Medicine dispensing robot, visual medicine dispensing method, medicine dispensing system and storage medium

Abstract

Embodiments of the present invention relate to the field of robots, and disclose a medicine dispensing robot, a visual medicine dispensing method, a medicine dispensing system, and a storage medium. In some embodiments of the present application, the medicine dispensing robot includes: a main shaft; and a medicine dispensing tray connected to the main shaft, the medicine dispensing tray being provided with a longitudinal through hole; and a medicine dispensing rod connected to the main shaft and arranged above the medicine dispensing tray; and a first power module connected to the medicine dispensing rod; and a control module connected to the first power module; and a shooting module connected to the control module; the shooting area of ​​the shooting module includes the area where the medicine dispensing tray is located; and a medicine dispensing cup arranged below the medicine dispensing tray. The technical solution provided in the embodiments of the present application can dispense a specified number of medicines to the medicine dispensing cup through the medicine dispensing rod so that the user can take the medicine.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robots, and in particular to a medicine dispensing robot, a visual medicine dispensing method, a medicine dispensing system, and a storage medium. Background Art

[0002] The development of medical and health care has enabled many diseases to be treated or controlled, greatly improving human health and prolonging human life. Many diseases that were difficult to cure have become chronic diseases that can be treated for a long time. At the same time, the types of medicines and health products that humans need to take at the same time are also increasing. In the process of patients taking medicine, how to automatically separate the medicines is a problem that needs to be solved. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a medicine dispensing robot, a visual medicine dispensing method, a medicine dispensing system and a storage medium, which can dispense a specified amount of medicine into a medicine cup through a medicine dispensing rod so that the user can take the medicine.

[0004] To solve the above technical problems, in the first aspect, an embodiment of the present invention provides a medicine dispensing robot, comprising: a main shaft; and a medicine dispensing tray connected to the main shaft, the medicine dispensing tray being provided with a longitudinal through hole; and a medicine dispensing rod connected to the main shaft and arranged above the medicine dispensing tray; and a first power module connected to the medicine dispensing rod; and a control module connected to the first power module; and a shooting module connected to the control module; the shooting area of ​​the shooting module includes the area where the medicine dispensing tray is located; and a medicine taking cup arranged below the medicine dispensing tray.

[0005] In a second aspect, an embodiment of the present invention provides a visual medicine dispensing method, which is applied to the medicine dispensing robot mentioned in the above embodiment or a device communicatively connected to the medicine dispensing robot mentioned in the above embodiment, and the visual medicine dispensing method includes: obtaining a target number of medicines; transferring the medicines in the medicine storage cup of the medicine dispensing robot to the medicine dispensing tray of the medicine dispensing robot; identifying the number of medicines transferred out based on the image captured by the shooting module; judging whether the number of medicines transferred out is less than or equal to the target number; if it is determined to be yes, controlling the medicine transfer rod of the medicine dispensing robot to transfer the transferred medicines to a first preset position; wherein the first preset position is the position of the longitudinal through hole on the medicine dispensing tray; judging whether the number of medicines transferred out is equal to the target number; if it is determined that the number of medicines transferred out is not equal to the target number, returning to execute the step of obtaining the target number of medicines; if it is determined not to be yes, controlling the front and rear transfer rods of the medicine transfer rod to move based on the image captured by the shooting module to pick up medicines from the medicine dispensing tray.

[0006] In a third aspect, an embodiment of the present invention provides a medicine dispensing system, comprising: the medicine dispensing robot mentioned in the above embodiment, and a cloud computing device connected to the medicine dispensing robot for communication, and / or a medical service providing device connected to the medicine dispensing robot for communication.

[0007] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned visual medicine distribution method.

[0008] Compared with the prior art, the embodiment of the present invention is that a shooting module is installed in the medicine dispensing robot, and the shooting module is used to shoot the area where the medicine dispensing tray is located. The control module is connected to the shooting module, so that the control module can obtain the image of the medicine dispensing tray through the shooting module, and obtain the distribution of medicines above the medicine dispensing tray. According to the distribution of medicines, the control module controls the medicine lever to dispense a specified number of medicines to the medicine cup so that the user can take the medicines. Compared with the user taking the specified number of medicines by hand after pouring out the medicines, taking the specified number of medicines by the medicine dispensing robot reduces the pollution to the medicines that are not taken this time, and improves the safety of the medicines. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0010] Figure 1 This is a schematic diagram of the structure of a medicine dispensing robot in one embodiment of the present application;

[0011] Figure 2 is a schematic diagram of the structure of a medicine dispensing robot in another embodiment of the present application;

[0012] Figure 3 This is a schematic diagram of the structure of a first push rod of a medicine dispensing robot in one embodiment of the present application;

[0013] Figure 4 is a structural schematic diagram of a first push rod of a medicine dispensing robot in another embodiment of the present application;

[0014] Figure 5a-5c This is a structural schematic diagram of a connection portion between a first push rod and a medicine storage cup in a connection mode between a first push rod and a medicine storage cup of a medicine dispensing robot in an embodiment of the present application;

[0015] Figure 6a It is a structural schematic diagram of a medicine storage cup in another connection mode between a first push rod of a medicine dispensing robot and a medicine storage cup in one embodiment of the present application;

[0016] Figure 6b This is a structural schematic diagram of the first push rod of the medicine dispensing robot in another connection mode between the first push rod and the medicine storage cup in one embodiment of the present application;

[0017] Figure 7 is a structural schematic diagram of a medicine dispensing robot in another embodiment of the present application;

[0018] Figure 8 is a structural schematic diagram of a medicine dispensing robot in another embodiment of the present application;

[0019] Figure 9a is a schematic structural diagram of a medicine-dispensing rod when the front and rear levers of the medicine-dispensing robot are parallel in one embodiment of the present application;

[0020] Figure 9b It is a structural schematic diagram of a medicine dispensing robot in an embodiment of the present application, in which a front lever of the medicine dispensing robot rotates around a rear lever;

[0021] Fig.10 is a schematic structural diagram of another medicine lever in one embodiment of the present application;

[0022] Fig.11 is a schematic structural diagram of a medicine dispensing robot with a light source in one embodiment of the present application;

[0023] Fig.12 is a schematic diagram of the positions of the first power module, the second power module, the third power module, the fourth power module and the fifth power module in one embodiment of the present application;

[0024] Fig.13 is a flow chart of a visual medicine dispensing method performed by a medicine dispensing robot in one embodiment of the present application;

[0025] Fig.14 is a flow chart of a visual medicine dispensing method performed by a medicine dispensing robot in another embodiment of the present application;

[0026] Fig.15a This application Fig.14 A schematic diagram of a partial structure of the medicine dispensing robot when the rotating tray is at the rotating position and the rotating tray rotates to the second preset position in the visual medicine dispensing method shown;

[0027] Fig.15b This application Fig.15a A schematic diagram of a portion of the structure of the medicine dispensing robot when the rotating tray rises to the medicine dispensing position;

[0028] Fig.15c This application Fig.15a A schematic diagram of a part of the structure of the medicine dispensing robot when the first push rod pushes the movable bottom of the medicine storage cup to move upward;

[0029] Figure 16a-16d yes Fig.14The schematic diagram of the medicine dispensing robot in the visual medicine dispensing method of the medicine dispensing robot is shown as taking medicine from the medicine dispensing rod to the area B;

[0030] Fig.17a This application Fig.14 A schematic diagram of a partial structure of the medicine dispensing robot when the rotating tray is lowered to the rotating position in the visual medicine dispensing method shown;

[0031] Fig.17b This application Fig.14 A schematic diagram of a partial structure of the medicine dispensing robot when the rotating tray is in the rotating position and the rotating tray rotates to the third preset position in the visual medicine dispensing method shown;

[0032] Fig.17c This application Fig.14 A schematic diagram of a partial structure of the medicine dispensing robot when the rotating tray rises to the medicine dispensing position again in the visual medicine dispensing method shown;

[0033] Fig.17d This application Fig.14 A schematic diagram of a portion of the structure of the medicine dispensing robot when the rotating tray is lowered to the rotating position again in the visual medicine dispensing method shown;

[0034] Figure 18a-18b This application Fig.14 A schematic diagram of the process of the front lever and the rear lever cooperating to distribute medicine in the visual medicine distribution method shown;

[0035] Figure 19a-Figure 19c This application Fig.14 A schematic diagram of the process of rotating the medicine lever to a first preset position along the direction of the remaining medicines in the visual medicine dispensing method shown;

[0036] Figure 20a-Figure 20c This application Fig.14 A schematic diagram of a process in which a medicine-moving rod rotates in a first direction to move the medicines moved to the position of the longitudinal through hole in the visual medicine-moving method shown;

[0037] Figure 21a-Figure 21c This application Fig.14 A schematic diagram of the process in which the medicine-moving rod rotates in the second direction to move the medicines moved to the position of the longitudinal through hole in the visual medicine-moving method shown;

[0038] Fig. 22 is a flowchart of a visual medicine dispensing method performed by a medicine dispensing robot in another embodiment of the present application;

[0039] Fig.23 is a schematic diagram of the structure of a medicine dispensing system in one embodiment of the present application;

[0040] Fig.24It is a structural schematic diagram of a medicine dispensing system in another embodiment of the present application. DETAILED DESCRIPTION

[0041] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0042] In the description of the present invention, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0043] In the present application embodiment, Figure 1 The medicine dispensing robot shown in the figure comprises: a main shaft 11; and a medicine dispensing tray 12 connected to the main shaft 11, the medicine dispensing tray 12 is provided with a longitudinal through hole 120; and a medicine dispensing rod 13 connected to the main shaft 11 and arranged above the medicine dispensing tray 12; and a first power module ( Figure 1 and a control module connected to the first power module ( Figure 1 and a shooting module 14 connected to the control module; a shooting area of ​​the shooting module 14 includes an area where the medicine dispensing tray 12 is located; and a medicine cup 15 disposed below the medicine dispensing tray 12.

[0044] In the embodiment of the present application, a shooting module 14 is installed in the medicine dispensing robot. The shooting module 14 is used to shoot the area where the medicine dispensing tray 12 is located. The control module is connected to the shooting module 14, so that the control module can obtain the image of the medicine dispensing tray 12 through the shooting module 14, and obtain the distribution of medicines above the medicine dispensing tray 12 based on the image. The control module controls the medicine dialing rod 13 to dial out a specified number of medicines to the medicine cup according to the distribution of medicines, so that the user can take the medicines. Compared with the user taking a specified number of medicines by hand after pouring out the medicines, the medicine dispensing robot obtains the specified number of medicines, and provides medicine dispensing services for users who do not have the ability to accurately take out a certain number of medicines due to illness, avoiding the possibility of manual operation errors. In addition, by obtaining a specified number of medicines through the medicine dispensing robot, there is less pollution to the medicines that are not taken this time, which improves the safety of the medicines.

