Intelligent pharmacy automatic medicine dispensing system and remote control method

Abstract

The invention belongs to the technical field of intelligent medical equipment, and discloses an intelligent pharmacy automatic medicine dispensing system and a remote control method, S1, an image acquisition device obtains liquid medicine package visual features, bar code scanning and RFID reading information are combined, multi-element identification is carried out, medicine information and package type parameters are obtained, and the medicine information and the package type parameters are stored in a database; the medicine information, the packaging type parameters and the position parameters are stored in the system, S2, electronic prescription data are received and analyzed, and the medicine information of the liquid medicine is extracted; packaging type parameters and position parameters are obtained through matching according to the medicine information; s3, according to the packaging type parameters, a matched special actuator type is selected through a preset mapping relation, the bottled preparation corresponds to a clamping type actuator, and the bagged preparation corresponds to a lifting type actuator; and S4, the selected special actuator is driven to complete taking and placing operation of the liquid medicament according to the position parameters.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent medical equipment, more specifically, to an intelligent pharmacy automatic dispensing system and a remote control method. BACKGROUND

[0002] Traditional pharmacy dispensing mainly relies on manual operation, which has problems such as low efficiency, easy to make mistakes, and high labor intensity. With the growth of medical service demand and the development of intelligent technology, automatic dispensing systems have gradually become an important direction for the modernization of pharmacies. Existing automatic dispensing systems are mainly designed for solid drugs such as tablets and capsules, and have limited processing capacity for liquid drugs. Liquid drugs include various forms such as bottled water and bagged infusion bags, and have characteristics such as diverse packaging forms, easy breakage, and easy leakage, which puts higher technical requirements on automatic dispensing systems.

[0003] The main technical problems currently faced by liquid drug automatic dispensing include: difficulty in identifying packaging forms: bottled and bagged liquid drugs differ greatly in appearance, material, and shape, and existing identification methods are not accurate; complex control of grabbing: different packaging forms require different grabbing strategies, and existing actuators lack adaptive ability; high safety requirements: liquid drugs are prone to leakage and contamination, and require real-time monitoring and protection measures; complex processing logic: drug identification, packaging judgment, grabbing control, safety monitoring, and other links need to be considered comprehensively.

[0004] In view of this, we propose an intelligent pharmacy automatic dispensing system and a remote control method. SUMMARY

[0005] 1. Technical problem to be solved

[0006] The purpose of the present application is to provide an intelligent pharmacy automatic dispensing system and a remote control method, which solves the technical problems proposed in the background art.

[0007] 2. Technical solution

[0008] The technical solution of the present application provides an intelligent pharmacy automatic dispensing remote control method, including the following steps:

[0009] S1 The image acquisition device obtains the visual features of the liquid drug packaging, combines barcode scanning and RFID reading information, performs multi-element identification, obtains drug information and packaging type parameters, and stores the drug information, packaging type parameters and location parameters in the system,

[0010] S2 receives and analyzes electronic prescription data, extracts drug information of liquid drugs; according to the drug information, the packaging type parameters and the location parameters are matched;

[0011] S3 According to the packaging type parameter, a matching special-purpose executor type is selected through a preset mapping relationship, wherein a bottled preparation corresponds to a clamping-type executor, and a bagged preparation corresponds to a lifting-type executor;

[0012] S4 The selected special-purpose executor is driven to complete the taking and placing operation of the liquid medicament according to the position parameter;

[0013] S5 During the dispensing operation, the packaging integrity of the liquid medicament is continuously monitored to detect the packaging damage and liquid leakage state;

[0014] S6 After the dispensing operation is completed, dispensing data is recorded and drug inventory information is synchronously updated.

[0015] Further, the multi-element recognition in the step S1 includes:

[0016] Visible light and infrared spectrum conditions are used to collect multispectral image data of the liquid medicament packaging;

[0017] The drug information carried by the one-dimensional bar code and the two-dimensional bar code on the packaging surface is analyzed;

[0018] The data content of the RFID electronic tag embedded in the medicament packaging is read;

[0019] The multispectral image feature data, the bar code analysis result and the RFID tag information are fused to output the drug information and the packaging type parameter.

