Medicine bottle access method, device, system and storage medium

Abstract

The present invention discloses a medicine bottle storage and retrieval method, device, system and storage medium. The method comprises: visually scanning the storage carrier to determine the target to be stored; determining the type of the target to be stored according to the identification information of the target to be stored, and determining the storage position of the target to be stored; determining the target gripper of the control storage and retrieval robot, and controlling the four-dimensional trolley to reach the designated position; controlling the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and adjusting the grasping torque of the target gripper according to the weight of the target to be stored, and then grabbing the target to be stored; controlling the storage and retrieval robot to visually scan the four-dimensional trolley, and placing the target to be stored after determining the placement position of the target to be stored; controlling the four-dimensional trolley to place the target to be stored in the storage position. The present invention realizes the precise grasping and automatic safety of medicine bottles of different sizes and weights, and can also place a number of medicine bottles in a tray for quick access.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of intelligent storage management, and in particular to a medicine bottle access method, device, system and storage medium. Background Art

[0002] At present, due to the wide variety of medicine bottles used to store compounds and the flammable and explosive nature of the compounds, their storage and management are all manually controlled, which takes a long time to manually process. A lot of manpower and material resources are wasted from warehouse management to distribution, and there is a high risk of incorrect distribution and safety risks. Summary of the invention

[0003] The present invention provides a medicine bottle storage and retrieval method, device, system and storage medium to realize automatic storage and retrieval operations of compound medicine bottles.

[0004] In a first aspect, an embodiment of the present invention provides a method for storing medicine bottles, the method comprising:

[0005] Perform visual scanning on the storage carrier to determine the target to be stored, and obtain the identification information and current location information of the target to be stored;

[0006] Determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored, the type of the object to be stored is medicine bottle storage or pallet storage, and the pallet storage is the storage of a pallet for placing medicine bottles or a pallet with medicine bottles;

[0007] If the type of the items to be stored is the medicine bottle storage, the first gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional vehicle is controlled to take out the target pallet for storing the items to be stored and arrive at the designated position; if the type of the items to be stored is the pallet storage, the second gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional vehicle is controlled to arrive at the designated position;

[0008] Controlling the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and to adjust the grasping torque of the target gripper according to the weight of the target to be stored, and then grasp the target to be stored;

[0009] Control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the object to be stored after determining the placement position of the object to be stored;

[0010] The four-dimensional trolley is controlled to move to the storage position and the object to be stored is placed at the storage position.

[0011] Optionally, the visual scanning of the storage carrier to determine the target to be stored includes:

[0012] Scan the incoming carrier to determine whether there is a pallet on the incoming carrier;

[0013] If there is a pallet, the pallet is determined to be the target to be put into storage, and whether there is a medicine bottle on the pallet is determined. If there is a medicine bottle, the identification information of the scanned medicine bottle is bound to the identification information of the pallet; otherwise,

[0014] Determine whether there is a medicine bottle on the storage carrier, and if there is a medicine bottle, determine that the medicine bottle is the target to be stored.

[0015] Optionally, before controlling the storage and retrieval robot to move to the position of the four-dimensional vehicle, the method further includes:

[0016] Determining whether the target gripper has grasped successfully;

[0017] If the grabbing fails, the grabbing times are recorded. When the grabbing times exceed the preset times, an alarm is given, otherwise the grabbing operation is repeated.

[0018] In a second aspect, an embodiment of the present invention further provides a method for removing a medicine bottle, the method comprising:

[0019] According to the outbound instruction, determine the target to be outbound, and obtain the storage information and storage location of the target to be outbound;

[0020] Determine the type of the object to be shipped out according to the storage information of the object to be shipped out, wherein the type of the object to be shipped out is medicine bottle shipping or pallet shipping, and the pallet shipping is to take out a pallet for placing medicine bottles or a pallet with medicine bottles;

[0021] Control the four-dimensional trolley to move to the storage position of the target to be shipped out. If the type of the target to be shipped out is the medicine bottle shipping out, take out the target pallet with the target to be shipped out and place it on the four-dimensional trolley; if the type of the target to be shipped out is the pallet shipping out, take out the target to be shipped out and place it on the four-dimensional trolley;

[0022] If the type of goods to be shipped out is the medicine bottle shipping out, the first gripper of the storage and retrieval robot is determined as the target gripper; if the type of goods to be shipped out is the pallet shipping out, the second gripper of the storage and retrieval robot is determined as the target gripper;

[0023] Control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the target gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out;

[0024] The storage and retrieval robot is controlled to move to the outbound carrier position and place the object to be outbound on the outbound carrier.

[0025] Optionally, before controlling the storage and retrieval robot to move to the outbound carrier position, the method further includes:

[0026] Determining whether the target gripper has grasped successfully;

[0027] If the grabbing fails, the grabbing times are recorded. When the grabbing times exceed the preset times, an alarm is given, otherwise the grabbing operation is repeated.

[0028] Optionally, when controlling the storage and retrieval robot to move to the outbound carrier position, the method further includes:

[0029] If the type of goods to be shipped out is the medicine bottle shipment, the four-dimensional trolley is controlled to move to the storage position and the target pallet is placed on the storage position.

[0030] In a third aspect, an embodiment of the present invention further provides a medicine bottle storage device, the device comprising:

[0031] The storage target determination module is used to perform visual scanning on the storage carrier, determine the target to be stored, and obtain the identification information and current location information of the target to be stored;

[0032] A storage type determination module is used to determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored. The type of the object to be stored is medicine bottle storage or pallet storage. The pallet storage is the storage of a pallet for placing medicine bottles or a pallet with medicine bottles;

[0033] The target gripper determination module is used to determine the first gripper of the storage and retrieval robot as the target gripper if the type of the object to be stored is the medicine bottle storage, and control the four-dimensional trolley to take out the target pallet for storing the object to be stored and arrive at the designated position; if the type of the object to be stored is the pallet storage, determine the second gripper of the storage and retrieval robot as the target gripper, and control the four-dimensional trolley to arrive at the designated position;

[0034] The storage target grabbing module is used to control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the target to be stored, and to adjust the grabbing torque of the target gripper according to the weight of the target to be stored, and then grab the target to be stored;

[0035] A storage target placement module is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the target after determining the placement position of the target to be stored;

[0036] The storage module for storing objects is used to control the four-dimensional vehicle to move to the storage position and place the object to be stored in the storage position.