[0045] It should be noted that those skilled in the art can understand that the first power module can be set inside the main shaft to reduce the space occupied by the first power module, or it can be set at other positions. The first power module can provide power for the medicine expelling rod 13. This embodiment does not limit the setting position of the control module.

[0046] It should be noted that those skilled in the art can understand that the control module can be set inside the main shaft or at other locations. The control module can receive the image captured by the shooting module 14 and control the medicine expelling rod 13 by controlling the first power module. This embodiment does not limit the setting position of the control module.

[0047] It should be noted that Figure 1 The structure of the medicine dispensing robot is illustrated by taking the example of the shooting module 14 being suspended on the shell 21 of the medicine dispensing robot. In actual applications, the shooting module 14 can also be set at other positions, for example, at the top of the main shaft. This embodiment is only for illustration and does not limit the installation position of the shooting module 14.

[0048] In one embodiment, Figure 2 As shown, the medicine dispensing robot also includes: a rotating tray 16 connected to the main shaft 11, the rotating tray 16 is arranged below the medicine dispensing tray 12, and the medicine taking cup 15 is arranged on the rotating tray 16; and at least one medicine storage cup 17 arranged on the rotating tray 16, the medicine storage cup 17 includes a medicine storage cup wall 171 and a medicine storage cup movable cup bottom 172, and the medicine storage cup movable cup bottom 172 is located in the medicine storage cup wall 171; and a second power module ( Figure 2 and a first push rod 18 connected to the bottom 172 of the medicine storage cup; and a third power module ( Figure 2(not shown). Specifically, a rotating tray 16 is provided below the medicine dispensing tray 12 for placing a medicine storage cup 17 and a medicine taking cup 15. The rotating tray 16 is substantially parallel to the medicine dispensing tray 12. The control module controls the rotation of the rotating tray 16 through the second power module. The medicine storage cup 17 is placed above the first push rod 18, and the first push rod 18 pushes the medicine storage cup movable cup bottom 172 of the medicine storage cup 17 to push the medicine above the medicine dispensing tray 12. When it is necessary to take out the medicine to be dispensed, the control module controls the rotating tray 16 to rotate to the second preset position so that the medicine storage cup 17 is located below the longitudinal through hole 120. The control module controls the first push rod 18 to push the medicine storage cup 17 through the third power module so that the medicine is higher than the plane of the medicine dispensing tray 12 so that the medicine can be taken out by the medicine removing rod 13. When the medicine needs to be delivered, the control module controls the rotating tray 16 to rotate to the third preset position so that the medicine cup 15 is located below the longitudinal through hole 120, and the medicine moving rod 13 moves the medicine to the first preset position so that the medicine falls into the medicine cup 15, wherein the first preset position is the position of the longitudinal through hole.

[0049] It should be noted that those skilled in the art can understand that, for the sake of clarity, this embodiment is described by taking the control of the overall rotation of the medicine storage cup 17 and the medicine dispensing cup 15 as an example. In actual applications, the medicine storage cup 17 and the medicine dispensing cup 15 can also be controlled to rotate separately. For example, one or more medicine storage cups 17 and medicine dispensing cups 15 are respectively connected to independent rotating brackets, and the second power module controls the rotation of each medicine storage cup 17 or medicine dispensing cup 15 separately by controlling each independent rotating bracket. This embodiment does not impose any limitation.

[0050] It should be noted that those skilled in the art can understand that the medicine storage cup 17 can also be set at other locations in other ways. For example, the medicine storage cup 17 is hung above the medicine dispensing tray 12 by a hanging rod. Specifically, the medicine dispensing robot also includes a shell, one end of the hanging rod is fixed to the shell, and the other end is connected to the inclined rod at the bottom of the medicine storage cup 17. When it is necessary to take the medicine, the medicine is poured onto the medicine dispensing tray 12 by controlling the inclination angle of the inclined rod. Those skilled in the art can also use other methods to set the medicine storage cup 17, which will not be repeated here.

[0051] It should be noted that Figure 2 In the figure, a medicine storage cup is taken as an example to illustrate the structure of the medicine dispensing robot. In actual applications, multiple medicine storage cups can be set in the medicine dispensing robot. The processing module stores the position information of each medicine storage cup and the type of medicine in the medicine storage cup. When medicine dispensing is required, the position information of the medicine storage cup storing the medicine currently to be taken out is determined according to the type of medicine currently to be taken out, and the medicine storage cup is rotated to the bottom of the longitudinal through hole by controlling the rotation of the rotating tray.

[0052] It is worth mentioning that, considering that when users need to take multiple medicines, the complexity of manual operation increases linearly, and the probability of error increases accordingly. By setting multiple medicine storage cups for the medicine dispensing device, all the medicines that the patient needs to take at one time can be taken into the medicine storage cups, providing medicine dispensing services for patients who are unable to accurately take out a certain amount of medicines by themselves due to illness, thus avoiding the possibility of manual operation errors.

[0053] The following Figure 2 The structure of the first push rod 18 in FIG. 1 is illustrated by way of example.

[0054] In one embodiment, Figure 3 As shown, the first push rod 18 includes a first push rod branch 181 and a second push rod branch 182, the first push rod branch 181 and the second push rod branch 182 are connected, and the second push rod branch 182 is connected to the main shaft. The first push rod branch 181 and the second push rod branch 182 are L-shaped.

[0055] Optional, such as Figure 4 As shown, the first push rod 18 further includes a first push rod support, and one end of the first push rod branch 181 is connected to the surface of the first push rod support 183 .

[0056] In one example, in order to make the first push rod have a pushing effect, the first push rod branch 181 includes a sleeve and a movable rod disposed inside the sleeve, one end of the movable rod is connected to the first push rod support 183, and the other end of the movable rod is connected to the third power module. The third power module controls the movable rod to move up and down inside the sleeve to make the first push rod support 183 move up and down to push the medicine storage cup.

[0057] In another example, in order to make the first push rod have a pushing effect, a longitudinal opening is provided on the main shaft 11, the third power module is arranged in the main shaft 11, and the second push rod branch 182 passes through the longitudinal opening and is connected to the third power module. Since the main shaft 11 is provided with a longitudinal opening, the second push rod branch 182 can move up and down.

[0058] It should be noted that those skilled in the art will appreciate that the pushing effect of the first push rod may also be achieved in other ways, which are not listed one by one in this embodiment.

[0059] The following is an example of the connection between the first push rod 18 and the medicine storage cup.

[0060] In an example, Figure 5a, the connection between the medicine storage cup 17 and the first push rod 18 is achieved through an electromagnet. Specifically, the medicine storage cup 17 includes a medicine storage cup wall 171, a medicine storage cup movable cup bottom 172 and a medicine storage cup fixed cup bottom 173. The medicine storage cup fixed cup bottom 173 is connected to the medicine storage cup wall 171 and is located below the medicine storage cup movable cup bottom 172 to prevent the medicine storage cup movable cup bottom 172 from falling. A longitudinal through hole is provided in the middle of the medicine storage cup fixed cup bottom 173 so that the first push rod 18 can pass through the medicine storage cup fixed cup bottom 173 for connection. The medicine storage cup movable cup bottom 172 of the medicine storage cup 17 is made of a material that can be attracted by magnetic force, such as metal. The first push rod support 183 on the first push rod 18 is an electromagnet device. The first push rod support 183 and the medicine storage cup movable cup bottom 172 form a coupling device. This coupling device ensures that the medicine storage cup 17 is placed in a fixed position. Figure 5b and Figure 5c As shown, the electromagnet is powered on, the first push rod 18 and the medicine storage cup movable cup bottom 172 are sucked together, and the first push rod 18 can push or pull the medicine storage cup movable cup bottom 172. When the medicine storage cup 17 needs to be taken out, the electromagnet is powered off.

[0061] In another example, the movable cup bottom 172 of the medicine storage cup is provided with a first slide rail 174, such as Figure 6a The first push rod support 183 is provided with a second slide rail 184, as shown in FIG. Figure 6b As shown. The first slide rail 174 matches with the second slide rail 184 to achieve coupling. Figure 5a-5c Similarly, the difference is that the material of the movable cup bottom 172 of the medicine storage cup can be any material.

[0062] It should be noted that those skilled in the art can understand that other connection methods can be used for the movable cup bottom 172 of the medicine storage cup and the first push rod 18. The medicine storage cup 17 can be removed from the first push rod support 183, and the first push rod 18 and the movable cup bottom 172 of the medicine storage cup can be pushed and pulled after being connected. This embodiment does not limit the connection method between the movable cup bottom 172 of the medicine storage cup and the first push rod 18.

[0063] Optionally, to further ensure that the medicine storage cup 17 is placed at a designated position, a positioning device may be installed on the first push rod 18 and the movable cup bottom 172 of the medicine storage cup. After the positioning device is detected to be activated, subsequent operations such as medicine dispensing are performed.

[0064] In one embodiment, Figure 7As shown, the medicine cup 15 includes a medicine cup wall 151 and a medicine cup movable cup bottom 152, and the medicine cup movable cup bottom 152 is located inside the medicine cup wall 151; the medicine dispensing robot also includes: a second push rod 19 connected to the medicine cup movable cup bottom 152; and a fifth power module (not shown) connected to the second push rod 19. The connection method between the second push rod 19 and the medicine cup 15 can refer to the connection method between the medicine storage cup 17 and the first push rod 18, and the connection method between the medicine cup 15 and the second push rod 19 will not be described in detail here.

[0065] It is worth mentioning that if the medicine cup 15 is fixed by an electromagnet, the medicine dispensing robot can control the on and off of the electromagnet according to the user's medication time to avoid accidental medication. Specifically, when the user takes medication, the electromagnet is powered off so that the user can pick up the medicine cup 15, thereby preventing the user from picking up the medicine cup 15 when he should not take medication, resulting in accidental medication.

[0066] It should be noted that those skilled in the art can understand that the medicine storage cup 17 or medicine dispensing cup 15 provided in this embodiment is a circular cup body, and in practice, it can also be designed into other shapes, such as a fan-shaped cup design. If multiple medicine storage cups 17 are set as fan-shaped cup bodies with the same arc length, the points of multiple medicine storage cups 17 overlap to form a circle, or multiple medicine dispensing cups 15 are set as fan-shaped cup bodies with the same arc length, the points of multiple medicine dispensing cups 15 overlap to form a circle, the space can be more fully utilized.