[0020] Further, the step S3 of selecting a matching special-purpose executor type according to the packaging type parameter includes:

[0021] A packaging form identifier is extracted from the drug recognition data;

[0022] A configuration database in which the packaging form and the special-purpose executor are stored is queried;

[0023] According to the correspondence relationship, the target executor type is determined and an activation instruction is issued;

[0024] The activation state of the special-purpose executor is detected and its readiness is confirmed.

[0025] Further, the step S4 of driving the clamping-type executor for the bottled liquid includes:

[0026] The spatial coordinates of the bottle neck and the bottle body are located through a stereo vision technology;

[0027] The clamping-type executor is controlled to move to the target coordinates, and a ring-shaped clamping mechanism with force feedback control is used to grab the bottle neck part;

[0028] The bottle body posture angle is detected in real time through an inertial measurement unit, and the executor is controlled to maintain the vertical state of the bottle body;

[0029] Smooth motion control with S-shaped acceleration curve is performed to reduce liquid sloshing.

[0030] Further, the step S4 of driving the lifting type executor for the bagged infusion bag comprises:

[0031] The infusion bag boundary is recognized and the optimal lifting position is calculated through a soft package contour detection algorithm;

[0032] The lifting type executor is controlled to realize double-arm distributed lifting from the bottom of the infusion bag, and the bearing force is evenly distributed;

[0033] The pressure distribution of the lifting is monitored in real time through a pressure sensor array, and the pressure values of each contact point are dynamically adjusted;

[0034] Low-speed motion control with trapezoidal acceleration curve is performed to prevent liquid sloshing and package deformation.

[0035] Further, the step S5 of monitoring the package integrity and detecting the broken leakage comprises:

[0036] The thread fitting degree of the bottle cap and the sealing state of the bag body are detected through a high-resolution vision system;

[0037] The liquid volume is detected through laser ranging or ultrasonic sensing technology and is compared and verified with the prescribed dose;

[0038] The cracks, scratches or damage defects on the package surface are recognized through an image processing algorithm;

[0039] A distributed liquid sensor network is deployed in the dispensing operation area to monitor the liquid leakage condition in real time.

[0040] Further, the method further comprises a stock management step:

[0041] Before the dispensing is performed, the inventory quantity and the expiration date data of the medicine are queried to verify the inventory sufficiency and the medicine validity; after the dispensing is completed, the inventory quantity of the corresponding medicine is automatically updated, and the dispensed medicine quantity is deducted;

[0042] When the medicine inventory is lower than a preset threshold, inventory warning information is sent to the pharmacy management system;

[0043] Periodically, inventory checking is performed, the system records are compared with the actual inventory, and a checking report is generated when a difference is found.

[0044] Further, the method further comprises a quality control step:

[0045] The deviation value between the actual weight of the dispensed medicine and the standard weight is verified through a weighing sensor;

[0046] Record the start time, completion time and total execution time of each dispensing task;

[0047] Real-time acquisition of temperature, vibration, current operating parameters of each actuator;

[0048] Periodic analysis of dispensing success rate, failure cause distribution and generation of system optimization suggestions.

[0049] Further, the method further comprises an exception handling step:

[0050] When continuous drug identification fails, switch to manual assisted identification mode;

[0051] When a dedicated actuator cannot be matched or the actuator fails, start a backup general actuator and adjust the control parameters; when a package is damaged or liquid leaks are detected, immediately suspend the current dispensing task;

[0052] When continuous operation fails for a preset number of times, enter maintenance mode;

[0053] Record all abnormal events in the system log, including timestamp, fault type, handling measures and recovery time, for fault analysis and preventive maintenance.

[0054] An intelligent pharmacy automatic dispensing system, the system comprises: a multi-element recognition unit, comprising an image acquisition device, a barcode scanner and an RFID reader, for identifying drugs based on visual features, barcodes and RFID tag information and outputting package type parameters; a prescription processing unit configured to receive and analyze electronic prescription data, and extract liquid medicine information; the drug information includes drug name and drug specification; an actuator matching unit connected to the multi-element recognition unit, which has a configuration database storing the correspondence between package form and actuator; select the dedicated actuator type according to the package type parameter; an actuator control unit drives the dedicated actuator to complete the picking and placing operation, including a clamping type actuator for bottle packaging and a lifting type actuator for bag packaging; a safety monitoring unit for real-time detection of package integrity, damage and liquid leakage during dispensing; a drug tracking unit records dispensing data and synchronously updates drug inventory information.