[0037] In a fourth aspect, an embodiment of the present invention further provides a medicine bottle storage device, the device comprising:

[0038] The outbound target determination module is used to determine the target to be outbound according to the outbound instruction, and obtain the storage information and storage location of the target to be outbound;

[0039] The outbound type determination module is used to determine the outbound type according to the storage information of the outbound target, wherein the outbound type is medicine bottle outbound or pallet outbound, and the pallet outbound is to take out the pallet for placing medicine bottles or the pallet with medicine bottles;

[0040] The outbound target taking module is used to control the four-dimensional trolley to move to the storage position of the target to be outbound. If the type of the target to be outbound is the bottle outbound, the target pallet with the target to be outbound is taken out and placed on the four-dimensional trolley; if the type of the target to be outbound is the pallet outbound, the target to be outbound is taken out and placed on the four-dimensional trolley;

[0041] A target gripper determination module is used to determine the first gripper of the storage and retrieval robot as the target gripper if the type of the item to be shipped out is the medicine bottle shipment; and to determine the second gripper of the storage and retrieval robot as the target gripper if the type of the item to be shipped out is the pallet shipment;

[0042] The outbound target grabbing module is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the outbound target, control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the outbound target, and adjust the grabbing torque of the target gripper according to the weight of the outbound target, and then grab the outbound target;

[0043] The outbound target placement module is used to control the storage and retrieval robot to move to the outbound carrier position and place the to-be-outbound target on the outbound carrier.

[0044] In a fifth aspect, an embodiment of the present invention further provides a medicine bottle storage and retrieval system, comprising: a medicine bottle storage room, a storage and retrieval robot, a four-dimensional vehicle, and a medicine bottle storage and retrieval control device;

[0045] The medicine bottle storage room is provided with a plurality of shelves, storage carriers and outbound carriers for storing medicine bottles;

[0046] The storage and retrieval robot is provided with two grippers and a visual sensor;

[0047] The four-dimensional car is provided with a visual sensor;

[0048] The medicine bottle storage and access control device is used to execute the medicine bottle storage method described in any embodiment of the present invention or the medicine bottle retrieval method described in any embodiment of the present invention.

[0049] In a sixth aspect, an embodiment of the present invention further provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute a medicine bottle depositing method as described in any embodiment of the present invention or a medicine bottle retrieving method as described in any embodiment of the present invention.

[0050] The present invention identifies whether the medicine bottles or pallets to be stored are on the storage carrier, controls the storage and retrieval robot and the four-dimensional vehicle to perform corresponding operations, and controls the storage and retrieval robot to adjust the gripping claws for grasping according to the size, weight and current position information of the target to be stored, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes accurate grasping and automatic safety of medicine bottles of different sizes and weights, and can simultaneously place a plurality of medicine bottles on a pallet for quick storage and retrieval. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a flow chart of a medicine bottle deposit method provided in Embodiment 1 of the present invention;

[0052] FIG2( a ) is a schematic diagram of a support plate provided in Embodiment 2 of the present invention;

[0053] FIG2( b ) is a schematic diagram of a support plate provided in Embodiment 2 of the present invention;

[0054] Figure 3 is a schematic diagram of a tray provided in Embodiment 2 of the present invention;

[0055] Figure 4 is a flow chart of a medicine bottle deposit method provided in Embodiment 2 of the present invention;

[0056] Figure 5 is a flow chart of a method for removing a medicine bottle provided in Embodiment 3 of the present invention;

[0057] Figure 6 is a flow chart of a method for removing a medicine bottle provided in Embodiment 4 of the present invention;

[0058] Figure 7 is a structural block diagram of a medicine bottle storage device provided in Embodiment 5 of the present invention;

[0059] Figure 8 is a structural block diagram of a medicine bottle taking-out device provided in Embodiment 6 of the present invention;

[0060] Fig. 9 This is a structural block diagram of a medicine bottle storage and retrieval system provided in Example 7 of the present invention. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0062] Embodiment 1

[0063] Figure 1 This is a flow chart of a medicine bottle storage method provided in Example 1 of the present invention. This embodiment is applicable to the situation where chemical medicine bottles are automatically put into storage. The method can be executed by a medicine bottle storage device, which can be implemented by software and / or hardware.

[0064] like Figure 1 As shown, the method specifically comprises the following steps:

[0065] Step 110: Visually scan the storage carrier to determine the target to be stored, and obtain the identification information and current location information of the target to be stored.

[0066] Among them, the method can be used to store medicine bottles or pallets in a medicine bottle storage room, the pallet can be used to place medicine bottles, the medicine bottle storage room can be provided with a storage window, the storage carrier can be placed on the storage window, and can be a pallet or other items that can place medicine bottles or pallets. When the target to be stored is a medicine bottle, the identification information of the target to be stored can be understood as relevant information about the medicine bottle itself and its contents, which can include information such as the size of the medicine bottle, the name and characteristics of the contents, and the total weight of the medicine bottle; when the target to be stored is a pallet, the identification information of the target to be stored can be understood as relevant information about the pallet itself and the medicine bottles it contains, which can include information such as the size and weight of the pallet, the number of medicine bottles on the pallet, the size of the medicine bottle, the name and characteristics of the contents of the medicine bottle, and the total weight of the medicine bottles. The current position information can be understood as the position information of the target to be stored relative to the storage carrier, which can be the distance between the target to be stored and each edge of the storage carrier.

[0067] Specifically, a visual scan is performed on the storage carrier to determine whether there is an object to be stored on the storage carrier. When it is determined that there is an object to be stored, the identification information and current position information of the object to be stored are obtained.

[0068] Step 120: Determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored.

[0069] Among them, the type of items to be stored in the warehouse is medicine bottle storage or pallet storage. Pallet storage is the storage of pallets for placing medicine bottles or pallets with medicine bottles. That is to say, when the target to be stored in the warehouse is medicine bottles, the type to be stored in the warehouse is medicine bottle storage; when the target to be stored in the warehouse is pallets, the type to be stored in the warehouse is pallet storage. Pallet storage can be storing a single pallet in the medicine bottle storage room, or storing a pallet with medicine bottles in the medicine bottle storage room. The medicine bottle storage room is equipped with shelves for storing medicine bottles, and the storage location can be understood as a specific location on a certain layer of the shelf.

[0070] Specifically, the type of the object to be stored is determined based on the identification information of the object to be stored. If it is medicine bottles being stored, the storage position of the pallet for storing the medicine bottles can be determined; if it is pallets being stored, the storage position for storing the pallets can be determined.