[0067] In one embodiment, Figure 7 On the basis of the medicine dispensing robot shown, the medicine dispensing robot also includes: a waste medicine cup arranged above the rotating tray 16. When the user fails to take the medicine on time, in order to prevent the medicine taken this time from being retained in the medicine cup 15 and causing accidental taking next time, the medicine dispensing robot controls the second push rod 19 to push the movable bottom of the medicine cup upward, and the medicine in the medicine cup 15 passes through the longitudinal through hole 120, so that the medicine expelling rod 13 can expel the medicine in the medicine cup 15. The medicine dispensing robot controls the second push rod 19 to pull the movable bottom of the medicine cup 15 back to the bottom end of the wall of the medicine cup. The medicine dispensing robot controls the rotating tray 16 to rotate to the fourth preset position, so that the waste medicine cup is located below the longitudinal through hole 120, and controls the medicine expelling rod 13 to expel the medicine expelled from the medicine cup 15 to the longitudinal through hole 120, so that the medicine falls into the waste medicine cup.

[0068] In one embodiment, the medicine dispensing robot further includes: a fourth power module connected to the rotating tray 16 for controlling the lifting of the rotating tray 16. A fourth power module is provided in the medicine dispensing robot to control the rotating tray 16. When the rotating tray 16 needs to be rotated, the position of the rotating tray 16 is lowered, and the friction between the medicine dispensing tray 12 and the medicine storage cup 17 and the medicine collection cup 15 is reduced when the rotating tray 16 rotates, thereby delaying the service life of the medicine dispensing tray 12, the medicine storage cup 17 and the medicine collection cup 15, and reducing maintenance costs. In this embodiment, for the sake of clarity, the highest position that the rotating tray can reach is called the upper position or the medicine dispensing position, and the lowest position that the rotating tray can reach is called the lower position or the rotation position.

[0069] In one embodiment, a lid or a plug that matches the medicine storage cup 17 is provided below the medicine dispensing tray 12; or, the lower surface layer of the medicine dispensing tray 12 is a flexible layer. By providing a lid or a plug below the medicine dispensing tray 12, when medicine dispensing is not needed, the control module controls the rotating tray 16 to rotate to the fifth preset position through the second power module, and raises the rotating tray 16 to the sixth preset position through the fourth power module. When the rotating tray 16 is located at the sixth preset position, the medicine storage cup 17 rests against the lid or the plug. The lid or the plug can reduce the flow of air inside the medicine storage cup 17 and the outside air, thereby maintaining the sealing and dryness inside the medicine storage cup 17.

[0070] It should be noted that those skilled in the art can understand that other measures can be taken to improve the dryness of the environment in which the medicines are located. For example, a drying module is provided inside the medicine dispensing robot (such as on the rotating tray 16), and the drying module is used to place desiccant. For another example, the medicine dispensing robot is also provided with a warehouse door, and the medicine storage cup and the medicine retrieval cup are taken out and put in through the warehouse door; or, the medicine dispensing robot is provided with a warehouse door for each position where the medicine storage cup and the medicine retrieval cup are placed. The warehouse door adopts a double door design. When the outer door is opened, the inner door remains closed, so that the air exchange with the outside world is limited when the medicine is placed and taken out.

[0071] Optionally, the size of the lid is greater than or equal to the size of the medicine storage cup. The size of the stopper is equal to the size of the medicine storage cup.

[0072] It should be noted that those skilled in the art can understand that the number of plugs or covers is set according to the number of medicine storage cups, and this embodiment does not limit this.

[0073] In one embodiment, Figure 8 As shown, the medicine dispensing robot also includes: an annular baffle plate 121, which is arranged above the medicine dispensing tray 12, and the center of the annular baffle plate 121 coincides with the main shaft 11; a transverse through hole is provided on the side of the medicine dispensing rod 13 close to the medicine dispensing tray 12, and the annular baffle plate 121 passes through the transverse through hole.

[0074] Specifically, the medicine tray 12 is provided with an annular fence 121. Optionally, in a top view, the annular fence 121 and the medicine tray 12 are two concentric circles. The two concentric circles divide Figure 8 The medicine dispensing work area 122 in the medicine dispensing work area 122. The medicine dispensing work area 122 refers to the working area where the medicine dispensing rod 13 performs medicine dispensing. The medicines are confined in the medicine dispensing work area 122 by the annular baffle 121. Among them, the medicine dispensing work area 122 can be divided into two areas, area A and area B. Area A is the area where the longitudinal through hole 120 is located, that is, the medicine outlet. Area B is the area other than area A in the medicine dispensing work area 122. Since the inner edge of the medicine dispensing work area 122 is smooth and there is no dead corner that the medicine dispensing rod 13 cannot reach, it can be avoided that the medicines distributed this time remain in the medicine dispensing work area 122, and then are mistakenly identified as the medicines for the next medicine dispensing and distributed to the patient, causing the patient to ingest it by mistake.

[0075] Optionally, a transverse through hole is provided in the rear lever.

[0076] It should be noted that those skilled in the art can understand that the annular baffle plate can also be arranged in other ways. For example, an annular slide rail is provided on the medicine dispensing tray, and the annular baffle plate is connected to the annular slide rail so that the annular baffle plate rotates along the annular slide rail; there is an opening on the annular baffle plate, and the medicine dispensing rod is arranged in the opening. The size of the opening matches the medicine dispensing rod to prevent the medicine from passing through the opening to the inside of the annular baffle plate. This embodiment does not limit the arrangement of the annular baffle plate.

[0077] In one embodiment, Figure 9a As shown, the medicine lever 13 includes: a main joint 131 connected to the first power module; a rear lever 132 connected to the main joint 131; an auxiliary joint 133 connected to the rear lever 132; and a front lever 134 connected to the auxiliary joint 133; wherein the main joint 131 drives the rear lever 132, the auxiliary joint 133 and the front lever 134 to rotate as a whole, and the auxiliary joint 133 drives the front lever 134 to rotate. The rear lever 132 is connected to the main shaft 11 through the main joint 131.

[0078] Optionally, the minimized design of the first power module connected to the main joint 131 can be a servo motor and a gear set that can drive the main joint 131 to rotate. The main joint 131 is a gear that matches the gear set of the first power module and rotates under the drive of the gear set of the first power module.

[0079] Optionally, the auxiliary joint 133 may be designed to be minimized so that the front lever 134 can rotate around the auxiliary joint 133 as the center.

[0080] For example, Figure 9aAs shown, the auxiliary joint 133 includes a rotating shaft, that is, the front lever 134 and the rear lever 132 are connected by a rotating shaft. In order to make the front lever rotate, the medicine lever also includes an elastic rope, and the front lever 134 and the rear lever 132 are hollow structures. The elastic rope passes through the front lever 134. When the front lever 134 and the rear lever 132 are parallel, the elastic rope is in a straight but tensionless state. Figure 9a The elastic rope is connected to the servo motor, and the servo motor pulls the elastic rope by rotating. Driven by the tension, the front lever 134 rotates around the rear lever 132, as shown in FIG. Figure 9b The servo motor rotates in the reverse direction, the elastic rope is loosened, and the tension of the elastic rope is released to make the front lever 134 and the rear lever 132 return to a straight line. In this way, the servo motor of the secondary joint can be saved, saving costs.

[0081] It should be noted that those skilled in the art can understand that the medicine expelling rod 13 can also adopt other designs. For example, a servo motor for controlling the auxiliary joint 133 is set on the main shaft, and the medicine expelling rod 13 is controlled by a servo motor for controlling the main joint 131 and a servo motor for controlling the auxiliary joint 133. This embodiment is only for illustration.

[0082] In one embodiment, Fig.10 As shown, the front lever 134 is serrated on the side close to the medicine tray 12. Specifically, considering that the distance between small-volume medicines may be too small, so that the front lever is difficult to accurately insert between the medicines, in this embodiment, the front lever 134 is designed to be serrated on the side close to the medicine tray. This allows the small-volume medicines to be separated by the serrations, making it easier for the front lever to accurately insert the medicines.

[0083] Optionally, the diameter of the drug < the sawtooth spacing d < the diameter of the drug*2.

[0084] It should be noted that those skilled in the art will appreciate that the front lever 134 may also adopt other designs, which is not limited in this embodiment.

[0085] In one embodiment, Fig.10 As shown, the side of the front lever away from the auxiliary joint is in a sharp angle. Specifically, the head portion of the front lever is called the lever head. In order to increase the speed at which the lever head dispenses medicines, the lever head can be made thinner so that the lever head can be inserted into the medicine.

[0086] The following is an example of the control module.

[0087] In one embodiment, the control module includes a processing submodule with processing capabilities, and the shooting module is connected to the processing submodule. The medicine dispensing robot processes the image or other data captured by the shooting module through the processing submodule, and controls the various structures in the medicine dispensing robot to cooperate to complete operations such as medicine dispensing based on the processing results.

[0088] In another embodiment, the control module includes a processing submodule and a communication submodule, the shooting module is connected to the communication submodule, and the communication submodule is connected to the cloud, terminal or edge server. Specifically, the relevant programs for the medicine dispensing robot to perform operations such as medicine dispensing are stored in the cloud, terminal or edge server, or distributed in the cloud, edge server and terminal as needed. The medicine dispensing robot sends the image captured by the shooting module to the cloud, terminal or edge server through the communication submodule, and the cloud, terminal or edge server analyzes the image and generates various control instructions. The communication submodule receives each control instruction and transmits the communication submodule to the processing submodule, so that the processing submodule controls the various structures in the medicine dispensing robot to cooperate to complete operations such as medicine dispensing based on the control instruction. Among them, the communication submodule includes but is not limited to Bluetooth, ZigBee, WiFi, LoRa, GSM, 3G, 4G, 5G, etc.

[0089] In one embodiment, the shooting module includes one or more cameras. The images shot by the one or more cameras can show the status of the medicines in the medicine dispensing work area.

[0090] It should be noted that those skilled in the art will understand that the number and installation positions of the cameras can be determined according to the size of the medicine-dispensing robot, etc., and are not limited here.

[0091] In one embodiment, Fig.11 As shown, the medicine dispensing robot further includes a light source 20, which can be fixed on a housing 21. Since the medicine dispensing robot is provided with the light source 20, the ambient brightness of the medicine dispensing tray is improved, so that the image taken by the shooting module is clearer.