[0055] 3. Beneficial effects

[0056] One or more technical solutions provided in the technical scheme of the present application have at least the following technical effects or advantages:

[0057] The system significantly improves the dispensing accuracy and robustness of liquid medicines through a multi-source fusion recognition mechanism. The multi-element recognition unit integrates multi-spectral imaging, barcode analysis and RFID reading technology, solves the problems of reflection interference of transparent glass bottles and missed reading of barcodes on dark infusion bags, improves the accuracy of glass bottle recognition and the recognition rate of infusion bags, and reduces errors compared to traditional single visual recognition methods.

[0058] In terms of operation safety and adaptability, the system pioneers a special-purpose actuator dynamic matching strategy. The clamping actuator adopts a force feedback ring mechanism to adaptively grasp the bottleneck; the lifting actuator dynamically adjusts the pressure point through a distributed pressure sensor array, improving the deformation control capability of the infusion bag. The anti-shaking algorithm combined with S-shaped / trapezoidal acceleration curve reduces the shaking amplitude during liquid transportation. BRIEF DESCRIPTION OF DRAWINGS

[0059] Figure 1 The flowchart of the automatic dispensing system of the smart pharmacy disclosed in a preferred embodiment of the present application;

[0060] Figure 2 The structure diagram of the automatic dispensing system of the smart pharmacy disclosed in a preferred embodiment of the present application. DETAILED DESCRIPTION

[0061] The present application will be further described in detail below in conjunction with the accompanying drawings of the specification;

[0062] Embodiment 1

[0063] Reference Figure 1 The embodiment of the present application provides a smart pharmacy automatic dispensing remote control method, including the following steps:

[0064] S1 The image acquisition device obtains the visual features of the liquid medicine packaging, combines the bar code scanning and RFID reading information, performs multi-element identification, obtains the medicine information and packaging type parameters, stores the medicine information, packaging type parameters and position parameters in the system, and the multi-element identification in step S1 includes: collecting multispectral image data of the liquid medicine packaging under visible light and infrared spectrum conditions; analyzing the medicine information carried by the one-dimensional bar code and two-dimensional bar code on the packaging surface; reading the data content of the embedded RFID electronic tag of the medicine packaging; fusing the multispectral image feature data, bar code analysis result and RFID tag information, and outputting the medicine information and packaging type parameters.

[0065] S2 receives and analyzes electronic prescription data, extracts the medicine information of the liquid medicine; according to the medicine information, the packaging type parameters and the position parameters are matched;

[0066] S3 According to the packaging type parameter, the matching special-purpose actuator type is selected through the preset mapping relationship, wherein the bottled preparation corresponds to the clamping actuator, and the bagged preparation corresponds to the lifting actuator; the special-purpose actuator type is selected according to the packaging type parameter in step S3, including: extracting the packaging form identifier from the medicine identification data; querying the configuration database storing the corresponding relationship between the packaging form and the special-purpose actuator; determining the target actuator type according to the corresponding relationship and issuing an activation instruction; detecting the activation state of the special-purpose actuator and confirming its readiness.

[0067] S4 driving the selected special-purpose actuator to complete the pick-and-place operation of the liquid medicine according to the position parameter; driving the clamping actuator for the bottled liquid in step S4 includes: positioning the spatial coordinates of the bottle neck and bottle body through stereo vision technology; controlling the clamping actuator to move to the target coordinates, and using a force feedback control ring clamping mechanism to grab the bottle neck; detecting the bottle posture angle in real time through the built-in inertial measurement unit, and controlling the actuator to maintain the vertical state of the bottle; and performing smooth motion control using an S-shaped acceleration curve to reduce liquid shaking.

[0068] Driving the lifting actuator for the bagged infusion bag in step S4 includes: identifying the infusion bag boundary and calculating the optimal lifting position through a soft package contour detection algorithm; controlling the lifting actuator to achieve distributed lifting of the double arms from the bottom of the infusion bag, and evenly distributing the bearing force; monitoring the lifting pressure distribution in real time through a pressure sensor array, and dynamically adjusting the pressure values of each contact point; and performing low-speed motion control using a trapezoidal acceleration curve to prevent liquid shaking and package deformation.