[0071] Step 130: If the type of items to be put into storage is medicine bottles, the first gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional trolley is controlled to take out the target pallet for storing the target items to be put into storage and arrive at the designated position; if the type of items to be put into storage is pallet storage, the second gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional trolley is controlled to arrive at the designated position.

[0072] The storage and retrieval robot is equipped with two different grippers, one for grabbing medicine bottles and the other for grabbing trays. The gripper for grabbing medicine bottles is mainly used to grab the round cap of medicine bottles, and the gripper for grabbing trays is mainly used to grab rectangular trays. The target tray can be understood as a tray for placing medicine bottles to be stored.

[0073] Specifically, when the type of goods to be entered into the warehouse is medicine bottles, the first gripper of the storage and retrieval robot used to grab the medicine bottles is determined as the target gripper, which can be considered as putting the medicine bottles into the target pallet on the shelf. Therefore, it is necessary to control the four-dimensional car to take out the target pallet and wait for the medicine bottles to be entered into the warehouse; when the type of goods to be entered into the warehouse is medicine bottles, the second gripper of the storage and retrieval robot used to grab the pallet is determined as the target gripper, and the four-dimensional car is controlled to reach the designated position and wait for the pallet to be entered into the warehouse.

[0074] Step 140 , control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and adjust the grasping torque of the target gripper according to the weight of the target to be stored, and then grasp the target to be stored.

[0075] The grasping position can be understood as the horizontal position determined by the length, width or radius of the object to be stored and the current position information, and the vertical position determined by the height of the object to be stored. The grasping torque can be understood as the torque required for the gripper to grasp the object determined by the weight of the object to be stored.

[0076] Specifically, after the storage position of the target to be stored is determined, the storage and retrieval robot is controlled to move to the storage window, the target gripper of the storage and retrieval robot is adjusted to adjust the grasping position of the target gripper according to the size of the target to be stored and the current position information, the target gripper is controlled to grasp the target to be stored, and then the grasping torque of the target gripper is adjusted according to the weight of the target to be stored, and then the target to be stored is grasped.

[0077] Step 150 , control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the target after determining the placement position of the target to be stored.

[0078] Specifically, the storage and retrieval robot grabs the object to be stored, carries the object to the waiting position of the 4D cart, and then performs a visual scan on the 4D cart. If the object to be stored is determined to be a medicine bottle, the position of the target tray on the 4D cart and the position of the medicine bottle to be stored on the target tray are determined; if the object to be stored is determined to be a pallet, the position of the pallet to be stored on the 4D cart is determined, and then the object to be stored is placed and the target gripper is released.

[0079] Step 160: Control the four-dimensional trolley to move to the storage position and place the object to be stored in the storage position.

[0080] Specifically, the four-dimensional vehicle is controlled to place the object to be stored in the storage position according to the storage position determined in step 120, thereby completing the storage operation.

[0081] The technical solution of this embodiment, by identifying whether the objects on the storage carrier are medicine bottles or pallets to be stored, controls the storage and retrieval robot and the four-dimensional vehicle to perform corresponding operations, and controls the storage and retrieval robot to adjust the gripping claws according to the size, weight and current position information of the target to be stored, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise and automatic grasping of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0082] Embodiment 2

[0083] Figure 2 (a) and Figure 2 (b) are schematic diagrams of a support plate provided in Embodiment 2 of the present invention; Figure 3 is a schematic diagram of a tray provided in Embodiment 2 of the present invention; Figure 4 This is a flow chart of the medicine bottle deposit method provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment further optimizes the above medicine bottle deposit method.

[0084] like Figure 4 As shown, the method specifically includes:

[0085] Step 1001: Scan the incoming carrier to determine whether there is a pallet on the incoming carrier.

[0086] Among them, the storage carrier can be a pallet as shown in Figure 2(a) and Figure 2(b). The pallet shown in Figure 2(a) can hold medicine bottles of different sizes, and the pallet shown in Figure 2(b) can hold a tray loaded with medicine bottles. Figure 3 A schematic diagram of a pallet.

[0087] Specifically, the incoming carrier is scanned periodically to determine whether there is a pallet on the incoming carrier. If yes, proceed to step 1002; otherwise, proceed to step 1007.

[0088] Step 1002: Determine that the pallet is a target to be put into storage, and determine whether there are medicine bottles on the pallet.

[0089] Specifically, when a pallet is scanned on the storage carrier, the pallet is determined to be a target to be stored, that is, the pallet is stored, and then whether there are medicine bottles on the pallet, if yes, proceed to step 1003; otherwise, proceed to step 1004.

[0090] Step 1003: Bind the scanned identification information of the medicine bottle with the identification information of the tray.

[0091] Specifically, when it is scanned that there are medicine bottles on the tray, the identification information of the medicine bottles on the tray is obtained, and the identification information of the medicine bottles is bound to the identification information of the tray. After binding, the identification information of the tray is obtained to know the number of medicine bottles on the tray and the identification information of each medicine bottle, and then step 1004 is performed.

[0092] Step 1004: Obtain identification information and current position information of the tray.

[0093] Specifically, the identification information and current position information of the tray are obtained, and then step 1005 is performed.

[0094] Step 1005: Determine a storage location for storing the pallet based on the scanned identification information of the pallet.

[0095] Specifically, the storage location of the tray is determined, and then step 1006 is performed.

[0096] Step 1006: Determine that the second gripper of the storage and retrieval robot is the target gripper, and control the four-dimensional vehicle to reach the specified position.

[0097] Specifically, the second gripper of the storage and retrieval robot used to grab the pallet is determined as the target gripper, and the four-dimensional vehicle is controlled to arrive at a designated position to wait for the pallet to be stored, and then step 1013 is performed.

[0098] Step 1007: Determine whether there are medicine bottles on the storage carrier.

[0099] Specifically, the incoming carrier is scanned periodically, and after it is determined that there is no pallet on the incoming carrier, it is determined whether there is a medicine bottle on the incoming carrier. If not, proceed to step 1008; otherwise, proceed to step 1009.

[0100] Step 1008, end this scan.

[0101] Step 1009: Determine the medicine bottle as a target to be stored.

[0102] Specifically, when a medicine bottle is scanned on the storage carrier, the medicine bottle is determined to be a target to be stored, and then step 1010 is performed.

[0103] Step 1010: Obtain identification information and current location information of the medicine bottle.

[0104] Specifically, obtain the identification information and current location information of the medicine bottle, and then perform step 1011.

[0105] Step 1011: Determine the storage location of a target tray for storing medicine bottles according to the scanned identification information of the medicine bottles.