[0092] It should be noted that Fig.11 Taking the light source 20 fixed on the housing 21 as an example, the position of the light source 20 is illustrated. In practice, the light source 20 can also be set at other positions such as the top of the main shaft to improve the ambient brightness of the medicine dispensing work area. This embodiment does not play a limiting role.

[0093] In one embodiment, the medicine dispensing robot further includes: a reminder module connected to the control module for reminding to take medicine. Specifically, due to the development of medical and health services, many diseases have been treated or controlled, which has greatly improved the health level of human beings and prolonged human life. Many diseases that were originally difficult to cure have become chronic diseases that require long-term treatment. In the process of long-term medication, the problem of not being able to take medicine on time is prominent. At the same time, the types of medicines and health products taken by humans are becoming more and more, so there is a problem that the medicines that need to be taken cannot be taken correctly and completely. Medication compliance refers to the behavior of patients taking medicines in accordance with medical advice. A report from the World Health Organization shows that 50% of people in the world do not comply, causing huge losses. For example, the efficacy does not meet expectations and the course of the disease is prolonged; doctors misjudge the efficacy, increase the dosage or change the medicine; the risk of toxic and side effects increases; patients pay a large amount of additional expenses; waste precious medical resources in society, etc. Each person in the United States spends $2,100 in additional medical expenses each year due to non-compliance. Cardiovascular diseases cause an additional expenditure of $300 billion each year. 125,000 people die each year due to non-compliance. Global pharmaceutical companies lose $600 billion every year due to non-compliance. There are many reasons for medication problems, among which 70% are related to the behavioral factors of the medication user. These behavioral factors are also very different for different people. Taking age as an example, most of the reasons for the elderly are forgetfulness, for young and middle-aged people, most of the reasons are busy work, and for children, most of the reasons are guardian negligence or immaturity of children, etc. Therefore, more extensive medication management includes a series of services such as medication reminders, usage and dosage reminders, rational medication, patient education, follow-up, consultation and guidance to achieve the purpose of improving compliance and improving efficacy, which is a very important last mile in treatment. In response to these problems, in this embodiment, the medicine dispensing robot can automatically divide the medicines to be taken for each meal, remind the user to take the medicine, know whether the user has taken the medicine, and even connect to treatment. The medicine dispensing robot is placed next to the medication user, like a home caregiver, to improve the compliance of the medication user and prevent medication risks.

[0094] It should be noted that those skilled in the art can understand that the medicine dispensing robot can provide other medical and health-related services based on the ability to dispense medicine and remind people to take medicine, such as medication guidance, dietary management, lifestyle management, follow-up, patient education, remote consultation, health management service recommendations, prescription renewal, etc., which are not listed one by one in this embodiment.

[0095] In one example, the reminder module can be an indicator light, a display screen, a voice player, etc., so that the medicine dispensing robot can remind the user to take medicine through lights, pictures, sounds, videos, etc.

[0096] It should be noted that the reminder module can also remind the user in other ways. For example, the reminder module is a communication module, and the communication module establishes a communication connection with the user's terminal, and reminds the user by pushing information to the user's terminal, sending text messages, making phone calls, videos, etc. For another example, the communication module communicates with a third party (such as a medical care service provider), and the third party reminds the user so that the third party can follow up on the user's medication situation. This embodiment is only for illustration, and does not limit the embodiment of the reminder module.

[0097] In one example, the medicine dispensing robot first performs the medicine dispensing operation and then performs the reminder operation. The medicine dispensing operation is completed first and then the user is reminded to take medicine, and the user does not need to wait for the medicine dispensing robot to complete the medicine dispensing operation.

[0098] In another example, the medicine dispensing robot first performs a reminder operation, and then performs a medicine dispensing operation after confirming that the user has come to take medicine through a camera or infrared sensor or other equipment. Dispensing medicine after confirming that the user has come to take medicine can reduce the situation where no one takes the medicine after dispensing.

[0099] In one embodiment, Fig.12 As shown, the first power module 31, the second power module 32, the third power module 33, the fourth power module 34 and the fifth power module 35 are all arranged on the main shaft. For example, the first power module 31 includes a first servo motor and a first gear set, the first gear set is connected to the main joint, the first servo motor drives the first gear set to rotate, and the first gear set drives the main joint to rotate, so that the medicine-dispensing rod rotates. The second power module 32 includes a second servo motor, and the second servo motor drives the rotating tray to rotate. The third power module 33 includes a third servo motor, a third gear set and a first clutch, wherein the third servo motor is connected to the first clutch, and the first clutch is connected to each gear in the third gear set. The fourth power module 34 includes a fourth servo motor and a fourth gear set, the fourth servo motor drives the fourth gear set to rotate, and the fourth gear set is connected to the rotating tray to control the rotating tray to move up and down. The fifth power module 35 includes a fifth servo motor, a fifth gear set and a second clutch, the fifth servo motor is connected to the second clutch, and the second clutch is connected to each gear in the fifth gear set. Among them, each gear set can include a circular gear and a linear gear, the servo motor drives the circular gear, and the circular gear drives the linear gear to drive the device connected by the linear gear to move up and down.

[0100] In one embodiment, the medicine dispensing robot can also be equipped with heart rate detection module, body temperature detection module, blood pressure detection module, blood sugar detection module and other equipment to provide more health and treatment services.

[0101] The above embodiments can be combined with each other and referenced to each other. For example, the following is an example after combining various embodiments, but it is not limited to this; various embodiments can be arbitrarily combined into a new embodiment under the premise of no contradiction.

[0102] It is worth mentioning that the modules involved in the above embodiments are all logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, the above embodiments do not introduce units that are not closely related to solving the technical problems proposed by the present invention, but this does not mean that there are no other units in the above embodiments.

[0103] The present application also provides a visual medicine dispensing method, which is based on the visual system of the medicine dispensing robot. The visual system includes a shooting module and a visual algorithm (such as an image recognition algorithm, etc.), wherein the visual algorithm can be set in the control module, or in the cloud, terminal or edge server. The following takes the medicine dispensing robot executing the visual medicine dispensing method as an example to illustrate the visual medicine dispensing method. Fig.13 As shown, the visual medicine dispensing method performed by the medicine dispensing robot includes the following steps.

[0104] Step 101: Obtain the target quantity of the drug.

[0105] Specifically, when dispensing medicine for the first time, the medicine dispensing robot can determine the number of medicines that the user needs to take based on the user's medication plan and use the required number of medicines as the target number of medicines; or, the medicine dispensing robot uses the number of medicines that the user needs to take as the target number of medicines. After the first medicine dispensing, the medicine dispensing robot calculates the target number based on the number of medicines that the user needs to take and the number of medicines that fall into the medicine cup each time.

[0106] The following is an example of how the medicine dispensing robot obtains a medication plan.

[0107] The medication plan includes what medicine to take, how to use and how much to take the medicine, when to take the medicine, etc. The medication plan can be input into the medicine dispensing robot by the user, or actively sent to the medicine dispensing robot or the cloud connected to the medicine dispensing robot by the user's medical service or health service provider in the cloud. The medicine dispensing robot or the cloud can also send a request to the user's medical service or health service provider, and the user's medical service or health service provider sends the request to the medicine dispensing robot or the cloud after receiving it.

[0108] In one example, the user inputs the medication plan into the medicine dispensing robot in the following ways, including but not limited to:

[0109] Method 1: The user places the identification code on the medicine bottle (can be anywhere on the medicine bottle) in the shooting area of ​​the external camera of the medicine dispensing robot. The external camera of the medicine dispensing robot scans the identification code attached to the medicine bottle (can be anywhere on the medicine bottle) to obtain the medication plan. Among them, the external camera refers to a camera with a shooting area located outside the medicine dispensing robot. The identification code can be a QR code, bar code, etc.

[0110] Method 2: The user places the paper material recording the medication plan in the shooting area of ​​the external camera of the medicine dispensing robot. The medicine dispensing robot uses OCR (Optical Character Recognition) technology to recognize the medication plan on the paper material.

[0111] Method 3: The user interacts with the medicine dispensing robot through language or keyboard and inputs the medication plan into the medicine dispensing robot.

[0112] Method 4: The user inputs the medication plan into the terminal, and the terminal transmits the medication plan to the medicine dispensing robot, or the terminal transmits the medication plan to the cloud, and the cloud sends the medication plan to the medicine dispensing robot.

[0113] Step 102: Transfer the medicine in the medicine storage cup of the medicine dispensing robot to the medicine dispensing tray of the medicine dispensing robot.

[0114] Specifically, the user or the user's caregiver independently loads each medicine (or health product) that needs to be taken into the medicine storage cup of the medicine dispensing robot.

[0115] The following is an example of how the medicine dispensing robot moves medicines to the medicine dispensing tray.

[0116] In one example, the medicine dispensing robot includes: a main shaft; a medicine dispensing tray connected to the main shaft, the medicine dispensing tray is provided with a longitudinal through hole; a medicine dispensing rod connected to the main shaft and arranged above the medicine dispensing tray; a first power module connected to the medicine dispensing rod; a control module connected to the first power module; a shooting module connected to the control module; the shooting area of ​​the shooting module includes the area where the medicine dispensing tray is located; a medicine taking cup arranged below the medicine dispensing tray; a rotating tray connected to the main shaft, the rotating tray is arranged below the medicine dispensing tray, and the medicine taking cup is arranged on the rotating tray; and at least one medicine storage cup arranged on the rotating tray, the medicine storage cup includes a medicine storage cup wall and a medicine storage cup movable cup bottom, and the medicine storage cup movable cup bottom is located inside the medicine storage cup wall; and a second power module connected to the rotating tray for controlling the rotation of the rotating tray; and a first push rod connected to the movable cup bottom of the medicine storage cup; and a third power module connected to the first push rod. The medicine dispensing robot controls the medicine dispensing rod to rotate, and removes the medicine taken out of the medicine storage cup to the medicine dispensing tray.

[0117] In another example, the medicine dispensing robot includes: a main shaft; a medicine dispensing tray connected to the main shaft, the medicine dispensing tray is provided with a longitudinal through hole; a medicine dispensing rod connected to the main shaft and arranged above the medicine dispensing tray; a first power module connected to the medicine dispensing rod; a control module connected to the first power module; and a shooting module connected to the control module; the shooting area of ​​the shooting module includes the area where the medicine dispensing tray is located; a medicine taking cup arranged below the medicine dispensing tray; and a shell; and a hanging rod and a medicine storage cup, one end of the hanging rod is fixed to the shell, and the other end is connected to the inclined rod at the bottom of the medicine storage cup. When it is necessary to take medicine, the control module of the medicine dispensing robot controls the inclination angle of the inclined rod to pour the medicine onto the medicine dispensing tray 12.