[0069] S5, during the dispensing operation, continuously monitoring the packaging integrity of the liquid medicine to detect the state of package damage and liquid leakage; monitoring the packaging integrity and detecting damage and leakage in step S5 includes:

[0070] detecting the thread fit of the bottle cap and the sealing state of the bag body seal through a high-resolution vision system;

[0071] detecting the liquid volume using laser ranging or ultrasonic sensing technology and comparing it with the prescribed dose for verification;

[0072] identifying cracks, scratches, or damage defects on the package surface through image processing algorithms;

[0073] deploying a distributed liquid sensor network in the dispensing area to monitor the liquid leakage in real time.

[0074] S6, after the dispensing operation is completed, recording the dispensing data and synchronously updating the drug inventory information.

[0075] The remote control method for the intelligent pharmacy automatic dispensing further includes an inventory management step: before the dispensing is performed, querying the drug inventory quantity and expiration date data, verifying the inventory sufficiency and drug validity; after the dispensing is completed, automatically updating the inventory quantity of the corresponding drug, and deducting the quantity of the dispensed drug; when the drug inventory is lower than a preset threshold, sending an inventory warning information to the pharmacy management system;

[0076] Periodically perform inventory verification, compare system records with actual inventory, generate verification report when differences are found. The intelligent pharmacy automatic dispensing remote control method further includes a prescription verification step: verifying the prescription format specification, the validity of the prescribing physician's qualifications and the completeness of the patient information; based on the patient's medication history and the current prescription, the drug interaction analysis is carried out; according to the patient's physiological parameters and the condition, the rationality of the prescription dose is verified; the safety of the medication of special groups is evaluated.

[0077] The intelligent pharmacy automatic dispensing remote control method further includes a quality control step: verifying the deviation value of the actual weight of the dispensed medicine from the standard weight through the weighing sensor; recording the start time, completion time and total execution time of each dispensing task; real-time acquisition of temperature, vibration and current operating parameters of each actuator; periodic analysis of dispensing success rate, failure cause distribution and generation of system optimization suggestions.

[0078] The intelligent pharmacy automatic dispensing remote control method further includes an abnormality processing step: when continuous medicine identification fails, switch to manual assisted identification mode; when unable to match the special actuator or the actuator fails, start the standby general actuator and adjust the control parameters; when detecting package damage or liquid leakage, immediately suspend the current dispensing task; when continuous operation fails for a preset number of times, enter maintenance mode; record all abnormal events to the system log, including timestamp, fault type, processing measures and recovery time, for fault analysis and preventive maintenance.

[0079] Example 2

[0080] In one embodiment, an intelligent pharmacy automatic dispensing system, comprising: a prescription processing unit configured to receive and parse electronic prescription data, extract liquid medicine information; the medicine information includes medicine name, medicine specification; a multi-element identification unit containing an image acquisition device, a barcode scanner and an RFID reader, used to identify medicines based on visual features, barcode and RFID tag information and output packaging type parameters; an actuator matching unit connected to the multi-element identification unit, with a configuration database storing the correspondence between packaging forms and actuators, selecting the type of special actuator according to the packaging type parameters; an actuator control unit driving the special actuator to complete the pick-and-place operation, including a clamping type actuator for bottle packaging and a lifting type actuator for bag packaging; a safety monitoring unit for real-time detection of packaging integrity, damage and liquid leakage during dispensing; a medicine tracking unit for recording dispensing data and synchronously updating medicine inventory information.

[0081] The multi-element recognition unit comprises a multi-spectral image acquisition device configured to acquire packaging images under visible light and infrared light spectrum; a barcode analysis module to analyze one-dimensional / two-dimensional barcode drug information; an RFID signal processor to read embedded electronic tag data in the packaging; and a data fusion module to integrate image features, barcode data and RFID information, and output drug information and packaging type parameters.

[0082] The executor matching unit comprises a packaging type parser to extract packaging form identifiers from the recognition data; an executor configuration database to store mapping relationships of bottle-holding and bag-lifting types; an executor selector to generate executor activation instructions based on the mapping relationships; and a state monitor to feed back executor readiness status to the control unit.