[0106] Specifically, the target tray for storing the medicine bottle is determined according to the identification information of the scanned medicine bottle, and the storage position of the target tray is determined, and then step 1012 is performed.

[0107] Step 1012: determine that the first gripper of the storage and retrieval robot is the target gripper, and control the four-dimensional vehicle to take out the target pallet and reach the specified position.

[0108] Specifically, the first gripper of the storage and retrieval robot for grabbing medicine bottles is determined as the target gripper, and the four-dimensional vehicle is controlled to take out the target tray and wait for the medicine bottles to be stored to be put in, and then step 1013 is performed.

[0109] Step 1013: Control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and adjust the grasping torque of the target gripper according to the weight of the target to be stored, and then grab the target to be stored.

[0110] Specifically, the object to be stored is picked up, and then step 1014 is performed.

[0111] Step 1014: Determine whether the target gripper has grasped successfully.

[0112] Specifically, after the target gripper grabs the object to be stored, a visual scan may be performed on the target gripper to determine again whether the target gripper has successfully grabbed the object to be stored. If not, proceed to step 1015; otherwise, proceed to step 1017.

[0113] Step 1015: record the number of captures and determine whether the number of captures exceeds a preset number.

[0114] Specifically, during a storage process, each time the target gripper performs a grabbing operation, the grabbing number is increased by one. When the target gripper fails to grab, the grabbing number is compared with the preset number. It is determined whether the grabbing number exceeds the preset number. If not, step 1013 is repeated; otherwise, step 1016 is performed. Optionally, the preset number is 3, that is, when the target gripper fails to grab 3 times, step 1016 is performed.

[0115] Step 1016: Alarm prompt.

[0116] Step 1017, control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the target after determining the placement position of the target to be stored.

[0117] Specifically, the storage and retrieval robot grabs the object to be stored, carries the object to be stored to the position where the 4D cart is waiting, and then performs a visual scan on the 4D cart. If the object to be stored is a medicine bottle, the position of the target tray on the 4D cart and the position where the medicine bottle to be stored is placed on the target tray are determined; if the object to be stored is a pallet, the position of the pallet to be stored on the 4D cart is determined, and then the object to be stored is placed and the target gripper is released. Then, step 1018 is performed.

[0118] Step 1018: Control the four-dimensional trolley to move to the storage position and place the object to be stored in the storage position.

[0119] Specifically, the four-dimensional trolley is controlled to place the object to be stored in the storage position according to the determined storage position, thereby completing the storage operation.

[0120] The technical solution of this embodiment, by identifying whether the medicine bottles or pallets to be stored are on the storage carrier, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the target to be stored, and judges again whether the grasping operation is successful after grasping, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes accurate and automatic grasping of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0121] Embodiment 3

[0122] Figure 5 This is a flow chart of a medicine bottle retrieval method provided in Example 1 of the present invention. This embodiment can be applicable to the situation where chemical medicine bottles are automatically removed from the warehouse. The method can be executed by a medicine bottle retrieval device, which can be implemented by software and / or hardware.

[0123] like Figure 5As shown, the method specifically comprises the following steps:

[0124] Step 210: According to the outbound instruction, determine the target to be outbound, and obtain the storage information and storage location of the target to be outbound.

[0125] The target to be shipped out may be a medicine bottle or a pallet on which the medicine bottle is placed. If the target to be shipped out is a medicine bottle, the storage information of the target to be shipped out may include the size of the medicine bottle, the name and characteristics of the contents, the total weight of the medicine bottle, etc. If the target to be shipped out is a pallet, the storage information of the target to be shipped out may be understood as the relevant information of the pallet itself and the medicine bottles it contains, which may include the size and weight of the pallet, the number of medicine bottles on the pallet, the size of the medicine bottle, the name and characteristics of the contents of the medicine bottle, the total weight of the medicine bottle, etc. The storage location may be understood as a specific location on a certain layer of the shelf.

[0126] Step 220: Determine the type of the item to be shipped out according to the storage information of the item to be shipped out.

[0127] Among them, the types to be shipped out are medicine bottle shipping or pallet shipping, and pallet shipping is to take out the pallet for placing medicine bottles or the pallet with medicine bottles.

[0128] Specifically, the type of the object to be shipped is determined according to the identification information of the object to be shipped. If the object to be shipped is a medicine bottle, the type of the object to be shipped is medicine bottle shipping; if the object to be shipped is a pallet, the type of the object to be shipped is pallet shipping.

[0129] Step 230, control the four-dimensional trolley to move to the storage position of the target to be shipped out. If the type of the target to be shipped out is medicine bottle shipping, take out the target pallet with the target to be shipped out and place it on the four-dimensional trolley; if the type of the target to be shipped out is pallet shipping, take out the target to be shipped out and place it on the four-dimensional trolley.

[0130] Among them, the target pallet can be understood as a pallet used to store the targets to be shipped out in the medicine bottle storage room.

[0131] Specifically, the four-dimensional trolley is controlled to move to the storage position of the target to be shipped out, the pallets on the shelves of the medicine bottle storage room are scanned, and matched with the information in the shipping instruction; if the type to be shipped out is medicine bottle shipping, after determining that the scanned pallet is the target pallet with the target to be shipped out, the target pallet is taken out and placed on the four-dimensional trolley; if the type to be shipped out is pallet shipping, after determining that the scanned pallet is the target to be shipped out, the target to be shipped out is taken out and placed on the four-dimensional trolley.

[0132] Step 240: If the type of goods to be shipped out is medicine bottle shipping, the first gripper of the storage and retrieval robot is determined as the target gripper; if the type of goods to be shipped out is pallet shipping, the second gripper of the storage and retrieval robot is determined as the target gripper.

[0133] The storage and retrieval robot is equipped with two different grippers, one for grabbing medicine bottles and the other for grabbing trays. The gripper for grabbing medicine bottles is mainly used to grab the round cap of medicine bottles, and the gripper for grabbing trays is mainly used to grab rectangular trays.

[0134] Specifically, when the type of outbound delivery is medicine bottle outbound delivery, the first gripper of the storage and retrieval robot used to grab the medicine bottle is determined as the target gripper; when the type of outbound delivery is medicine bottle outbound delivery, the second gripper of the storage and retrieval robot used to grab the pallet is determined as the target gripper.

[0135] Step 250, control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform a visual scan on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the target gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out.