[0118] It should be noted that those skilled in the art can understand that in actual applications, other methods can be used to obtain the medicine in the medicine storage cup, which are not listed one by one in this embodiment.

[0119] Step 103: Based on the image captured by the capturing module, identify the quantity of the dispensed medicines.

[0120] Step 104: Determine whether the quantity of the dispensed medicines is less than or equal to the target quantity.

[0121] Specifically, if it is determined that the quantity of the allocated drugs is less than or equal to the target quantity, step 105 is executed; otherwise, step 107 is executed.

[0122] Step 105: Control the medicine-dispensing rod of the medicine-dispensing robot to dispense the medicine to a first preset position, wherein the first preset position is the position of the longitudinal through hole.

[0123] Step 106: Determine whether the quantity of the dispensed medicines is equal to the target quantity.

[0124] Specifically, if it is determined that the number of medicines dispensed is equal to the target number, the medicine dispensing process is terminated; if it is determined that the number of medicines dispensed is not equal to the target number, the process returns to step 101. That is, if the number of medicines dispensed by the medicine dispensing rod is exactly equal to the target number, the medicine dispensing robot controls the medicine dispensing rod to continue rotating until all the medicines are pushed into the medicine dispensing cup. If the number of medicines dispensed is less than the target number, the medicine dispensing robot controls the medicine dispensing rod to continue rotating until the medicines are pushed into the medicine dispensing cup. The medicine dispensing robot continues the next medicine dispensing process. In the next medicine dispensing process, when the medicine dispensing robot executes to obtain the target number of medicines, the target number of medicines to be obtained = the number of medicines that the user needs to take - the sum of the number of medicines swiped to the medicine dispensing cup each time; or, the target number of medicines = the target number in the previous medicine dispensing process - the number of medicines swiped to the medicine dispensing cup in the previous medicine dispensing process.

[0125] Step 107: Based on the image captured by the camera module, the front lever and the rear lever of the medicine lever are controlled to move to select medicine from the medicine dispensing tray. Then, step 105 is executed.

[0126] Through the above operations, the medicine dispensing robot can control the medicine dispensing rod to transfer the amount of medicine that the user needs to take to the medicine cup, thereby realizing automatic medicine dispensing.

[0127] Optionally, the visual medicine distribution method further includes: sending a reminder message, the reminder message is used to remind the patient to take the medicine.

[0128] Optionally, the visual medicine dispensing method further includes: determining whether the medicine cup is in a state of being taken, and if so, recording the medication record of this time, so as to record and count the medication taking situation of the user. The medication record may include the time of taking the medication, the type of medication taken, and the amount of medication taken.

[0129] Optionally, the medication record can be uploaded to the cloud so that the cloud can record and count the user's medication intake.

[0130] In one embodiment, Fig.14 As shown, the visual medicine dispensing method performed by the medicine dispensing robot includes the following steps. Among them, step 201, step 207, step 208, step 209 to step 211 are respectively Fig.13 Step 101, step 103, step 104, step 106 and step 107 are substantially the same, and the similarities are not repeated here, and the differences are mainly introduced below.

[0131] Step 201: Obtain the target quantity of medicines.

[0132] Step 202: Control the rotating tray of the medicine dispensing robot to rotate to a second preset position, and control the first push rod of the medicine dispensing robot to push the movable cup bottom of the medicine storage cup to move upward.

[0133] Specifically, when the rotating tray is located at the second preset position, the medicine storage cup of the medicine dispensing robot is located below the longitudinal through hole.

[0134] Optionally, before controlling the first push rod to push the movable bottom of the medicine storage cup upward, the medicine dispensing robot determines that the rotating tray is in the rotating position, controls the rotating tray to rotate to the second preset position, and when the rotating tray rotates to the second preset position, the medicine storage cup is located below the longitudinal through hole, such as Fig.15a When the rotating tray is at the second preset position, the medicine storage cup storing the required medicine is located below the longitudinal through hole. The medicine dispensing robot controls the rotating tray to rise to the medicine dispensing position, as shown in FIG. Fig.15b The medicine dispensing robot controls the first push rod to push the movable bottom of the medicine storage cup upward, so that the medicine in the medicine storage cup passes through the longitudinal through hole and reaches the top of the medicine dispensing tray, as shown. Fig.15c shown.

[0135] Optionally, the medicine dispensing robot controls the first push rod to push the movable bottom of the medicine storage cup to move upward, including: determining a first moving distance according to a target quantity; controlling the first push rod to push the movable bottom of the medicine storage cup to move upward the first moving distance. Specifically, when the height of the movable bottom of the medicine storage cup rises too low, the medicines dispensed by the medicine tapping rod are too few and insufficient for the required number of medicines; when the height of the movable bottom of the medicine storage cup rises too high, the medicines dispensed by the medicine tapping rod are too many, increasing the difficulty of the medicine tapping rod to dispense the target number of medicines. Therefore, if the movable bottom of the medicine storage cup rises too high or too low, it will affect the medicine dispensing efficiency. In order to improve the medicine dispensing efficiency, the control module controls the height of the movable bottom of the medicine storage cup to control the amount of medicines dispensed according to the obtained target quantity, so as to avoid dispensing too many or too few medicines.

[0136] The following is an example of how to determine the first moving distance according to the number of targets.

[0137] In the first example, the medicine dispensing robot calculates the first moving distance according to the target quantity and the first constraint relationship between the target quantity and the first moving distance. Optionally, the medicine dispensing robot continuously adjusts the first constraint relationship based on the first constraint relationship initially set by the R&D personnel and the subsequent medicine dispensing process to improve the accuracy of the first constraint relationship.

[0138] For example, after the medicine dispensing robot determines whether the number of medicines dispensed is less than or equal to the target number, the medicine dispensing robot adjusts the parameters in the first constraint relationship according to the judgment result. Specifically, the judgment result indicates the size relationship between the number of medicines dispensed and the target number. If the number of medicines dispensed is greater than the target number, the parameters in the first constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted first constraint relationship is less than the first moving distance calculated based on the first constraint relationship before the adjustment. If the number of medicines dispensed is equal to the target number, the first constraint relationship is not adjusted. If the number of medicines dispensed is less than the target number, the parameters in the first constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted first constraint relationship is greater than the first moving distance calculated based on the first constraint relationship before the adjustment.

[0139] For another example, after determining whether the number of medicines dispensed is less than or equal to the target number, the medicine dispensing robot calculates the difference between the number of medicines dispensed and the target number, and adjusts the parameters in the first constraint relationship according to the calculated difference. If the difference is greater than 0, for the same target number, the first moving distance calculated based on the adjusted first constraint relationship is less than the first moving distance calculated based on the first constraint relationship before the adjustment. If the difference is equal to 0, the first constraint relationship is not adjusted. If the difference is less than 0, the parameters in the first constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted first constraint relationship is greater than the first moving distance calculated based on the first constraint relationship before the adjustment.

[0140] It should be noted that those skilled in the art can understand that the first constraint relationship can be a fixed constraint relationship preset by R&D personnel, and this embodiment does not limit this.

[0141] In the second example, the medicine dispensing robot determines the first moving distance based on the target quantity, the information of the medicine, and the second constraint relationship between the target quantity, the medicine information and the first moving distance. Specifically, the information of the medicine includes information such as the volume of the medicine. Since the volumes of different medicines are different, for different medicines, when obtaining the same target quantity, the height of the medicine above the medicine dispensing tray needs to be different, that is, the first moving distance is different. Therefore, the first moving distance can be pre-stored in the medicine dispensing robot, and the medicine dispensing robot calculates the first moving distance based on the target quantity, the medicine information and the second constraint relationship.

[0142] For example, after the medicine dispensing robot determines whether the number of medicines dispensed is less than or equal to the target number, the medicine dispensing robot adjusts the parameters in the second constraint relationship according to the judgment result. Specifically, the judgment result indicates the size relationship between the number of medicines dispensed and the target number. If the number of medicines dispensed is greater than the target number, the parameters in the second constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted second constraint relationship is less than the first moving distance calculated based on the second constraint relationship before the adjustment. If the number of medicines dispensed is equal to the target number, the second constraint relationship is not adjusted. If the number of medicines dispensed is less than the target number, the parameters in the second constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted second constraint relationship is greater than the first moving distance calculated based on the second constraint relationship before the adjustment.

[0143] For another example, after determining whether the number of medicines dispensed is less than or equal to the target number, the medicine dispensing robot calculates the difference between the number of medicines dispensed and the target number, and adjusts the parameters in the second constraint relationship according to the calculated difference. If the difference is greater than 0, for the same target number, the first moving distance calculated based on the adjusted second constraint relationship is less than the first moving distance calculated based on the second constraint relationship before the adjustment. If the difference is equal to 0, the second constraint relationship is not adjusted. If the difference is less than 0, the parameters in the second constraint relationship are adjusted so that for the same target number, the first moving distance calculated based on the adjusted second constraint relationship is greater than the first moving distance calculated based on the second constraint relationship before the adjustment.

[0144] It should be noted that those skilled in the art can understand that the second constraint relationship can be a fixed constraint relationship preset by R&D personnel, and this embodiment does not limit this.

[0145] It should be noted that those skilled in the art will appreciate that the medicine dispensing robot may also calculate the first moving distance based on other methods, which will not be elaborated here.

[0146] Step 203: Control the medicine expelling rod to rotate along the first direction.

[0147] Specifically, Figure 16a-16d As shown, the medicine dispensing robot controls the main joint to drive the rear lever, the auxiliary joint and the rear lever to rotate, so as to dispense a certain amount of medicine from the medicine storage cup to area B of the medicine dispensing work area.

[0148] Optionally, when the medicine-dispensing rod rotates, the starting point of the medicine-dispensing rod is located on one side of area A to ensure that the medicine-dispensing rod sweeps the entire area A. The medicine-dispensing rod rotates in a straight line along the first direction as a whole. The medicine-dispensing rod dispenses a suitable amount of medicine from area A of the medicine-dispensing working area to area B of the medicine-dispensing working area. The first direction can be clockwise or counterclockwise, which is not limited here.

[0149] In one example, before the medicine dispensing robot controls the medicine dispensing rod to rotate in the first direction, the medicine dispensing speed of the medicine dispensing rod is determined according to the type of medicine. Specifically, considering that each medicine has different shapes, weights, external materials and friction, the medicine dispensing rod can use different medicine dispensing speeds to dispense medicines for different medicines, so that the medicines are arranged in a preset shape.

[0150] Step 204: Determine whether the dispensed medicines are arranged in a preset shape.

