fourth determination module, configured to determine that the electronic medicine order is invalid when the payment state indicates that the payment has not been completed and a second predetermined time length has been exceeded; and a second preparation module, configured to prepare to enter the drug inventory determination process when the payment state indicates that the payment has been completed and the second predetermined time length has not been exceeded.

[0115] Optionally, the first determining module comprises: a classification unit, configured to classify the medicine corresponding to the electronic prescription to obtain a medicine classification result; a first sending unit, configured to send the electronic prescription and the medicine classification result to the mobile robot control software, so that the mobile robot control software generates a dispensing instruction according to the medicine classification result and the electronic prescription; and a control unit, configured to control the dispensing robot to perform a dispensing operation according to the dispensing instruction through the mobile robot control software after the dispensing instruction is sent to the dispensing robot.

[0116] Optionally, the first sending unit comprises: a first determining subunit, configured to determine a medicine type according to the electronic prescription through the mobile robot control software; a second determining subunit, configured to determine a medicine storage position of the medicine according to the medicine type; a third determining subunit, configured to determine a medicine taking path according to the medicine storage position; and a generating subunit, configured to generate the dispensing instruction according to the medicine taking path and the medicine classification result.

[0117] Optionally, the second sending module comprises: a second sending unit, configured to send a medicine sending instruction to the second robot according to the prescription type after receiving the dispensing completion signal when the medicine classification result indicates that the medicine is a first type of medicine, so that the second robot sends the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction, wherein the first type of medicine is at least Chinese medicine; and a third sending unit, configured to send a medicine sending instruction to the first robot according to the prescription type after receiving the dispensing completion signal when the medicine classification result indicates that the medicine is a second type of medicine, so that the first robot sends the medicine configured by the first robot to the medicine taking cabinet according to the medicine sending instruction, wherein the second type of medicine is a whole-bottle western medicine.

[0118] Optionally, the first sending module comprises: a medicine taking unit, configured to move to the medicine storage cabinet according to the medicine taking path carried in the dispensing instruction and perform a medicine taking operation according to the medicine type after the first robot receives the dispensing instruction; a checking unit, configured to place the medicine in a medicine checking area to perform a medicine checking operation after the first robot completes the medicine taking operation, to obtain a medicine checking result; and a dispensing unit, configured to perform a dispensing operation after the medicine checking result indicates that the medicine is correct.

[0119] According to another aspect of the embodiments of the present application, an automatic dispensing system is also provided, which uses the automatic dispensing method in any of the above.

[0120] According to another aspect of the embodiments of the present application, a processor is also provided, which is used to run a program, wherein the program performs the automatic dispensing method in any of the above when running.

[0121] According to another aspect of the embodiments of the present application, a computer program product is also provided, which comprises computer instructions for performing the automatic dispensing method of any of the above embodiments when executed by a processor.

[0122] According to another aspect of the embodiments of the present application, a computer readable storage medium is also provided, which comprises a stored program for performing the automatic dispensing method of any of the above embodiments.

[0123] Optionally, in the present embodiment, the computer readable storage medium can be located in any one of the computer terminals in the computer terminal group in the computer network, or in any one of the communication devices in the communication device group.

[0124] Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining the drug inventory in the storage cabinet according to the drug order content of the electronic drug order; when it is determined that the drug inventory meets the dispensing demand of the electronic drug order, sending the electronic drug order to the first robot to perform dispensing operation according to the electronic drug order by using the first robot; after receiving the dispensing completion signal, sending the medicine delivery instruction to the first robot or the second robot according to the drug order type of the electronic drug order, to move the medicine configured by the first robot to the medicine taking cabinet by using the first robot or the second robot according to the medicine delivery instruction; after determining that the medicine is moved to the medicine taking cabinet, controlling the monitoring device at the medicine taking cabinet to perform drug storage monitoring to obtain the drug storage state; and sending the medicine taking prompt message according to the drug storage state.

[0125] Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the following steps: sending the electronic drug order to the payment system, and sending the payment prompt message to the terminal device, wherein the payment prompt message carries the payment information corresponding to the electronic drug order; determining the payment state after a first predetermined time period of sending the payment prompt message to the terminal device; when the payment state indicates that the payment is completed, preparing to enter the drug inventory determination process; and when the payment state indicates that the payment is not completed, sending the payment prompt message to the terminal device according to a predetermined period.