[0136] Among them, the current position information can be understood as the position information of the target to be shipped out relative to the carrier, which can be the distance between the target to be shipped out and the edges of the carrier. If the target to be shipped out is a medicine bottle, the current position information can be understood as the relative position of the medicine bottle to be shipped out and the target pallet, and the relative position of the target pallet and the four-dimensional trolley; if the target to be shipped out is a pallet, the current position information can be understood as the relative position of the pallet to be shipped out and the four-dimensional trolley. The grasping position can be understood as the position of the horizontal plane determined according to the length, width or radius of the target to be shipped out and the current position information, and the position of the vertical plane determined according to the height of the target to be shipped out. The grasping torque can be understood as the torque required for the gripper to grasp according to the weight of the target to be shipped out.

[0137] Specifically, the storage and retrieval robot is controlled to move to the position of the four-dimensional car, and a visual scan is performed on the four-dimensional car to obtain the current position information of the target to be out of the warehouse. After the current position of the target to be out of the warehouse is determined, the target gripper of the storage and retrieval robot is adjusted to adjust the grasping position of the target gripper according to the size and current position information of the target to be out of the warehouse, the target gripper is controlled to grasp the target to be out of the warehouse, and then the grasping torque of the target gripper is adjusted according to the weight of the target to be out of the warehouse, and then the target to be out of the warehouse is grasped.

[0138] Step 260: Control the storage and retrieval robot to move to the outbound carrier position and place the object to be outbound on the outbound carrier.

[0139] Among them, the outbound carrier can be placed on the outbound window, and can be a pallet or other items that can be placed on medicine bottles or trays.

[0140] Specifically, the storage and retrieval robot grabs the object to be shipped out, carries the object to be shipped out to the position of the shipping carrier, and then visually scans the shipping carrier. After determining the placement position of the object to be shipped out, the object to be shipped out is placed on the shipping carrier.

[0141] The technical solution of this embodiment determines whether it is a medicine bottle or a pallet to be shipped out, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the target to be shipped out, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise grasping and automatic safety of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0142] Embodiment 4

[0143] Figure 6 This is a flow chart of the method for taking out a medicine bottle provided in the fourth embodiment of the present invention. Based on the above embodiment, this embodiment further optimizes the above method for taking out a medicine bottle.

[0144] like Figure 6 As shown, the method specifically includes:

[0145] Step 2001: According to the outbound instruction, determine the target to be outbound, and obtain the storage information and storage location of the target to be outbound.

[0146] Specifically, after determining the target to be shipped out according to the shipping instruction and obtaining the storage information and storage location of the target to be shipped out, step 2002 is performed.

[0147] Step 2002: Control the four-dimensional trolley to move to the storage location of the target to be shipped out.

[0148] Specifically, the four-dimensional trolley is controlled to move to the storage location of the object to be shipped out, and then step 2003 is performed.

[0149] Step 2003: Determine the type of the object to be shipped out according to the storage information of the object to be shipped out.

[0150] Specifically, if the type of goods to be shipped out is medicine bottle shipment, proceed to step 2004; if the type of goods to be shipped out is pallet shipment, proceed to step 2010.

[0151] Step 2004: Take out the target pallet containing the target to be shipped out and place it on the four-dimensional trolley.

[0152] Specifically, if the type of items to be shipped out is medicine bottle shipment, that is, the target to be shipped out is a medicine bottle, the target to be shipped out can only be taken out after the target pallet on which the target is placed is taken out. Therefore, the four-dimensional trolley is controlled to take out the target pallet, and then step 2005 is performed.

[0153] Step 2005, control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform a visual scan on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the first gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the first gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out.

[0154] Specifically, the storage and retrieval robot is controlled to move to the position of the four-dimensional trolley, and the four-dimensional trolley is visually scanned to obtain the relative position of the target to be shipped and the target pallet, and the relative position of the target pallet and the four-dimensional trolley as the current position information, and the target gripper of the storage and retrieval robot is adjusted to adjust the grasping position of the first gripper according to the size of the target to be shipped and the current position information, and the first gripper is controlled to grasp the target to be shipped, and then the grasping torque of the first gripper is adjusted according to the weight of the target to be shipped, and then the target to be shipped is grasped. Then, step 2006 is performed.

[0155] Step 2006: Determine whether the first gripper has grasped successfully.

[0156] Specifically, after the first gripper grabs the object to be shipped out, a visual scan may be performed on the first gripper to determine again whether the first gripper has successfully grabbed the object to be shipped out. If not, proceed to step 2007; otherwise, proceed to step 2009.

[0157] Step 2007, record the number of times the first gripper grasps, and determine whether the number of times the first gripper grasps exceeds a preset number.

[0158] Specifically, during a process of taking out from the warehouse, the grabbing times are increased by one each time the first gripper performs a grabbing operation. When the first gripper fails to grab, the grabbing times are compared with the preset times. It is determined whether the grabbing times exceed the preset times. If not, step 2005 is repeated; otherwise, step 2008 is performed.

[0159] Step 2008: an alarm is issued if the first gripper fails to grasp.

[0160] Step 2009: Control the four-dimensional vehicle to move to the storage position and place the target pallet at the storage position.

[0161] Specifically, after the storage and retrieval robot successfully grabs the target to be shipped out, it controls the four-dimensional vehicle to move to the storage position and places the target pallet that has taken the target to be shipped out on the storage position, and then performs step 2015.

[0162] Step 2010: Take out the object to be shipped out and place it on the four-dimensional cart.

[0163] Specifically, if the type of outbound shipment is pallet outbound shipment, that is, the target to be shipped is a pallet, the target to be shipped must be taken out before the storage and retrieval robot can take the target to be shipped away. Therefore, the four-dimensional car is controlled to take out the target to be shipped, and then step 2011 is performed.

[0164] Step 2011, control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform a visual scan on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the second gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the second gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out.

[0165] Specifically, the storage and retrieval robot is controlled to move to the position of the four-dimensional trolley, and the four-dimensional trolley is visually scanned to obtain the relative position of the target to be shipped and the four-dimensional trolley as the current position information, and the target gripper of the storage and retrieval robot is adjusted to adjust the grasping position of the second gripper according to the size of the target to be shipped and the current position information, and the second gripper is controlled to grasp the target to be shipped, and then the grasping torque of the second gripper is adjusted according to the weight of the target to be shipped, and then the target to be shipped is grasped. Then, step 2012 is performed.

[0166] Step 2012: Determine whether the second gripper has grasped successfully.