[0083] The control subsystem of the holding-type executor comprises a stereo vision positioning module to determine bottle neck and body spatial coordinates; a force feedback ring-shaped clamping mechanism to grasp the bottle neck according to target coordinates; an inertial measurement unit to monitor the bottle posture in real time and maintain a vertical state; and a motion controller to generate anti-shaking motion trajectories using an S-shaped acceleration curve.

[0084] The control subsystem of the lifting-type executor comprises a soft packaging contour detection module to identify infusion bag boundaries and calculate lifting positions; a distributed double-arm lifting mechanism to uniformly bear the bag from the bottom; a pressure sensor array to dynamically adjust the pressure of each contact point; and a low-speed motion controller to use a trapezoidal acceleration curve to suppress liquid shaking and packaging deformation.

[0085] The safety monitoring unit comprises a sealing detection device to check bottle cap threads and bag seals through a high-resolution vision system; a liquid level verification device to compare actual volume and prescribed dose using a laser range finder or ultrasonic sensor; a packaging defect recognition device to detect cracks, scratches or damage through image processing algorithms; and a distributed liquid sensor network to monitor leaks in real time in the working area.

[0086] The inventory management unit further comprises an inventory query module to verify the number and expiration date of the drugs before dispensing; an inventory update module to deduct the number of drugs after dispensing; an early warning generation module to send an early warning when the inventory is below a threshold; and an inventory verification module to periodically compare system records with actual inventory and generate a difference report.

[0087] The quality monitoring unit further comprises a weighing sensor to detect actual dispensing weight deviation; a task timer to record dispensing task time parameters; a device state monitor to collect executor temperature, vibration and current data; and an efficiency analysis module to calculate dispensing success rate and generate optimization suggestions.

[0088] The abnormality processing unit further comprises: an artificial recognition switching module, which starts auxiliary recognition in response to continuous recognition failure; a backup executor scheduling module, which activates a general executor when a special executor fails; an emergency termination module, which terminates a task and starts a cleaning isolation program when detecting package damage or leakage; a maintenance triggering module, which enters a maintenance mode after continuous operation failure; and an abnormality log database, which records a timestamp, a failure type and a processing measure for analysis and maintenance.