[0126] Optionally, in the present embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining the payment state when the number of times of sending the payment prompt message to the terminal device according to the predetermined period reaches a sending number threshold; determining that the electronic drug order is invalid when the payment state indicates that the payment is not completed and a second predetermined time period has been exceeded; and preparing to enter the drug inventory determination process when the payment state indicates that the payment is completed and the second predetermined time period has not been exceeded.

[0127] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: classifying the medicine corresponding to the electronic medicine order to obtain a medicine classification result; sending the electronic medicine order and the medicine classification result to the mobile robot control software to generate a dispensing instruction according to the medicine classification result and the electronic medicine order by using the mobile robot control software; and controlling the dispensing robot to perform a dispensing operation according to the dispensing instruction by using the mobile robot control software after the dispensing instruction is sent to the dispensing robot.

[0128] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: determining a medicine type according to the electronic medicine order by using the mobile robot control software; determining a medicine storage position of the medicine according to the medicine type; determining a medicine taking path according to the medicine storage position; and generating a dispensing instruction according to the medicine taking path and the medicine classification result.

[0129] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: when the medicine classification result indicates that the medicine is a first type of medicine, sending a medicine delivery instruction to the second robot according to the medicine order type after receiving a dispensing completion signal, to move the medicine configured by the first robot to the medicine taking cabinet by using the second robot according to the medicine delivery instruction, wherein the first type of medicine is at least a traditional Chinese medicine; and when the medicine classification result indicates that the medicine is a second type of medicine, sending a medicine delivery instruction to the first robot according to the medicine order type after receiving a dispensing completion signal, to move the medicine configured by the first robot to the medicine taking cabinet according to the medicine delivery instruction, wherein the second type of medicine is a whole-bottle western medicine.

[0130] Optionally, in the embodiment, the computer readable storage medium is configured to store program code for performing the following steps: moving to the medicine storage cabinet according to the medicine taking path carried in the dispensing instruction to perform a medicine taking operation according to the medicine type after the first robot receives the dispensing instruction; placing the medicine in a medicine checking area to perform a medicine checking operation after the first robot completes the medicine taking operation, to obtain a medicine checking result; and performing a dispensing operation when the medicine checking result indicates that the medicine is correct.

[0131] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0132] In the above-mentioned embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0133] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other manners. Among them, the above-described device embodiments are only illustrative, for example, the division of units can be a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection between the units or modules through some interfaces, and can be electrical or other forms.

[0134] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0135] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Part or all of the units can be selected to achieve the purpose of the present embodiment according to actual needs.

[0136] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0137] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the embodiments of the present application. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0138] The above merely is the preferred embodiment of the present application, it should be pointed out that, for ordinary skilled in the art, without departing from the principles of the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An automatic dispensing method, characterized in that: include: Determine the drug inventory in the medicine cabinet based on the contents of the electronic medication list; When it is determined that the drug inventory meets the dispensing requirements of the electronic prescription, the electronic prescription is sent to the first robot so that the first robot performs a dispensing operation according to the electronic prescription; After receiving the dispensing completion signal, sending a medicine delivery instruction to the first robot or the second robot according to the medicine order type of the electronic medicine order, so that the first robot or the second robot moves the medicine dispensed by the first robot to the medicine collection cabinet according to the medicine delivery instruction; After determining that the medicine has been transferred to the medicine dispensing cabinet, controlling the monitoring equipment at the medicine dispensing cabinet to perform medicine storage monitoring to obtain the medicine storage status; Send a medicine collection reminder message according to the medicine storage status.

2. The automatic dispensing method according to claim 1, characterized in that: Before determining the drug inventory in the medicine storage cabinet according to the contents of the electronic drug list, the method further includes: Sending the electronic prescription to the payment system and sending a payment reminder message to the terminal device, wherein the payment reminder message carries the payment information corresponding to the electronic prescription; After a first predetermined time period of sending the payment reminder message to the terminal device, determining a payment status; When the payment status indicates that the payment has been completed, the process of determining the drug inventory is ready to proceed; When the payment status indicates that the payment is not completed, the payment reminder message is sent to the terminal device according to a predetermined period.