[0167] Specifically, after the second gripper grabs the object to be shipped out, a visual scan may be performed on the second gripper to determine again whether the second gripper has successfully grabbed the object to be shipped out. If not, proceed to step 2013; otherwise, proceed to step 2015.

[0168] Step 2013, record the number of times the second gripper grasps, and determine whether the number of times the second gripper grasps exceeds a preset number.

[0169] Specifically, during a process of taking out from the warehouse, the grabbing times are increased by one each time the second gripper performs a grabbing operation. When the second gripper fails to grab, the grabbing times are compared with the preset times. It is determined whether the grabbing times exceed the preset times. If not, step 2011 is repeated; otherwise, step 2014 is performed.

[0170] Step 2014: an alarm is issued when the second gripper fails to grasp.

[0171] Step 2015: Control the storage and retrieval robot to move to the outbound carrier position and place the object to be outbound on the outbound carrier.

[0172] Among them, the outbound carrier can be placed on the outbound window, which can be a pallet as shown in Figure 2(a) and Figure 2(b). The pallet shown in Figure 2(a) can hold medicine bottles of different sizes, and the pallet shown in Figure 2(b) can hold a tray loaded with medicine bottles.

[0173] The technical solution of this embodiment determines whether the object to be shipped out is a medicine bottle or a pallet, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the object to be shipped out, and determines again whether the grasping operation is successful after grasping, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise grasping and automatic safety of medicine bottles of different sizes and weights, and at the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0174] Embodiment 5

[0175] The medicine bottle deposit device provided in the embodiment of the present invention can execute the medicine bottle deposit method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 7 : is a structural block diagram of a medicine bottle storage device provided in Embodiment 5 of the present invention. Figure 7 As shown, the device includes: a storage target determination module 310, a storage type determination module 320, a target gripper determination module 330, a storage target grabbing module 340, a storage target placement module 350 and a storage target deposit module 360.

[0176] The storage target determination module 310 is used to perform visual scanning on the storage carrier, determine the target to be stored, and obtain the identification information and current location information of the target to be stored.

[0177] The warehousing type determination module 320 is used to determine the type of the object to be stored in accordance with the scanned identification information of the object to be stored in the warehousing, and to determine the storage location for storing the object to be stored in the warehousing. The type of the object to be stored in the warehousing is medicine bottle storage or pallet storage. Pallet storage is the storage of pallets for placing medicine bottles or pallets with medicine bottles.

[0178] The target gripper determination module 330 is used to determine that the first gripper of the storage and retrieval robot is the target gripper if the type of goods to be stored is medicine bottles, and control the four-dimensional car to take out the target pallet for storing the target to be stored and arrive at the designated position; if the type of goods to be stored is pallet storage, then the second gripper of the storage and retrieval robot is determined to be the target gripper, and control the four-dimensional car to arrive at the designated position.

[0179] The storage target grabbing module 340 is used to control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the target to be stored, and to adjust the grabbing torque of the target gripper according to the weight of the target to be stored, and then grab the target to be stored.

[0180] The storage target placement module 350 is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to determine the placement position of the target to be stored and then place the target to be stored;

[0181] The object storage module 360 ​​is used to control the four-dimensional vehicle to move to the storage position and place the object to be stored in the storage position.

[0182] The technical solution of this embodiment, by identifying whether the objects on the storage carrier are medicine bottles or pallets to be stored, controls the storage and retrieval robot and the four-dimensional vehicle to perform corresponding operations, and controls the storage and retrieval robot to adjust the gripping claws according to the size, weight and current position information of the target to be stored, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise and automatic grasping of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0183] Optionally, visual scanning is performed on the incoming carrier to determine the target to be entered into the warehouse, including:

[0184] Scan the incoming carrier to determine whether there is a pallet on the incoming carrier;

[0185] If there is a pallet, the pallet is determined to be the target for storage, and whether there is a medicine bottle on the pallet is determined. If there is a medicine bottle, the identification information of the scanned medicine bottle is bound to the identification information of the pallet; otherwise,

[0186] Determine whether there is a medicine bottle on the storage carrier. If there is a medicine bottle, determine the medicine bottle as the target to be stored.

[0187] Optionally, the device further includes a storage determination module 370,

[0188] The storage judgment module 370 is used to determine whether the target gripper has grasped successfully; if the grasping fails, the grasping times are recorded. When the grasping times exceed the preset times, an alarm is issued, otherwise the grasping operation is repeated.

[0189] The technical solution of this embodiment, by identifying whether the medicine bottles or pallets to be stored are on the storage carrier, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the target to be stored, and judges again whether the grasping operation is successful after grasping, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes accurate and automatic grasping of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0190] Embodiment 6

[0191] The medicine bottle removal device provided in the embodiment of the present invention can execute the medicine bottle removal method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 8 : is a structural block diagram of a medicine bottle storage device provided in Embodiment 6 of the present invention, such as Figure 8As shown, the device includes: an outbound target determination module 410, an outbound type determination module 420, an outbound target fetching module 430, a target gripper determination module 440, an outbound target grabbing module 450 and an outbound target grabbing module 450.

[0192] The outbound target determination module 410 is used to determine the target to be outbound according to the outbound instruction, and obtain the storage information and storage location of the target to be outbound.

[0193] The outbound type determination module 420 is used to determine the outbound type according to the storage information of the outbound target. The outbound type is medicine bottle outbound or pallet outbound. Pallet outbound is to take out the pallet for placing medicine bottles or the pallet with medicine bottles.

[0194] The outbound target removal module 430 is used to control the four-dimensional trolley to move to the storage position of the target to be outbound. If the type of outbound is medicine bottle outbound, the target pallet with the target to be outbound will be taken out and placed on the four-dimensional trolley; if the type of outbound is pallet outbound, the target to be outbound will be taken out and placed on the four-dimensional trolley.

[0195] The target gripper determination module 440 is used to determine the first gripper of the storage and retrieval robot as the target gripper if the type of goods to be shipped out is medicine bottle shipment; and to determine the second gripper of the storage and retrieval robot as the target gripper if the type of goods to be shipped out is pallet shipment;

[0196] The outbound target grabbing module 450 is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the outbound target, control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the outbound target, and adjust the grabbing torque of the target gripper according to the weight of the outbound target, and then grab the outbound target;

[0197] The outbound target placement module 460 is used to control the storage and retrieval robot to move to the outbound carrier position and place the target to be outbound on the outbound carrier.