Claims

1. A smart pharmacy automatic medicine dispensing remote control method, characterized in that, The method comprises the following steps: S1: The image acquisition device obtains the visual features of the liquid medicine packaging, combines the bar code scanning and RFID reading information, performs multi-element identification, obtains the medicine information and packaging type parameters, and stores the medicine information, packaging type parameters and position parameters in the system, S2: Receive and analyze electronic prescription data, extract liquid medicine information; According to the medicine information, the packaging type parameters and the position parameters are matched; S3: According to the packaging type parameters, the matching special actuator type is selected through the preset mapping relationship, wherein the bottled preparation corresponds to the clamping type actuator, and the bagged preparation corresponds to the lifting type actuator; S4: Drive the selected special actuator to complete the taking and placing operation of the liquid medicine according to the position parameters; S5: During the dispensing operation, the packaging integrity of the liquid medicine is continuously monitored, and the packaging damage and liquid leakage state are detected; S6: After the dispensing operation is completed, the dispensing data is recorded and the medicine inventory information is updated synchronously. 2.The smart pharmacy automatic dispensing remote control method of claim 1, wherein, The multi-element identification in step S1 comprises: Collecting multispectral image data of liquid medicine packaging under visible light and infrared spectrum conditions; Analyzing the medicine information carried by the one-dimensional bar code and two-dimensional bar code on the packaging surface; Reading the data content of the embedded RFID electronic tag of the medicine packaging; Fusion of the multispectral image feature data, bar code analysis result and RFID tag information, output of medicine information and packaging type parameters. 3.The smart pharmacy automatic dispensing remote control method of claim 1, wherein, According to the packaging type parameters in step S3, the matching special actuator type comprises: Extracting the packaging form identifier from the medicine identification data; Query the configuration database storing the correspondence between packaging form and special actuator; According to the correspondence, determine the target actuator type and issue the activation instruction; Detect the activation state of the special actuator and confirm its readiness. 4.The smart pharmacy automatic dispensing remote control method of claim 1, wherein, The step S4 driving the clamping type actuator for bottled liquid includes: Positioning the spatial coordinates of the bottle neck and bottle body through stereo vision technology; Control the clamping type actuator to move to the target coordinate, adopt the ring clamping mechanism of force feedback control to grab the bottle neck part; Real-time detection of bottle posture angle by built-in inertial measurement unit, control the actuator to maintain the vertical state of the bottle body; Execute the smooth motion control using S-shaped acceleration curve to reduce liquid shaking. 5.The smart pharmacy automatic medicine dispensing remote control method of claim 1, wherein, The step S4 driving the lifting type actuator for bagged infusion bag includes: Identify the boundary of the infusion bag and calculate the optimal lifting position through soft packaging contour detection algorithm; Control the lifting type actuator to realize double-arm distributed lifting from the bottom of the infusion bag, and evenly distribute the bearing force; Real-time monitoring of lifting pressure distribution through pressure sensor array, dynamic adjustment of pressure value of each contact point; Execute the low-speed motion control using trapezoidal acceleration curve to prevent liquid shaking and packaging deformation. 6.The smart pharmacy automatic medicine dispensing remote control method of claim 1, wherein, The step S5 of monitoring the packaging integrity and detecting the damage and leakage includes: Detect the thread fit degree of the bottle cap and the sealing state of the bag body seal through high-resolution vision system; Adopt laser ranging or ultrasonic sensing technology to detect the liquid volume and compare it with the prescription dose for verification; Identify the cracks, scratches or damage defects on the packaging surface through image processing algorithm; Deploy a distributed liquid sensor network in the dispensing area to monitor the liquid leakage in real time. 7.The smart pharmacy automatic medicine dispensing remote control method of claim 1, wherein, The method further comprises a stock management step: Before dispensing, query the stock quantity and expiration date of the medicine, and verify the sufficiency of the stock and the validity of the medicine; After dispensing, automatically update the stock quantity of the corresponding medicine, and deduct the quantity of the dispensed medicine; When the stock of the medicine is lower than the preset threshold, send a stock warning information to the pharmacy management system; Periodically perform stock checking, compare the system records with the actual stock, and generate a checking report when a difference is found. 8.The smart pharmacy automatic medicine dispensing remote control method of claim 1, wherein, The method further comprises a quality control step: Verify the deviation value between the actual weight of the dispensed medicine and the standard weight through a weighing sensor; Record the start time, completion time, and total execution time of each dispensing task; Real-time collect the temperature, vibration, and current operating parameters of each actuator; Periodically analyze the dispensing success rate, failure cause distribution, and generate system optimization suggestions. 9.The smart pharmacy automatic medicine dispensing remote control method of claim 1, wherein, The method further comprises an abnormality handling step: When continuous medicine recognition fails, switch to manual assisted recognition mode; When a special actuator cannot be matched or the actuator fails, start a backup general actuator and adjust the control parameters; When a package is found to be damaged or liquid is found to be leaking, immediately suspend the current dispensing task; When continuous operation fails for a preset number of times, enter maintenance mode; Record all abnormal events in the system log, including timestamp, fault type, handling measures, and recovery time, for fault analysis and preventive maintenance.

10. A smart pharmacy automatic dispensing system, characterized in that; The system comprises: A multi-element recognition unit, including an image acquisition device, a barcode scanner, and an RFID reader, for recognizing medicines based on visual features, barcodes, and RFID tag information and outputting package type parameters; A prescription processing unit configured to receive and parse electronic prescription data, and extract medicine information of liquid medicines; the medicine information includes medicine name and medicine specification; An actuator matching unit connected to the multi-element recognition unit, and having a configuration database stored therein for storing the correspondence between package forms and actuators, and selecting a special actuator type according to the package type parameters; An actuator control unit for driving the special actuator to complete the pick-and-place operation, including a clamping type actuator for bottle-packed preparations and a lifting type actuator for bag-packed preparations; A safety monitoring unit for real-time detecting the package integrity, damage, and liquid leakage state during dispensing; A medicine tracking unit for recording dispensing data and synchronously updating medicine stock information.

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