[0151] Specifically, if the medicine dispensing robot determines that the medicines are not arranged in a preset shape, for example, a straight line, step 205 is executed; if the medicine dispensing robot determines that the medicines are arranged in a preset shape, step 206 is executed.

[0152] Step 205: Determine whether the medicine-moving rod has reached the rotation stop position.

[0153] Specifically, since a longitudinal through hole is provided in the medicine dispensing work area, when the medicine dispensing rod rotates back to the longitudinal through hole, the medicines dispensed will fall from the longitudinal through hole. Therefore, to prevent the medicines from falling, the medicine dispensing robot marks a rotation stop position in the medicine dispensing work area. If the medicine dispensing rod reaches the rotation stop position, step 206 is executed. If the medicine dispensing rod does not reach the rotation stop position, step 203 is continued.

[0154] It should be noted that, those skilled in the art can understand that the medicine dispensing robot can obtain the rotation stop position of the medicine dispensing work area by learning the image of the medicine dispensing work area with marks, and can also obtain the rotation stop position of the medicine dispensing work area by identifying marks on the medicine dispensing work area, which are not listed one by one in this embodiment.

[0155] It should be noted that due to the friction between the drugs, the friction between the drugs and the medicine tray, and the shape of the drugs, the drugs cannot be arranged in the preset shape when the medicine lever turns to the rotation stop position. However, regardless of whether the drugs are arranged in the preset shape, the drugs can be arranged in a relatively orderly manner through the movement of the medicine lever, which greatly reduces the difficulty of the visual system to identify the number of drugs. For different forms of arrangement, the artificial intelligence algorithm can accumulate experience in finding the best entry point through continuous learning, and achieve it through the cooperation of the front lever and the rear lever.

[0156] It should be noted that those skilled in the art can understand that step 204 and step 205 in this embodiment can be implemented selectively and are not necessary steps of this embodiment.

[0157] Step 206: Control the medicine-dispensing rod to stop rotating.

[0158] Step 207: Based on the image captured by the capturing module, identify the quantity of the dispensed medicines.

[0159] Step 208: Determine whether the quantity of the dispensed medicines is less than or equal to the target quantity.

[0160] Specifically, if it is determined that the quantity of the dispensed drugs is less than or equal to the target quantity, execute step 209 ; otherwise, execute step 211 .

[0161] Step 209: Control the rotating tray to rotate to the third preset position, and control the medicine-dispensing robot's medicine-dispensing rod to move the medicine to the first preset position. When the rotating tray rotates to the third preset position, the medicine-dispensing cup is located below the longitudinal through hole; the first preset position is the location of the longitudinal through hole.

[0162] Optionally, before controlling the medicine dispensing robot's medicine dispensing rod to dispense the medicine to the first preset position, it also includes: controlling the rotating tray to rotate to a third preset position; wherein, when the rotating tray is located at the third preset position, the medicine picking cup of the medicine dispensing robot is located below the longitudinal through hole.

[0163] Specifically, the medicine dispensing robot controls the rotating tray to descend to the rotating position, such as Fig.17a The medicine dispensing robot controls the rotating tray to rotate to the third preset position. When the rotating tray is at the third preset position, the medicine cup is located below the longitudinal through hole, as shown in FIG. Fig.17b The medicine dispensing robot controls the rotating tray to rise to the medicine dispensing position. Fig.17c As shown. The medicine-dispensing rod pushes the medicine to the position of the longitudinal through hole, so that the medicine falls into the medicine-collecting cup. After the medicine dispensing is completed, the medicine dispensing robot controls the rotating tray to descend to the rotating position, as shown. Fig.17d shown.

[0164] It should be noted that Figure 17a-Figure 17d In the example, the medicine taking cup and the medicine storage cup are lifted and lowered together to illustrate the lifting and lowering process of the medicine storage cup and the medicine taking cup. In practice, the lifting and lowering of the medicine storage cup or the medicine taking cup can also be controlled separately.

[0165] Step 210: Determine whether the quantity of the dispensed medicines is equal to the target quantity. If it is determined that the quantity of the dispensed medicines is equal to the target quantity, the medicine dispensing process ends; if it is determined that the quantity of the dispensed medicines is not equal to the target quantity, return to step 201.

[0166] Step 211: Based on the image captured by the shooting module, the front lever and the rear lever of the medicine removing lever are controlled to move to remove medicines from the medicine dispensing tray.

[0167] In one example, the medicine dispensing robot determines a first angle and a second angle based on an image captured by a shooting module; controls the medicine dispensing rod to rotate the first angle in the second direction; wherein the second direction is opposite to the first direction; controls the front lever of the medicine dispensing rod to rotate the second angle in the first direction; and controls the medicine dispensing rod to rotate in the first direction to draw medicine. If the first direction is clockwise, the second direction is counterclockwise; if the first direction is counterclockwise, the second direction is clockwise.

[0168] Specifically, if the amount of medicines dispensed by the medicine lever is greater than the target amount, the front lever and the rear lever cooperate to dispense the medicines. Fig.18aAs shown, under the guidance of the visual system, the main joint first drives the front lever and the rear lever to rotate in the second direction by a first angle, that is, the current rotation direction is opposite to the rotation direction of the lever in the medicine-shifting process described in step 203. Then, the auxiliary joint drives the front lever to rotate in the first direction by a second angle, that is, the rotation direction is the same as the rotation direction of the lever in the medicine-shifting process described in step 203, so that the front lever and the rear lever form a certain angle. Finally, the auxiliary joint is fixed, and the main joint rotates forward to complete the medicine-shifting process, as shown in FIG. Fig.18b shown.

[0169] Optionally, determining the first angle and the second angle based on the image captured by the shooting module includes: determining the drug dialing information based on the image captured by the shooting module; wherein the drug dialing information includes any one or any combination of the distribution area of ​​the drug, the volume of the drug, the number of drugs and the target number; determining the first angle based on the drug dialing information and the third constraint relationship between the drug dialing information and the first angle; determining the second angle based on the drug dialing information and the fourth constraint relationship between the drug dialing information and the second angle. For example, a third constraint relationship between the drug dialing information and the first angle is established in advance, and the drug dispensing robot calculates the first angle based on the third constraint relationship and the drug information. Calculating the first angle based on the drug dialing information makes the first angle more suitable for dividing the current drug, thereby improving the efficiency of drug dispensing.

[0170] It should be noted that those skilled in the art can understand that the first angle can also be a preset angle, which is not limited in this embodiment.

[0171] It should be noted that those skilled in the art can understand that during the drug dispensing process, the visual system can direct the main joint and the auxiliary joint to make fine adjustments according to the situation of the drugs on the drug dispensing work area to find a better cutting angle.

[0172] Step 212: Control the rotating tray to rotate to the second preset position or the fourth preset position, and control the medicine-dispensing rod to rotate to the first preset position along the direction where the remaining medicines are located. Then, execute step 209.

[0173] Specifically, when the rotating tray is located at the fourth preset position, the waste medicine cup of the medicine dispensing robot is located below the longitudinal through hole. The auxiliary joint drives the front lever to rotate along the second direction so that the front lever and the rear lever return to a straight line. Fig.19a Then, the main joint drives the medicine-dispensing rod to rotate in the second direction to push the excess medicine back to the medicine storage cup, as shown in FIG. Fig.19b and Fig.19c Finally, the control module controls the rotating tray to rotate to the third preset position, and controls the medicine-dispensing rod to dispense the medicine to the position where the longitudinal through hole is located. Figure 20a-Figure 20c As shown, the medicine-dispensing rod rotates in a first direction to dispense the medicine to the location of the longitudinal through hole. Figure 21a-Figure 21c As shown, the medicine expelling rod rotates along the second direction to expel the expelled medicine to the position where the longitudinal through hole is located.

[0174] Optionally, before controlling the medicine shifting rod to rotate to the first preset position in the direction where the remaining medicines are located, the medicine dispensing robot controls the front shifting rod to rotate in the second direction by a second angle.

[0175] It should be noted that those skilled in the art can understand that step 212 of this embodiment can be selectively implemented, and step 212 is not a necessary step of this embodiment. If step 212 is not performed, after step 211 is not performed, step 209 is performed.

[0176] In one embodiment, Fig. 22 As shown, the visual medicine dispensing method performed by the medicine dispensing robot includes the following steps. Among them, steps 301 to 312 are respectively Fig.14 Steps 201 to 212 of the visual medicine dispensing method shown are substantially the same and will not be described in detail herein.

[0177] Step 301: Obtain the target quantity of medicines.

[0178] Step 302: Control the rotating tray of the medicine dispensing robot to rotate to a second preset position, and control the first push rod to push the movable bottom of the medicine storage cup to move upward.

[0179] Step 303: Control the medicine expelling rod to rotate along the first direction.

[0180] Step 304: Determine whether the dispensed medicines are arranged in a preset shape.

[0181] Specifically, if the control module determines that the drugs are not arranged in a preset shape, for example, a straight line, step 305 is executed; if the control module determines that the drugs are arranged in a preset shape, step 306 is executed.

[0182] Step 305: Determine whether the medicine removing rod has reached the rotation stop position.

[0183] Specifically, if the medicine-moving rod reaches the rotation stop position, step 306 is executed; if the medicine-moving rod does not reach the rotation stop position, step 303 is executed.

[0184] Step 306: Control the medicine-dispensing rod to stop rotating.

[0185] Step 307: Based on the image captured by the capturing module, identify the quantity of the dispensed medicines.

[0186] Step 308: Determine whether the quantity of the dispensed medicines is less than or equal to the target quantity.

[0187] Specifically, if it is determined that the quantity of the allocated drugs is less than or equal to the target quantity, step 309 is executed; otherwise, step 311 is executed.

[0188] Step 309: Control the rotating tray to rotate to the third preset position, and control the medicine-dispensing robot's medicine-dispensing rod to move the medicine to the first preset position. When the rotating tray rotates to the third preset position, the medicine-dispensing cup is located below the longitudinal through hole; the first preset position is the location of the longitudinal through hole.

[0189] Step 310: Determine whether the quantity of the dispensed medicines is equal to the target quantity. If it is determined that the quantity of the dispensed medicines is equal to the target quantity, the medicine dispensing process ends; if it is determined that the quantity of the dispensed medicines is not equal to the target quantity, return to step 301.

[0190] Step 311: Based on the image captured by the shooting module, the front lever and the rear lever of the medicine removing lever are controlled to move to remove medicines from the medicine dispensing tray.

[0191] Step 312: Control the rotating tray to rotate to the second preset position, and control the medicine removing rod to rotate to the first preset position along the direction where the remaining medicines are located.