[0198] The technical solution of this embodiment determines whether it is a medicine bottle or a pallet to be shipped out, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the target to be shipped out, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise grasping and automatic safety of medicine bottles of different sizes and weights. At the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0199] Optionally, the device further includes a delivery judgment module 470,

[0200] The outbound judgment module 470 is used to determine whether the target gripper has grasped successfully; if the grasping fails, the grasping times are recorded. When the grasping times exceed the preset times, an alarm is issued, otherwise the grasping operation is repeated.

[0201] Optionally, the device further includes a target tray returning module 480,

[0202] The target pallet return module 480 is used to control the four-dimensional trolley to move to the storage position and place the target pallet on the storage position if the type of goods to be shipped out is medicine bottle shipping.

[0203] The technical solution of this embodiment determines whether the object to be shipped out is a medicine bottle or a pallet, controls the storage and retrieval robot and the four-dimensional cart to perform corresponding operations, and at the same time controls the storage and retrieval robot to adjust the gripper used for grasping according to the size, weight and current position information of the object to be shipped out, and determines again whether the grasping operation is successful after grasping, thereby solving the problem that manual storage and retrieval of compound medicine bottles is time-consuming, dangerous and error-prone, and realizes precise grasping and automatic safety of medicine bottles of different sizes and weights, and at the same time, it can place several medicine bottles on a pallet for quick storage and retrieval.

[0204] Embodiment 7

[0205] Fig. 9 A structural block diagram of a medicine bottle storage and retrieval system provided in Embodiment 7 of the present invention is shown in FIG. Fig. 9 As shown, the medicine bottle storage and retrieval system includes a medicine bottle storage room 510, a storage and retrieval robot 520, a four-dimensional vehicle 530 and a medicine bottle storage and retrieval control device 540; the number of the storage and retrieval robot 520 and the four-dimensional vehicle 530 in the medicine bottle storage and retrieval system can be one or more. Fig. 9 In the figure, a storage and retrieval robot 520 and a four-dimensional vehicle 530 are taken as examples; the medicine bottle storage room 510, the storage and retrieval robot 520, the four-dimensional vehicle 530 and the medicine bottle access control device 540 in the medicine bottle access system can be connected via a bus or other means. Fig. 9 The example of connecting through bus is taken in the following.

[0206] The medicine bottle storage room 510 is provided with a number of shelves, inbound carriers and outbound carriers for storing medicine bottles;

[0207] The storage and retrieval robot 520 is provided with two grippers and a visual sensor;

[0208] The four-dimensional car 530 is provided with a visual sensor;

[0209] The medicine bottle storage and access control device 540 is used to execute the medicine bottle storage method as described in any embodiment of the present invention or the medicine bottle retrieval method as described in any embodiment of the present invention.

[0210] Embodiment 8

[0211] Embodiment 8 of the present invention further provides a storage medium containing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute the medicine bottle depositing method according to any embodiment of the present invention or the medicine bottle taking out method according to any embodiment of the present invention, including:

[0212] How to deposit medicine bottles:

[0213] Visually scan the incoming carrier to determine the object to be entered, and obtain the identification information and current location information of the object to be entered;

[0214] Determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored. The type of the object to be stored is medicine bottle storage or pallet storage. Pallet storage is the storage of pallets for placing medicine bottles or pallets with medicine bottles.

[0215] If the type of storage to be entered is medicine bottle storage, the first gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional trolley is controlled to take out the target pallet for storing the target to be entered and arrive at the designated position; if the type of storage to be entered is pallet storage, the second gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional trolley is controlled to arrive at the designated position;

[0216] Control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and adjust the grasping torque of the target gripper according to the weight of the target to be stored, and then grab the target to be stored;

[0217] Control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform visual scanning on the four-dimensional trolley to determine the placement position of the object to be stored and then place the object to be stored;

[0218] Control the four-dimensional trolley to move to the storage position and place the object to be stored in the storage position.

[0219] A method for taking out a medicine bottle:

[0220] According to the outbound instruction, determine the target to be outbound, and obtain the storage information and storage location of the target to be outbound;

[0221] Determine the type of the item to be shipped according to the storage information of the item to be shipped. The type of the item to be shipped is medicine bottle shipping or pallet shipping. Pallet shipping is to take out a pallet for placing medicine bottles or a pallet with medicine bottles;

[0222] Control the four-dimensional trolley to move to the storage position of the target to be shipped out. If the type of the target to be shipped out is medicine bottle shipping, take out the target pallet with the target to be shipped out and place it on the four-dimensional trolley; if the type of the target to be shipped out is pallet shipping, take out the target to be shipped out and place it on the four-dimensional trolley;

[0223] If the type of goods to be shipped out is medicine bottle shipping, the first gripper of the storage and retrieval robot is determined as the target gripper; if the type of goods to be shipped out is pallet shipping, the second gripper of the storage and retrieval robot is determined as the target gripper;

[0224] Control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the target gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out;

[0225] Control the storage and retrieval robot to move to the outbound carrier position and place the target to be outbound on the outbound carrier.

[0226] Of course, the storage medium containing computer executable instructions provided by an embodiment of the present invention is not limited to the method operations described above, and the computer executable instructions can also execute related operations in the medicine bottle depositing method or medicine bottle removing method provided by any embodiment of the present invention.

[0227] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0228] It is worth noting that in the embodiment of the above-mentioned search device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0229] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for storing medicine bottles, characterized in that: include: Perform visual scanning on the storage carrier to determine the target to be stored, and obtain the identification information and current position information of the target to be stored; the current position information refers to the distance between the target to be stored and each edge of the storage carrier; Determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored, the type of the object to be stored is medicine bottle storage or pallet storage, and the pallet storage is the storage of a pallet for placing medicine bottles or a pallet with medicine bottles; If the type of the items to be stored is the medicine bottle storage, the first gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional vehicle is controlled to take out the target pallet for storing the items to be stored and arrive at the designated position; if the type of the items to be stored is the pallet storage, the second gripper of the storage and retrieval robot is determined to be the target gripper, and the four-dimensional vehicle is controlled to arrive at the designated position; Controlling the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be stored, and to adjust the grasping torque of the target gripper according to the weight of the target to be stored, and then grasp the target to be stored; Control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the object to be stored after determining the placement position of the object to be stored; The four-dimensional trolley is controlled to move to the storage position and the object to be stored is placed at the storage position.