3. The automatic dispensing method according to claim 2, characterized in that: The automatic dispensing method further comprises: When the number of times the payment reminder message is sent to the terminal device according to the predetermined period reaches a sending number threshold, determining the payment status; When the payment status indicates that the payment has not been completed and a second predetermined time period has elapsed, determining that the electronic prescription is invalid; When the payment status indicates that the payment has been completed and the second predetermined time has not been exceeded, the drug inventory determination process is prepared to be entered.

4. The automatic dispensing method according to claim 1, characterized in that: Determine the drug inventory in the medicine cabinet based on the contents of the electronic medication list, including: Classifying the drugs corresponding to the electronic prescription to obtain a drug classification result; Sending the electronic prescription and the drug classification result to the mobile robot control software, so that the mobile robot control software generates a dispensing instruction based on the drug classification result and the electronic prescription; After the dispensing instruction is sent to the dispensing robot, the dispensing robot is controlled by the mobile robot control software to perform the dispensing operation according to the dispensing instruction.

5. The automatic dispensing method according to claim 4, characterized in that: The dispensing robot includes a first dispensing robot and a second dispensing robot, and sends the electronic prescription and the drug classification result to the mobile robot control software, so that the mobile robot control software generates a dispensing instruction according to the drug classification result and the electronic prescription, including: Determining the type of medicine according to the electronic prescription by the mobile robot control software; determining a drug storage location for the drug according to the type of drug; Determining a medication access route based on the medication storage location; The dispensing instruction is generated according to the medicine collection path and the medicine classification result.

6. The automatic dispensing method according to claim 4, characterized in that: The dispensing robot includes the first robot and the second robot. After receiving a dispensing completion signal, the robot sends a medicine delivery instruction to the first robot or the second robot according to the type of the electronic prescription, so that the first robot or the second robot transfers the medicine dispensed by the first robot to the medicine collection cabinet according to the medicine delivery instruction, including: When the drug classification result indicates that the drug is a first type of drug, after receiving the dispensing completion signal, sending the drug delivery instruction to the second robot according to the prescription type, so that the second robot transfers the drug dispensed by the first robot to the medicine dispensing cabinet according to the drug delivery instruction, wherein the first type of drug is a drug that at least includes traditional Chinese medicine; When the drug classification result indicates that the drug is a second-type drug, after receiving the dispensing completion signal, the drug delivery instruction is sent to the first robot according to the type of the prescription, so that the first robot can transfer the configured drug to the medicine cabinet according to the drug delivery instruction, wherein the second-type drug is a Western medicine dispensed in whole bottles.

7. The automatic dispensing method according to claim 5, characterized in that: Sending the electronic prescription to a first robot so that the first robot performs a dispensing operation according to the electronic prescription includes: After receiving the dispensing instruction, the first robot moves to the medicine storage cabinet according to the medicine dispensing path in the dispensing instruction and performs the medicine dispensing operation according to the medicine type; After the first robot completes the medicine taking operation, the medicine is placed in a medicine verification area for medicine verification to obtain a medicine verification result; The dispensing operation is performed after the medicine verification result indicates that the medicine is correct.

8. An automatic dispensing device, characterized in that: include: A first determining module is used to determine the drug inventory in the medicine storage cabinet according to the contents of the electronic prescription; a first sending module, configured to, when determining that the drug inventory meets the dispensing requirements of the electronic prescription, send the electronic prescription to a first robot so that the first robot can perform a dispensing operation according to the electronic prescription; a second sending module, configured to, after receiving a dispensing completion signal, send a medicine delivery instruction to the first robot or the second robot according to the medicine order type of the electronic medicine order, so that the first robot or the second robot can transfer the medicines dispensed by the first robot to the medicine collection cabinet according to the medicine delivery instruction; A control module is used to control the monitoring equipment at the medicine dispensing cabinet to perform medicine storage monitoring and obtain the medicine storage status after determining that the medicine has been transferred to the medicine dispensing cabinet; The third sending module is used to send a medicine collection reminder message according to the storage status of the medicine.

9. An automatic dispensing system, characterized in that: The automatic medication dispensing system uses the automatic medication dispensing method according to any one of claims 1 to 7 .

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the automatic medication dispensing method according to any one of claims 1 to 7.

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