[0192] Step 313: Based on the image captured by the shooting module, identify the quantity of the medicines removed.

[0193] Step 314: Determine whether the quantity of the medicines drawn is equal to the target quantity.

[0194] Specifically, if the medicine dispensing robot determines that the number of medicines dispensed is equal to the target number, step 315 is executed; otherwise, step 316 is executed.

[0195] Step 315: Control the rotating tray to rotate to the third preset position, and control the medicine moving rod to move the medicine moved to the first preset position, and then the process ends.

[0196] Step 316: Determine whether the quantity of the medicines taken is less than the target quantity.

[0197] Specifically, if the control module determines that the quantity of the medicines taken is less than the target quantity, step 317 is executed; otherwise, step 311 is executed.

[0198] Step 317: Control the rotating tray to rotate to the third preset position, and control the medicine moving rod to move the medicine moved to the first preset position. Then, execute step 301.

[0199] It should be noted that steps 301 to 317 are one medicine dispensing process. When returning from step 317 to step 301, the medicine dispensing robot starts the next medicine dispensing process of the current medicine. At this time, the target number of medicines obtained by the medicine dispensing robot = the number of medicines that the user needs to take - the sum of the number of medicines that are drawn to the medicine cup each time; or the target number of medicines = the target number in the previous medicine dispensing process - the number of medicines that are drawn to the medicine cup in the previous medicine dispensing process.

[0200] In this embodiment, the idea of ​​"divide-and-conquer" can make up for the defect of inaccurate medicine dispensing results caused by the low precision of the hardware of the medicine dispensing robot, that is, the accuracy of the medicine dispensing results can be improved through continuous repetition.

[0201] In one embodiment, the vision system including the camera and the vision algorithm may also perform operations including but not limited to the following:

[0202] Operation 1: Drug identification. Specifically, when loading drugs into the drug storage cup, the visual system can compare the appearance and color of the drugs to confirm that the loaded drugs are correct.

[0203] It should be noted that drug identification can also be carried out through other means, for example, through precise detection instruments, such as Raman spectrometers.

[0204] Operation 2: Drug remaining amount detection. Specifically, the visual system detects the drugs in the medicine storage cup. When the amount of drugs is less than a certain preset range, the visual system can notify the user (the person taking the drug or the caregiver) to replenish the drugs, or directly issue a prescription renewal order to the pharmacy.

[0205] Operation 3: Detect the height of the medicines in the medicine dispensing work area. Specifically, when the medicines are pushed upward, the visual system can capture an image of the medicine dispensing work area and send it to the control module or the cloud. The control module or the cloud can predict the number of medicines that are higher than the plane where the medicine dispensing tray is located based on the shape and stacking form of the medicines in the image. The control module or the cloud controls the first push rod to stop pushing based on the number of medicines on the plane where the medicine dispensing tray is located.

[0206] Operation 4: The visual system captures an image of the interior of the medicine dispensing cup, and confirms whether the quantity of medicines taken out is correct based on the image of the interior of the medicine dispensing cup. Optionally, the image of the interior of the medicine dispensing cup can be saved for record.

[0207] Operation 5: During the first medicine dispensing process, before placing the dispensed medicine in the medicine dispensing cup, confirm whether the medicine dispensing cup is empty. If the medicine dispensing cup is not empty, it is possible that the medicine dispensed last time has not been consumed. Empty the medicine dispensing cup by operating the second push rod and the medicine dispensing rod.

[0208] Operation 6: The visual system has the function of drug recognition. When the medicine in the medicine cup has not been taken, the medicine in the medicine cup can be transferred to the medicine dispensing tray, and then the medicine can be identified based on the shape, color and other characteristics of the medicine. Optionally, in order to improve the recognition efficiency, other drug detection capabilities can be added to the medicine dispensing robot, such as a Raman spectrometer. Based on the recognition results, the medicine is separated by the medicine lever and transferred to the corresponding medicine storage cup.

[0209] The present application also provides a medicine dispensing system, such as Fig.23 As shown, the medicine dispensing system includes: a medicine dispensing robot 41, and a cloud 42 that is communicatively connected to the medicine dispensing robot 41, and a medical service provider 43 that is communicatively connected to the medicine dispensing robot 41. Among them, the medicine dispensing robot 41 is an executive mechanism for dispensing and reminding, and provides the medicine dispensing, reminder and other services mentioned in the above embodiments. The cloud 42 is responsible for training the medicine dispensing robot, providing customized reminder capabilities and a medical service provider 43. The medical service provider 43 provides relevant information about taking medicine. Since the medicine dispensing robot 41 is connected to the cloud 42, more complex programs can be transferred to the cloud 42 for execution, the user's medication records can be stored through the cloud, and external information can be obtained through the cloud 42. Since the medicine dispensing robot 41 is connected to the medical service provider 43, the medicine dispensing robot 41 can adjust the medicine dispensing service in a timely manner based on the information of the medical service provider.

[0210] It should be noted that the above embodiment is illustrated by taking the example that the medicine dispensing system includes both the cloud 42 and the medical service provider 43. In actual applications, the medicine dispensing system may also include the cloud 42 or the medical service provider 43, and this embodiment does not limit it.

[0211] It should be noted that Fig.23 In the figure, the direct communication connection between the medicine dispensing robot 41 and the medical service provider 43 is taken as an example for explanation. In actual applications, the medicine dispensing robot 41 can also communicate with the medical service provider 43 through the cloud 42. After medicine dispensing, the yellow paper 41, the cloud 42 and the medical service provider 43 can also establish communication connections with each other. This embodiment does not impose any restrictions.

[0212] In one embodiment, Fig.24As shown, the medicine dispensing system includes: a medicine dispensing robot 41, a cloud 42, a user terminal 44 and a medical service provider 43. Among them, the medicine dispensing robot 41 is an executive agency for dispensing and reminding, and provides the medicine dispensing, reminder and other services mentioned in the above embodiments. The cloud 42 is responsible for training the medicine dispensing robot, providing customized reminder capabilities, and connecting the user terminal 44 and the medical service provider 43. The user terminal 44 (such as an APP, SMS, or phone call on the patient side) is an executive agency for reminders and an input agency for medication-related information. The medical service provider 43 provides medication-related information.

[0213] The following is an example of the interaction between the various ends in the medicine distribution system.

[0214] In the first example, when the remaining amount of medicine in the medicine storage cup of the medicine dispensing robot 41 is less than the specified interval, that is, when the user's medicine is about to be finished, the medicine dispensing robot 41 notifies the cloud 42. The cloud 42 notifies the pharmacy terminal of the medical service provider 43 to realize automatic prescription renewal.

[0215] In the second example, when the user's test results come out, the medicine dispensing robot 41 transmits the test results to the cloud 42. The cloud 42 determines whether to notify the doctor of the test results based on the user's instructions or the pre-set test result sending rules. If necessary, the test results are sent to the doctor terminal of the medical service provider 43 so that the doctor can judge the treatment effect and decide whether to adjust the treatment plan.

[0216] In one embodiment, the medicine dispensing robot can interact with other service robots, connected through short-range network technologies such as Bluetooth and WiFi, or through wide-area network technologies such as cellular networks. For example, the medicine dispensing robot can cooperate with the care robot to take care of the patient. For another example, after the medicine dispensing robot divides the medicines, the medicine delivery robot picks up the divided medicines and delivers them to the person taking the medicine. The medicine dispensing robot can even be placed in the body of the medicine delivery robot. For another example, the medicine dispensing robot can share the voice conversation capabilities of other service robots. The interaction methods of the medicine dispensing robot and other service robots are not listed one by one here.

[0217] In one embodiment, the connection between the user terminal, the medicine dispensing robot, the medical service provider and the cloud can be achieved through various wide area network technologies. For example, through the 5G network, when it is achieved through the 5G sliced ​​private network, the privacy protection and security of key data such as medical health can be achieved, and the quality of service (QoS) can be guaranteed.

[0218] In one embodiment, because the medicine dispensing robot is connected to the medical service provider, the medicine dispensing robot can have functions including but not limited to the following in addition to dispensing medicine and reminding patients to take medicine.

[0219] Function 1: The medicine dispensing robot stops providing the user with the medicine indicated by the medicine dispensing instruction according to the medicine dispensing instruction of the medical service provider or pharmaceutical company. Specifically, if the medical service provider or pharmaceutical company needs to ensure that the user stops taking the medicine due to the medicine itself or some problems that occur during the treatment process, the medicine dispensing robot can send a medicine dispensing instruction to the medicine dispensing robot.

[0220] Function 2: The medicine dispensing robot can assist in completing the renewal of medicine prescriptions. Specifically, when the user is about to finish taking the medicine, the medicine dispensing robot notifies the user based on the prescription information, and the user selects the medicine purchasing service provider according to the prompt to complete the renewal of the prescription; or according to the user's settings, it notifies a certain medicine purchasing service provider to automatically renew the prescription.

[0221] Function 3: The medicine dispensing robot assists medical providers in communicating with users. Specifically, when the medical service provider needs to communicate with the user, for example, when the user needs to complete a scale, needs to follow up with the user, needs to have a video communication with the user, or needs to prompt the user to measure biological indicators, etc., the medicine dispensing robot can complete it through its own interactive interface.

[0222] The medicine dispensing robot provided in the embodiment of the present application has a good application in CRO clinical trials. First, the medicine dispensing robot can remind patients to take medicine on time, save costs, improve compliance, and ensure the accuracy of test results. Second, the robot can record the subject's medication behavior. On the one hand, it confirms whether the subject has taken the medicine through the visual system of the medicine dispensing robot, and on the other hand, it records the subject's medication behavior as evidence data, and stores it in the cloud with or without encryption as needed. Third, the medicine dispensing robot provides powerful interaction capabilities with the subject, such as voice interaction capabilities based on NLP, video conferencing capabilities provided by the screen and camera, input and output capabilities provided by the screen, etc., text and picture recognition capabilities based on OCR, image recognition and camera, etc., which can meet the needs of clinical trial follow-up, scales, data recording, etc. Fourth, the medicine dispensing robot does not require human intervention, can continuously observe patients, and allows subjects to complete the experiment at home, which greatly improves the scalability of clinical trials and reduces costs.