2. The medicine bottle deposit method according to claim 1, characterized in that: The visual scanning of the storage carrier to determine the target to be stored includes: Scan the incoming carrier to determine whether there is a pallet on the incoming carrier; If there is a pallet, the pallet is determined to be the target to be put into storage, and whether there is a medicine bottle on the pallet is determined. If there is a medicine bottle, the identification information of the scanned medicine bottle is bound to the identification information of the pallet; otherwise, Determine whether there is a medicine bottle on the storage carrier, and if there is a medicine bottle, determine that the medicine bottle is the target to be stored.

3. The medicine bottle deposit method according to claim 1, characterized in that: Before controlling the storage and retrieval robot to move to the four-dimensional trolley position, the method further comprises: Determining whether the target gripper has grasped successfully; If the grabbing fails, the grabbing times are recorded. When the grabbing times exceed the preset times, an alarm is given, otherwise the grabbing operation is repeated.

4. A method for removing a medicine bottle, characterized in that: include: According to the outbound instruction, determine the target to be outbound, and obtain the storage information and storage location of the target to be outbound; Determine the type of the object to be shipped out according to the storage information of the object to be shipped out, wherein the type of the object to be shipped out is medicine bottle shipping or pallet shipping, and the pallet shipping is to take out a pallet for placing medicine bottles or a pallet with medicine bottles; Control the four-dimensional trolley to move to the storage position of the target to be shipped out. If the type of the target to be shipped out is the medicine bottle shipping out, take out the target pallet with the target to be shipped out and place it on the four-dimensional trolley; if the type of the target to be shipped out is the pallet shipping out, take out the target to be shipped out and place it on the four-dimensional trolley; If the type of the item to be shipped out is the medicine bottle shipment, determining the first gripper of the storage and retrieval robot as the target gripper; If the type of the item to be shipped out is the pallet shipping out, determining the second gripper of the storage and retrieval robot as the target gripper; Control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the target to be shipped out, control the storage and retrieval robot to adjust the grasping position of the target gripper according to the size and current position information of the target to be shipped out, and adjust the grasping torque of the target gripper according to the weight of the target to be shipped out, and then grab the target to be shipped out; the current position information refers to the distance between the target to be shipped out and each edge of the shipping carrier; The storage and retrieval robot is controlled to move to the outbound carrier position and place the object to be outbound on the outbound carrier.

5. The method for removing a medicine bottle according to claim 4, characterized in that: Before controlling the storage and retrieval robot to move to the outbound carrier position, the method further includes: Determining whether the target gripper has grasped successfully; If the grabbing fails, the grabbing times are recorded. When the grabbing times exceed the preset times, an alarm is given, otherwise the grabbing operation is repeated.

6. The method for removing a medicine bottle according to claim 1, characterized in that: When controlling the storage and retrieval robot to move to the outbound carrier position, it also includes: If the type of goods to be shipped out is the medicine bottle shipment, the four-dimensional trolley is controlled to move to the storage position and the target pallet is placed on the storage position.

7. A medicine bottle storage device, characterized in that: include: The storage target determination module is used to perform visual scanning on the storage carrier, determine the target to be stored, and obtain the identification information and current position information of the target to be stored; the current position information refers to the distance between the target to be stored and each edge of the storage carrier; A storage type determination module is used to determine the type of the object to be stored according to the scanned identification information of the object to be stored, and determine the storage location for storing the object to be stored. The type of the object to be stored is medicine bottle storage or pallet storage. The pallet storage is the storage of a pallet for placing medicine bottles or a pallet with medicine bottles; The target gripper determination module is used to determine the first gripper of the storage and retrieval robot as the target gripper if the type of the object to be stored is the medicine bottle storage, and control the four-dimensional trolley to take out the target pallet for storing the object to be stored and arrive at the designated position; if the type of the object to be stored is the pallet storage, determine the second gripper of the storage and retrieval robot as the target gripper, and control the four-dimensional trolley to arrive at the designated position; The storage target grabbing module is used to control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the target to be stored, and to adjust the grabbing torque of the target gripper according to the weight of the target to be stored, and then grab the target to be stored; A storage target placement module is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley and perform a visual scan on the four-dimensional trolley to place the target after determining the placement position of the target to be stored; The storage module for storing objects is used to control the four-dimensional vehicle to move to the storage position and place the object to be stored in the storage position.

8. A medicine bottle taking-out device, characterized in that: include: The outbound target determination module is used to determine the target to be outbound according to the outbound instruction, and obtain the storage information and storage location of the target to be outbound; The outbound type determination module is used to determine the outbound type according to the storage information of the outbound target, wherein the outbound type is medicine bottle outbound or pallet outbound, and the pallet outbound is to take out the pallet for placing medicine bottles or the pallet with medicine bottles; The outbound target taking module is used to control the four-dimensional trolley to move to the storage position of the target to be outbound. If the type of the target to be outbound is the bottle outbound, the target pallet with the target to be outbound is taken out and placed on the four-dimensional trolley; if the type of the target to be outbound is the pallet outbound, the target to be outbound is taken out and placed on the four-dimensional trolley; A target gripper determination module is used to determine the first gripper of the storage and retrieval robot as the target gripper if the type of the item to be shipped out is the medicine bottle shipment; and to determine the second gripper of the storage and retrieval robot as the target gripper if the type of the item to be shipped out is the pallet shipment; The outbound target grabbing module is used to control the storage and retrieval robot to move to the position of the four-dimensional trolley, perform visual scanning on the four-dimensional trolley, obtain the current position information of the outbound target, control the storage and retrieval robot to adjust the grabbing position of the target gripper according to the size and current position information of the outbound target, and adjust the grabbing torque of the target gripper according to the weight of the outbound target, and then grab the outbound target; the current position information refers to the distance between the outbound target and each edge of the outbound carrier; The outbound target placement module is used to control the storage and retrieval robot to move to the outbound carrier position and place the to-be-outbound target on the outbound carrier.

9. A medicine bottle storage and retrieval system, characterized in that: include: Medicine bottle storage room, storage and retrieval robot, four-dimensional trolley and medicine bottle storage and retrieval control device; The medicine bottle storage room is provided with a plurality of shelves, storage carriers and outbound carriers for storing medicine bottles; The storage and retrieval robot is provided with two grippers and a visual sensor; The four-dimensional car is provided with a visual sensor; The medicine bottle storage and access control device is used to execute the medicine bottle storage method described in any one of claims 1-4 or the medicine bottle retrieval method described in any one of claims 5-8.

10. A storage medium containing computer executable instructions, characterized in that: When executed by a computer processor, the computer executable instructions are used to execute the medicine bottle deposit method as described in any one of claims 1-4 or the medicine bottle retrieval method as described in any one of claims 5-8.

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