[0223] The present application also provides a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0224] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A medicine dispensing robot, It is characterized in that include: Spindle; as well as, a medicine dispensing tray connected to the main shaft, the medicine dispensing tray being provided with a longitudinal through hole; and A medicine dispensing rod connected to the main shaft and arranged above the medicine dispensing tray; and a first power module connected to the medicine dispensing rod; and a control module connected to the first power module; and a photographing module connected to the control module; the photographing area of ​​the photographing module includes the area where the medicine dispensing tray is located; and, A medicine taking cup disposed below the medicine dispensing tray; and A rotating tray connected to the main shaft, the rotating tray is arranged below the medicine dispensing tray, and the medicine picking cup is arranged on the rotating tray; wherein the medicine shifting rod comprises: a main joint connected to the first power module; and a rear shifting rod connected to the main joint; and an auxiliary joint connected to the rear shifting rod; and a front shifting rod connected to the auxiliary joint; wherein the main joint drives the rear shifting rod, the auxiliary joint and the front shifting rod to rotate as a whole, and the auxiliary joint drives the front shifting rod to rotate.

2. The medicine dispensing robot according to claim 1, It is characterized in that The medicine dispensing robot also includes: At least one medicine storage cup is disposed on the rotating tray, the medicine storage cup comprises a medicine storage cup wall and a medicine storage cup movable cup bottom, and the medicine storage cup movable cup bottom is located inside the medicine storage cup wall; and a second power module connected to the rotating tray and used to control the rotation of the rotating tray; and a first push rod connected to the movable cup bottom of the medicine storage cup; and A third power module is connected to the first push rod.

3. The medicine dispensing robot according to claim 2, It is characterized in that The medicine dispensing robot also includes: a fourth power module connected to the rotating tray and used for controlling the lifting and lowering of the rotating tray.

4. The medicine dispensing robot according to claim 3, It is characterized in that A cover or a plug matching the medicine storage cup is arranged below the medicine dispensing tray; or, the lower surface layer of the medicine dispensing tray is a flexible layer.

5. The medicine dispensing robot according to claim 2, It is characterized in that The medicine dispensing cup comprises a medicine dispensing cup wall and a movable cup bottom of the medicine dispensing cup, and the movable cup bottom of the medicine dispensing cup is located inside the medicine dispensing cup wall; The medicine dispensing robot also includes: a second push rod connected to the movable cup bottom of the medicine taking cup; and A fifth power module is connected to the second push rod.

6. The medicine dispensing robot according to claim 5, It is characterized in that The medicine dispensing robot further includes: a waste medicine cup arranged above the rotating tray.

7. The medicine dispensing robot according to claim 1, It is characterized in that The front lever is serrated on one side close to the medicine dispensing tray.

8. The medicine dispensing robot according to claim 1, It is characterized in that The medicine dispensing robot further comprises: an annular fence; The annular baffle is arranged above the medicine dispensing tray, and the center of the annular baffle coincides with the main axis; a transverse through hole is arranged on the side of the medicine dispensing rod close to the medicine dispensing tray, and the annular baffle passes through the transverse through hole; or, The medicine dispensing tray is provided with an annular slide rail, and the annular baffle is connected to the annular slide rail so that the annular baffle can rotate along the annular slide rail; the annular baffle is provided with an opening, and the medicine dispensing rod is arranged in the opening.

9. The medicine dispensing robot according to claim 1, It is characterized in that The medicine dispensing robot further includes: a reminder module connected to the control module, so as to provide the medicine dispensing robot with reminders for taking medicine.

10. A visual medicine distribution method, It is characterized in that Applicable to the medicine dispensing robot or a device communicatively connected to the medicine dispensing robot according to any one of claims 1 to 9, the visual medicine dispensing method comprising: Obtain target quantities of medicines; Transferring the medicine in the medicine storage cup of the medicine dispensing robot to the medicine dispensing tray of the medicine dispensing robot; Based on the image captured by the camera module, the quantity of the dispensed medicines is identified; Determining whether the quantity of the dispensed medicines is less than or equal to the target quantity; If it is determined to be yes, control the medicine-dispensing robot's medicine-dispensing rod to dispense the dispensed medicine to a first preset position; wherein the first preset position is the position of the longitudinal through hole on the medicine-dispensing tray; determine whether the quantity of the dispensed medicine is equal to the target quantity; if it is determined that the quantity of the dispensed medicine is not equal to the target quantity, return to the step of obtaining the target quantity of medicines; If it is determined that it is not, based on the image captured by the camera module, the front lever and the rear lever of the medicine lever are controlled to move to draw medicine from the medicine dispensing tray; Based on the image captured by the shooting module, the number of medicines to be swiped is identified; whether the number of medicines to be swiped is equal to the target number is determined; if it is determined to be yes, the rotating tray is controlled to rotate to the third preset position, and the medicine-moving rod is controlled to move the swiped medicines to the first preset position; if it is determined not to be yes, whether the number of medicines to be swiped is less than the target number is determined; if it is determined that the number of medicines to be swiped is less than the target number, the rotating tray is controlled to rotate to the third preset position, and the medicine-moving rod is controlled to move the swiped medicines to the first preset position, and the step of obtaining the target number of medicines is returned to; if it is determined that the number of medicines to be swiped is greater than the target number, the step of controlling the front and rear levers of the medicine-moving rod to move based on the image captured by the shooting module to swipe the medicines from the medicine-dispensing tray is returned to; wherein, when the medicine-dispensing robot executes the step of obtaining the target number of medicines, the target number of medicines to be obtained = the number of medicines that the user needs to take - the sum of the number of medicines swiped to the medicine-taking cup each time; or, the target number of medicines = the target number in the previous medicine-dispensing process - the number of medicines swiped to the medicine-taking cup in the previous medicine-dispensing process.

11. The visual medicine dispensing method according to claim 10, It is characterized in that Before identifying the quantity of the dispensed medicines based on the image captured by the capturing module, the method further includes: Determining whether the dispensed medicines are arranged in a preset shape; If the determination is yes, executing the step of identifying the quantity of the dispensed medicines based on the image captured by the capturing module; If it is determined not to be the case, determine whether the medicine tapping rod has reached the rotation stop position; if it is determined to be the case, control the medicine tapping rod to stop rotating, and execute the step of identifying the number of medicines tapped out based on the image captured by the shooting module; if it is determined not to be the case, control the medicine tapping rod to rotate along a first direction; wherein the first direction is a clockwise direction or a counterclockwise direction.

12. The visual medicine dispensing method according to claim 11, It is characterized in that Before controlling the medicine expelling rod to rotate along the first direction, the method further includes: The medicine ejecting speed of the medicine ejecting rod is determined according to the type of the medicine.

13. The visual medicine dispensing method according to claim 10, It is characterized in that The step of transferring the medicine in the medicine storage cup of the medicine dispensing robot to the medicine dispensing tray of the medicine dispensing robot comprises: Controlling the rotating tray of the medicine dispensing robot to rotate to a second preset position; wherein, when the rotating tray is located at the second preset position, the medicine storage cup of the medicine dispensing robot is located below the longitudinal through hole; Controlling the first push rod of the medicine dispensing robot to push the movable cup bottom of the medicine storage cup to move upward; The medicine expelling rod is controlled to rotate along a first direction to expel the medicine in the medicine storage cup; wherein the first direction is a clockwise direction or a counterclockwise direction.

14. The method for visually dispensing medicine according to claim 13, It is characterized in that Before the medicine-dispensing rod of the medicine-dispensing robot is controlled to dispense the dispensed medicine to the first preset position, the method further includes: The rotating tray is controlled to rotate to a third preset position; wherein, when the rotating tray is located at the third preset position, the medicine taking cup of the medicine dispensing robot is located below the longitudinal through hole.

15. The visual medicine dispensing method according to claim 14, It is characterized in that After controlling the front lever and the rear lever of the medicine-moving lever to move based on the image captured by the shooting module and taking medicine from the medicine-dispensing tray, the method further includes: Controlling the rotating tray to rotate to a second preset position or a fourth preset position; wherein when the rotating tray is located at the fourth preset position, the waste medicine cup of the medicine dispensing robot is located below the longitudinal through hole; The medicine expelling rod is controlled to rotate to the first preset position along the direction where the remaining medicines are located.

16. The method for visually dispensing medicine according to claim 13, It is characterized in that The first push rod controlling the medicine dispensing robot pushes the movable cup bottom of the medicine storage cup to move upward, including: Determining a first moving distance according to the target quantity; The first push rod is controlled to push the movable cup bottom to move upward by the first moving distance.

17. The method for visually dispensing medicine according to claim 16, It is characterized in that Determining the first moving distance according to the target quantity includes: Calculating the first moving distance according to the target number and a first constraint relationship between the target number and the first moving distance; or, The first moving distance is determined according to the target quantity, the information of the medicine, and a second constraint relationship among the target quantity, the information of the medicine and the first moving distance; the information of the medicine includes the volume of the medicine.

18. The visual medicine dispensing method according to claim 17, It is characterized in that After determining whether the quantity of the dispensed medicines is less than or equal to the target quantity, the method further includes: According to the judgment result, adjusting the parameters in the first constraint relationship or the second constraint relationship; or, Calculate the difference between the quantity of the dispensed drugs and the target quantity; and adjust the parameters in the first constraint relationship or the second constraint relationship according to the calculated difference.

19. The visual medicine dispensing method according to claim 10, It is characterized in that The method of controlling the front lever and the rear lever of the medicine dispensing rod to move based on the image captured by the shooting module to draw medicines from the medicine dispensing tray includes: Determining a first angle and a second angle based on the image captured by the camera module; Controlling the medicine dispensing rod to rotate along the second direction by the first angle; Controlling the front lever of the medicine lever to rotate along the first direction to a second angle; The medicine removing rod is controlled to rotate along a first direction to remove medicines; wherein the first direction is a clockwise direction or a counterclockwise direction; and the first direction and the second direction are opposite.

20. The method of visually dispensing medicine according to claim 19, It is characterized in that The determining the first angle and the second angle based on the image captured by the capturing module includes: Determine medication information according to the image captured by the shooting module; wherein the medication information includes any one or any combination of the distribution area of ​​the medication, the volume of the medication, the quantity of the medication, and the target quantity; Determine the first angle according to the medicine dialing information and a third constraint relationship between the medicine dialing information and the first angle; The second angle is determined according to the medicine dialing information and a fourth constraint relationship between the medicine dialing information and the second angle.

21. A medicine dispensing system, It is characterized in that include: The medicine dispensing robot according to any one of claims 1 to 9, and a cloud computing device connected to communication with the medicine dispensing robot, and / or a medical service providing device connected to communication with the medicine dispensing robot.

22. A computer-readable storage medium storing a computer program, It is characterized in that When the computer program is executed by a processor, the visual medicine dispensing method according to any one of claims 10 to 11 is implemented.

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